CN217276118U - Eccentric component measuring instrument - Google Patents

Abstract

The utility model relates to an eccentric weight measuring apparatu. The eccentricity component measuring instrument includes: the device comprises an azimuth adjusting main body, a laser ranging module and a gyroscope module. The utility model discloses but based on laser rangefinder and gyroscope angle measurement simultaneously recording distance and position, adjust the adjustment in position through the position adjustment main part, make the directional aerial photography appearance reference point of laser rangefinder module, reference position or GNSS antenna reference point, can realize measuring, can realize the measurement of arbitrary relative position (relative position between GNSS antenna reference point and the aerial photography appearance reference point, relative position between aerial photography appearance reference point and the reference position, relative position between the different reference positions, relative position between reference position and the GNSS antenna reference point etc.), make this measuring apparatu not restricted by spatial position. And the utility model discloses a measuring apparatu is applicable in the camera of difference, only needs to make the aerial photography appearance reference point of the directional camera of laser rangefinder module.

Description

Eccentric component measuring instrument

Technical Field

The utility model relates to an aerial photography technical field especially relates to an eccentric weight measuring apparatu.

Background

Before the aerial photography, the measurement of the eccentricity component from the main camera distance to the phase center of the GNSS (Global Navigation Satellite System) antenna is completed, so as to reduce the eccentricity value from the main camera distance to the phase center of the GNSS antenna to improve the settlement accuracy of the aerial photography POS (Position and Orientation System).

There are many conventional methods for measuring the eccentricity component of GNSS, and the known methods include: the manual measurement interpretation method, the close-range photogrammetry method, the theodolite measurement method, the plate glass direct projection measurement method and the like are the most commonly used methods due to the influence of the field environment, conditions and the like.

The manual measurement and interpretation method means that an aerial photographer determines the eccentricity component by roughly judging an image space coordinate system and measuring the distances from a GNSS receiving antenna head to the shooting center of an aerial camera in three directions by using a steel tape. In the process, the steel tape and the like are used for manually measuring and interpreting data, so that the obtained data is low in reliability, large in error and easy to generate errors.

Close-range photogrammetry requires that a plurality of auxiliary points are arranged at the bottom of an airplane cabin and an airplane local coordinate system is established. Under the condition that the airplane is static, the coordinates of a GNSS receiving antenna and each auxiliary point in a coordinate system can be determined through a geodetic surveying method, then a close-range camera is used for shooting each auxiliary point and a video camera film bearing frame, shooting is respectively carried out at two different shooting stations to obtain a stereopair, then the oriented position parameters of the video camera in the coordinate system are obtained through the calculation processing of space rear intersection and space front intersection, and further the GNSS eccentricity component is calculated. Practice proves that the method is effective, and the eccentricity measurement can reach cm-level accuracy. However, when close-range photogrammetry is carried out in the aircraft cabin, due to the limitation of space conditions, the operation of obtaining ideal stereo photo pair data is difficult to obtain, and meanwhile, the method needs to arrange marking points, theodolite measurement and photogrammetry, so that the field workload and the calculation workload are large.

The theodolite measurement method is simple and feasible, has small calculated amount and can achieve the accuracy of 1cm by using a relatively expensive surveying and mapping instrument, but the method has the advantages that when the theodolite is erected on a parking apron, a photo frame (for example, when an aerial camera is very close to a cabin door) needs to be seen, otherwise, the intersection point of the phase center of a GNSS receiving antenna and the photo frame connecting line cannot be projected onto the ground, namely, the method has special requirements on the space positions of a aerial survey plane and the aerial camera, and the measurement cannot be carried out under any condition.

The direct projection measurement method of the plate glass is a method which is proposed in consideration of the fact that the above two methods have high requirements on the airplane environment: the method is simple and easy to implement, calculated amount is almost nonexistent, errors are mainly attributed to measuring errors of the steel tape, so that the accuracy can reach 1cm, but frame-type film camera RC series are measured, and effective measurement cannot be realized for aerial cameras such as area arrays, digital line cameras, laser radars and the like which are popular at present.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides an eccentric component measuring instrument, which is not limited by the spatial position and is suitable for different cameras.

In order to achieve the above object, the utility model provides a following scheme:

an eccentricity component measuring instrument, comprising: the device comprises an azimuth adjusting main body, a laser ranging module and a gyroscope module;

the laser ranging module and the gyroscope module are both arranged in the azimuth adjusting main body;

the direction adjusting body is used for adjusting the measuring directions of the laser ranging module and the gyroscope module;

the laser ranging module is used for measuring distance information, and the gyroscope module is used for measuring azimuth information;

the distance information comprises first distance information between a ranging phase center and an aerial camera reference point when the eccentricity component measuring instrument is positioned at a through-vision reference point, and second distance information between the ranging phase center and a GNSS antenna reference point; the perspective reference point is a reference position where the eccentric component measuring instrument can perspective the GNSS antenna reference point or the position where the aerial camera reference point is located;

the azimuth information comprises first azimuth information of a straight line where a ranging phase center and an aerial camera reference point are located when the eccentricity component measuring instrument is located at the through-vision reference point, and second azimuth information of the ranging phase center and a GNSS antenna reference point.

Optionally, the orientation adjustment body comprises a first orientation adjustment device and a second orientation adjustment device;

the first orientation adjusting device is arranged at the upper part of the second orientation adjusting device;

the laser ranging module and the gyroscope module board are both arranged in the first orientation adjusting device;

the first orientation adjusting device is used for adjusting the measuring orientations of the laser ranging module and the gyroscope module in the vertical direction;

the second orientation adjusting device is used for adjusting the measuring orientations of the laser ranging module and the gyroscope module in the horizontal direction.

Optionally, the first orientation adjusting device includes a first housing, a second housing, a first bracket, a second bracket, and a first stepping motor;

the laser ranging module and the gyroscope module are both arranged in the first shell;

a first through hole is formed in the first shell, and the laser ranging module is over against the first through hole;

the upper surface and the lower surface of the second shell are both provided with second through holes, and the second through holes are used for looking through the output laser of the laser ranging module and the reflected laser to be received;

the first bracket and the second bracket are arranged at the upper part of the second shell;

the first position of the first shell is rotatably connected with the first bracket, the first stepping motor is arranged on the second bracket, and the output shaft of the first stepping motor is fixedly connected with the second position of the first shell; the first position and the second position are two intersection points of a central axis of the first shell and the first shell, and the central axis is parallel to the upper surface of the second shell;

the first stepping motor is used for driving the first shell to rotate around the central axis.

Optionally, a first gear set and a first bearing are arranged at the second position of the first housing;

a third through hole is formed in the second position of the first shell;

the first gear set comprises a first internal gear, a first external gear and a second external gear, and the first internal gear is fixed in the third through hole;

the first external gear meshes with the first internal gear, and the second external gear meshes with the first external gear;

the first bearing is arranged outside the first gear set, an outer ring of the first bearing is fixed with the first shell, an output shaft of the first stepping motor penetrates through the inner ring of the first bearing and can rotate relative to the inner ring of the first bearing, and the output shaft of the first stepping motor is fixedly connected with the center of the second outer gear;

a support shaft is arranged on one side, facing the first gear set, of the inner ring of the first bearing, and the support shaft is fixedly connected with the center of the first outer gear;

one side of the inner ring of the first bearing, which is back to the first gear set, is fixedly connected with the shell of the first stepping motor.

Optionally, the second azimuth adjusting device comprises a bottom plate and a second stepping motor;

the second stepping motor is arranged in the second shell;

the second shell is arranged on the bottom plate, and an output shaft of the second stepping motor is connected with the bottom plate shaft;

the second stepping motor is used for driving the second shell to rotate relative to the bottom plate;

and a fourth through hole is formed in the bottom plate and is used for looking through the output laser of the laser ranging module and the reflected laser to be received.

Optionally, the second azimuth adjusting device further comprises a second gear set and a second bearing;

the second gear set and the second bearing are both arranged on the bottom plate;

the second gear set comprises a second internal gear and a third external gear;

the second bearing is positioned in the second internal gear, and the second internal gear, the second bearing and the bottom plate are coaxially arranged;

the third external gear is meshed with the second internal gear, and an output shaft of the second stepping motor is fixedly connected with the center of the third external gear;

the outer ring of the second bearing is fixed with the bottom plate, and the inner ring of the second bearing is in tight fit with the transmission shaft arranged on the second shell.

Optionally, the eccentric component measuring instrument further comprises a horizontal adjusting base;

the direction adjusting body is arranged on the horizontal adjusting base;

the horizontal adjusting base comprises an upper plate, a lower plate and a horizontal adjuster arranged between the upper plate and the lower plate;

a level gauge is arranged on the upper surface of the upper plate;

the upper surface of upper plate is provided with spacing post, spacing post with the spacing hole cooperation that sets up on the bottom plate is used for the restriction horizontal adjustment base with the relative motion of position adjustment main part on the horizontal direction.

Optionally, the eccentric component measuring instrument further comprises a first motor driving module, a second motor driving module and an MCU control board;

the first motor driving module and the second motor driving module are arranged in the second shell;

the MCU control board is arranged in the first shell;

the first motor driving module is connected with the first stepping motor, and the second motor driving module is connected with the second stepping motor;

the MCU control panel is respectively connected with the laser ranging module and the gyroscope module and used for calculating an eccentric component between a shooting main distance of the aerial camera and a phase center of the GNSS antenna according to the distance information and the azimuth information.

According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect:

the utility model discloses an eccentric weight measuring apparatu, eccentric weight measuring apparatu includes: the device comprises an azimuth adjusting main body, a laser ranging module and a gyroscope module; the laser ranging module and the gyroscope module are both arranged in the azimuth adjusting main body; the direction adjusting body is used for adjusting the measuring directions of the laser ranging module and the gyroscope module; the laser ranging module is used for measuring distance information, and the gyroscope module is used for measuring azimuth information. The utility model discloses can record distance and position simultaneously based on laser rangefinder and gyroscope angle measurement, adjust the adjustment that the main part measured the position through the position, make the directional aerial photograph appearance reference point of laser rangefinder module, reference position or GNSS antenna reference point, can realize measuring, can realize the measurement of arbitrary relative position (relative position between GNSS antenna reference point and the aerial photograph appearance reference point, relative position between aerial photograph appearance reference point and the reference position, relative position between the different reference positions, relative position between reference position and the GNSS antenna reference point etc.), make this measuring apparatu not restricted by spatial position, and applicable camera in the difference, only need make the aerial photograph appearance reference point of the directional camera of laser rangefinder module. And based on the utility model discloses a measuring method of measuring apparatu is simple, does not need heavy expensive instrument, and portable not only improves measurement accuracy, still improves measurement of efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Fig. 1 is an exploded view of a structure of an eccentric component measuring instrument provided in embodiment 1 of the present invention;

fig. 2 is a schematic view of a measuring portion of an eccentric component measuring instrument provided in embodiment 1 of the present invention;

fig. 3 is a flowchart of a method for measuring an eccentric component according to embodiment 2 of the present invention;

fig. 4 is a measurement schematic diagram of the eccentric component measurement method under the perspective condition provided by embodiment 2 of the present invention;

fig. 5 is a measurement schematic diagram of the eccentric component measurement method according to embodiment 2 of the present invention.

Description of the reference numerals:

1. an orientation adjustment body; 2. a laser ranging module; 3. a gyroscope module; 4. a first orientation adjustment device; 5. a second orientation adjustment device; 6. a first housing; 7. a second housing; 8. a first bracket; 9. a second bracket; 10. a first stepper motor; 11. a first through hole; 12. a second through hole; 13. a first gear set; 14. a first bearing; 15. a third through hole; 16. a first internal gear; 17. a first external gear; 18. a second external gear; 19. a base plate; 20. a second stepping motor; 21. a second gear set; 22. a second bearing; 23. a second internal gear; 24. a third external gear; 25. a horizontal adjustment base; 26. an upper plate; 27. a lower plate; 28. a level adjuster; 29. a level gauge; 30. a limiting column; 31. and a limiting hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model aims at providing an eccentric weight measuring apparatu to provide one kind and do not receive the spatial position restriction, and be applicable to the eccentric weight measuring apparatu of different cameras.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

Example 1

The embodiment 1 of the utility model provides an eccentric weight measuring apparatu, as shown in fig. 1 and 2, eccentric weight measuring apparatu includes: the device comprises an azimuth adjusting body 1, a laser ranging module 2 and a gyroscope module 3; the laser ranging module 2, the gyroscope module 3 and the MCU control board are all arranged in the direction adjusting main body 1; the direction adjusting body 1 is used for adjusting the measuring directions of the laser ranging module 2 and the gyroscope module 3; the laser ranging module 2 is used for measuring distance information, and the gyroscope module 3 is used for measuring azimuth information; the distance information comprises first distance information between a ranging phase center and an aerial camera reference point when the eccentricity component measuring instrument is positioned at a through-vision reference point, and second distance information between the ranging phase center and a GNSS antenna reference point; the perspective reference point is a reference position where the eccentric component measuring instrument can perspective the GNSS antenna reference point or the position where the aerial camera reference point is located; the azimuth information comprises first azimuth information of a straight line where a ranging phase center and an aerial camera reference point are located when the eccentricity component measuring instrument is located at the through-vision reference point, and second azimuth information of the ranging phase center and a GNSS antenna reference point. Illustratively, the gyro module 3 is a MEMS (Micro-Electro-Mechanical Systems) gyro module.

Wherein the orientation adjusting body 1 comprises a first orientation adjusting means 4 and a second orientation adjusting means 5; the first orientation adjusting means 4 is provided on the upper portion of the second orientation adjusting means 5; the laser ranging module 2 and the gyroscope module 3 are both arranged in the first orientation adjusting device 4; the first orientation adjusting device 4 is used for adjusting the measuring orientations of the laser ranging module 2 and the gyroscope module 3 in the vertical direction; the second orientation adjusting device 5 is used for adjusting the measuring orientations of the laser ranging module 2 and the gyroscope module 3 in the horizontal direction.

Illustratively, the first orientation adjustment device 4 includes a first housing 6, a second housing 7, a first bracket 8, a second bracket 9, and a first stepping motor 10; the laser ranging module 2 and the gyroscope module 3 are both arranged in the first shell 6; a first through hole 11 is formed in the first shell 6, and the laser ranging module 2 is opposite to the first through hole 11; the upper surface and the lower surface of the second shell 7 are both provided with second through holes 12, and the second through holes 12 are used for looking through the output laser of the laser ranging module 2 and the reflected laser which needs to be received; the first bracket 8 and the second bracket 9 are disposed at an upper portion of the second housing 7; the first position of the first shell 6 is rotatably connected with the first bracket 8, the first stepping motor 10 is arranged on the second bracket 9, and the output shaft of the first stepping motor 10 is fixedly connected with the second position of the first shell 6; the first position and the second position are two intersection positions of a central axis of the first housing 6 and the first housing 6, and the central axis is parallel to the upper surface of the second housing 7; the first stepping motor 10 is used for driving the first housing 6 to rotate around the central axis. Illustratively, the first stepping motor 20 is of the type 24BYJ48, the first housing 6 is a spherical housing, and the second housing 7 is a cylindrical housing.

The second position of the first shell 6 is provided with a first gear set 13 and a first bearing 14; a third through hole 15 is formed at the second position of the first shell 6; the first gear set 13 comprises a first internal gear 16, a first external gear 17 and a second external gear 18, and the first internal gear 16 is fixed in the third through hole 15; the first external gear 17 meshes with the first internal gear 16, and the second external gear 18 meshes with the first external gear 17; the first bearing 14 is arranged outside the first gear set 13, an outer ring of the first bearing 14 is fixed with the first housing 6, an output shaft of the first stepping motor 10 penetrates through the inner ring of the first bearing 14 and can rotate relative to the inner ring of the first bearing 14, and the output shaft of the first stepping motor 10 is also fixedly connected with the center of the second external gear 18; a support shaft is arranged on one side of the inner ring of the first bearing 14 facing the first gear set 13, and is fixedly connected with the center of the first outer gear 17; one side of the inner ring of the first bearing 14, which faces away from the first gear set 13, is fixedly connected to the housing of the first stepping motor 10. For example, the reduction ratio of the first gear set 13 is 1: 5.

the second azimuth adjusting device 5 includes a base plate 19 and a second stepping motor 20; the second stepping motor 20 is disposed in the second housing 7; the second housing 7 is arranged on the bottom plate 19, and an output shaft of the second stepping motor 20 is connected with the bottom plate 19 through a shaft; the second stepping motor 20 is used for driving the second shell 7 to rotate relative to the bottom plate 19; and a fourth through hole is formed in the bottom plate 19 and used for looking through the output laser of the laser ranging module 2 and the reflected laser to be received. Illustratively, the second stepper motor 20 is model number 24BYJ 48.

The second orientation adjustment means 5 further includes a second gear set 21 and a second bearing 22; the second gear set 21 and the second bearing 22 are both arranged on the bottom plate 19; the second gear set 21 includes a second internal gear 23 and a third external gear 24; the second bearing 22 is located in the second internal gear 23, and the second internal gear 23, the second bearing 22 and the bottom plate 19 are coaxially arranged; the third external gear 24 is meshed with the second internal gear 23, and the output shaft of the second stepping motor 20 is fixedly connected with the center of the third external gear 24; the outer ring of the second bearing 22 is fixed with the bottom plate 19, and the inner ring of the second bearing 22 is tightly matched with a transmission shaft arranged on the second shell 7. Exemplarily, the reduction ratio of the second gear set 21 is 1: 9.8.

the eccentric component measuring instrument further comprises a horizontal adjusting base 25; the orientation adjusting body 1 is arranged on the horizontal adjusting base 25; the horizontal adjustment base 25 includes an upper plate 26, a lower plate 27, and a horizontal adjuster 28 provided between the upper plate 26 and the lower plate 27; the upper surface of the upper plate 26 is provided with a level 29; the upper surface of the upper plate 26 is provided with a limiting column 30, and the limiting column 30 is matched with a limiting hole 31 arranged on the bottom plate 19 and used for limiting the relative movement of the horizontal adjusting base 25 and the azimuth adjusting body 1 in the horizontal direction. If the azimuth adjusting body 1 is placed in a non-horizontal area for measurement, the horizontal adjusting base 25 is needed.

Illustratively, the upper plate 26 is connected to the bottom plate 19 through the limiting columns 30, the number of the limiting columns 30 can be set to 3, the middle limiting column is used for aligning the flight direction, and the level 29 is used for observing whether the level is horizontal or not. The number of the level adjusters 28 may be set to 3, and when not horizontal, the upper plate 26 is adjusted to be horizontal by the level adjusters 28, and the lower plate 27 is placed in the cabin.

The upper plate 26 and the lower plate 27 are both provided with fourth through holes, and the fourth through holes are used for looking through the output laser of the laser ranging module 2 and the reflected laser which needs to be received.

The eccentric component measuring instrument further comprises a first motor driving module, a second motor driving module, an MCU control board, a lithium ion battery and a power supply module; the first motor driving module, the second motor driving module and the power supply module are all arranged in the second shell 7; the lithium ion battery is arranged on the first bracket 8; the MCU control board is arranged in the first shell; the lithium ion battery is connected with the power module, the power module is respectively connected with the first motor driving module and the second motor driving module, the first motor driving module is connected with the first stepping motor 10, and the second motor driving module is connected with the second stepping motor 20; the lithium ion battery is further connected with a power input end of the MCU control panel, the MCU control panel is respectively connected with the laser ranging module 2 and the gyroscope module 3, and the MCU control panel is used for calculating an eccentric component between a shooting main distance of the aerial camera and a phase center of the GNSS antenna according to the distance information and the azimuth information.

The utility model discloses an eccentric weight measuring apparatu is applicable in the camera of difference, like this kind of datum point of UC camera and flight direction all mark on the top cap of camera lens, at this moment, can regard as the aerial photography appearance reference point with the datum point on the top cap of camera lens, when the position at datum point place on this top cap can see through the GNSS antenna, can with the utility model discloses an eccentric weight measuring apparatu is placed and is carried out the measurement of eccentric weight in camera lens top cap.

Example 2

As shown in fig. 3, embodiment 2 of the present invention provides an eccentric component measuring method, which is applied to the above eccentric component measuring instrument, and the eccentric component measuring method includes the following steps:

step 301, when the eccentric component measuring instrument is located at a through-view reference point, acquiring first distance information between a ranging phase center and an aerial camera reference point and first orientation information of a straight line where the ranging phase center and the aerial camera reference point are located by using the eccentric component measuring instrument; the perspective reference point is a reference position where the eccentricity component measuring instrument can perspective the GNSS antenna reference point or the position where the aerial camera reference point is located.

In step 301, when the eccentricity component measuring instrument is located at the reference point of the through view, the step of obtaining first distance information between the ranging phase center and the reference point of the aerial photography instrument and first orientation information of a straight line where the ranging phase center and the reference point of the aerial photography instrument are located by using the eccentricity component measuring instrument specifically includes: setting the reference point of the aerial camera as the ith reference position, and initializing the value of i to be 1; acquiring a first distance between a ranging phase center of the eccentric component measuring instrument and an ith reference position when the eccentric component measuring instrument is positioned at the ith reference position as an ith first distance, and acquiring a first direction of a straight line where the ranging phase center of the eccentric component measuring instrument and the ith reference position are positioned as an ith first direction; judging whether the eccentricity component measuring instrument can see through the GNSS antenna reference point or not when the eccentricity component measuring instrument is positioned at the ith reference position to obtain a judgment result; if the judgment result indicates no, setting an i +1 th reference position in a viewing area of the i-th reference position, and acquiring a second distance between a ranging phase center of the eccentric component measuring instrument and the i +1 th reference position as an i-th second distance when the eccentric component measuring instrument is at the i-th reference position, and a second orientation of a straight line where the ranging phase center of the eccentric component measuring instrument and the i +1 th reference position are located as an i-th second orientation, increasing the value of i by 1, returning to the step of acquiring a first distance between the ranging phase center of the eccentric component measuring instrument and the i-th reference position as an i-th first distance when the eccentric component measuring instrument is at the i-th reference position, and a first orientation of a straight line where the ranging phase center of the eccentric component measuring instrument and the i-th reference position are located, as the ith first orientation "; if the judgment result shows that the reference position is the ith reference position, setting the ith reference position as a common reference point, and outputting the first distance information and the first direction information; the first distance information includes i first distances and i-1 second distances, and the first orientation information includes i first orientations and i-1 second orientations.

Step 302, when the eccentricity component measuring instrument is located at the visibility reference point, obtaining second distance information between the ranging phase center and the GNSS antenna reference point and second orientation information between the ranging phase center and the GNSS antenna reference point by using the eccentricity component measuring instrument.

Step 303, calculating an eccentricity component between the main camera distance of the aerial camera and the phase center of the GNSS antenna according to the first distance information, the first azimuth information, the second distance information, and the second azimuth information.

Exemplarily, when the value of i is 1, that is, the reference point of the aerial camera can be used for realizing the through-view, and when a reference position is not required to be added, the measurement principle is as shown in fig. 4.

If the distance measurement phase center point of the measuring instrument is A, the reference point of the aerial photographic instrument is O, and the reference point of the GNSS antenna is G, the user knows that

Is the initial measurement value of the eccentric component measuring instrument,

aligning the eccentricity component measurement instrument with the GNSS antenna reference point measurement value, thereby obtaining a distance vector from the aerial camera reference point to the GNSS antenna reference point

Comprises the following steps:

wherein the content of the first and second substances,

determined by the first distance information (1 st first distance) and the first orientation information (1 st first orientation),

determined by the second distance information and the second orientation information.

The measuring steps specifically comprise:

the horizontal adjustment base 25 is adjusted to place the orientation adjusting body 1 in a horizontal state.

The measuring directions of the laser ranging module 2 and the gyroscope module 3 are adjusted through the direction adjusting body 1, so that the laser ranging module 2 points to the reference point of the aerial camera;

measuring first distance information between a ranging phase center and an aerial camera reference point by using a laser ranging module 2, and measuring first orientation information of a straight line where the ranging phase center and the aerial camera reference point are located by using a gyroscope module 3;

the measuring directions of the laser ranging module 2 and the MEMS gyroscope module 3 are adjusted through the direction adjusting body 1, so that the laser ranging module 2 points to a GNSS antenna reference point;

measuring second distance information between a ranging phase center and a GNSS antenna reference point by using the laser ranging module 2;

measuring second azimuth information of a straight line where a ranging phase center and a GNSS antenna reference point are located by using the gyroscope module 3;

according to the first distance information, the second distance information, the first direction information and the second direction information, using a formula

Calculating a distance vector between an aerial camera reference point and a GNSS antenna reference point

According to the distance vector of the main distance O' of the aerial camera relative to the reference point O of the aerial camera

And distance vector of phase center G' of GNSS antenna relative to reference point G of GNSS antenna

Determining an eccentricity component between a camera main distance of the aerial camera and a phase center of the GNSS antenna as

Illustratively, when the value of i is 2, that is, the reference point of the aerial camera cannot be viewed through, and the viewing can be realized by adding 1 reference position, the measurement principle is as shown in fig. 5.

Setting the added reference position, namely the perspective reference point, as B, when the eccentric component measuring instrument is positioned at the reference point of the aerial camera, the distance measuring phase central point of the measuring instrument is A, when the eccentric component measuring instrument is positioned at the perspective reference point, the distance measuring phase central point of the measuring instrument is A',

is the initial measurement value of the eccentric component measuring instrument,

for the eccentricity component measuring instrument to align with the through reference point measurement value,

for the eccentricity component measuring instrument to refer to the calibration value,

the eccentricity component measuring instrument is aligned with the reference point measurement value of the GNSS antenna, so that the distance vector between the reference point of the aerial photography instrument and the reference point of the GNSS antenna is obtained

Comprises the following steps:

wherein the content of the first and second substances,

determined by the 1 st first distance and the 1 st first orientation,

determined by the 1 st second distance and the 1 st second orientation,

from the 2 nd first distance and the 2 ndThe first orientation is determined by the first orientation determination,

from the second distance information and the second orientation information, a distance vector of the aerial camera photographing main distance O' relative to the aerial camera reference point O is determined

And distance vector of phase center G' of GNSS antenna relative to reference point G of GNSS antenna

Determining an eccentricity component between a camera main distance of the aerial camera and a phase center of the GNSS antenna as

The measuring steps specifically comprise:

the horizontal adjustment base 25 is adjusted to place the orientation adjusting body 1 in a horizontal state.

The measuring directions of the laser ranging module 2 and the gyroscope module 3 are adjusted through the direction adjusting body 1, so that the laser ranging module 2 points to the reference point of the aerial camera;

measuring the distance between the ranging phase center and the reference point of the aerial camera by using the laser ranging module 2 as a 1 st first distance, and measuring the direction of a straight line where the ranging phase center and the reference point of the aerial camera are located by using the gyroscope module 3 as a 1 st first direction;

the measuring directions of the laser ranging module 2 and the gyroscope module 3 are adjusted through the direction adjusting body 1, so that the laser ranging module 2 points to the through reference point;

measuring the distance between the ranging phase center and the visual reference point by using a laser ranging module 2 as a 1 st second distance; measuring the direction of a straight line where the ranging phase center and the reference position are located by using a gyroscope module 3 to serve as a 1 st second direction;

moving the eccentricity component measuring instrument to the perspective reference point;

the measuring directions of the laser ranging module 2 and the gyroscope module 3 are adjusted through the direction adjusting body 1, so that the laser ranging module 2 points to the perspective reference point;

measuring the distance between the ranging phase center and the visual reference point by using the laser ranging module 2 as a 2 nd first distance, and measuring the direction of a straight line where the ranging phase center and the visual reference point are located by using the gyroscope module 3 as a 2 nd first direction;

the measuring directions of the laser ranging module 2 and the gyroscope module 3 are adjusted through the direction adjusting body 1, so that the laser ranging module 2 points to a GNSS antenna reference point;

measuring second distance information between a ranging phase center and a GNSS antenna reference point by using a laser ranging module 2;

measuring second azimuth information of a straight line where the ranging phase center and the GNSS antenna reference point are located by using the gyroscope module 3;

according to the 2 first distances, the 2 first orientations, the 1 second distances, the 1 second orientations, the second distance information and the second orientation information, utilizing a formula

A distance vector between a camera main distance of the aerial camera and a phase center of the GNSS antenna is calculated.

According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect:

an embodiment of the utility model provides an eccentric weight measuring apparatu, eccentric weight measuring apparatu includes: the device comprises an azimuth adjusting main body, a laser ranging module and a gyroscope module; the laser ranging module and the gyroscope module are both arranged in the azimuth adjusting main body; the direction adjusting body is used for adjusting the measuring directions of the laser ranging module and the gyroscope module; the laser ranging module is used for measuring distance information, and the gyroscope module is used for measuring azimuth information. The utility model discloses can record distance and position simultaneously based on laser rangefinder and gyroscope angle measurement, adjust the adjustment that the main part measured the position through the position, make the directional aerial photograph appearance reference point of laser rangefinder module, reference position or GNSS antenna reference point, can realize measuring, can realize the measurement of arbitrary relative position (relative position between GNSS antenna reference point and the aerial photograph appearance reference point, relative position between aerial photograph appearance reference point and the reference position, relative position between the different reference positions, relative position between reference position and the GNSS antenna reference point etc.), make this measuring apparatu not restricted by spatial position, and applicable camera in the difference, only need make the aerial photograph appearance reference point of the directional camera of laser rangefinder module. And based on the utility model discloses a measuring method of measuring apparatu is simple, does not need heavy expensive instrument, and portable not only improves measurement accuracy, still improves measurement of efficiency.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principle and the implementation of the present invention are explained herein by using specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.

Claims (8)

1. An eccentricity component measuring instrument, comprising: the device comprises an azimuth adjusting main body, a laser ranging module and a gyroscope module;

the laser ranging module and the gyroscope module are both arranged in the azimuth adjusting main body;

the direction adjusting body is used for adjusting the measuring directions of the laser ranging module and the gyroscope module;

the laser ranging module is used for measuring distance information, and the gyroscope module is used for measuring azimuth information;

the distance information comprises first distance information between a ranging phase center and an aerial camera reference point when the eccentricity component measuring instrument is positioned at a through-vision reference point, and second distance information between the ranging phase center and a GNSS antenna reference point; the perspective reference point is a reference position where the eccentric component measuring instrument can perspective the GNSS antenna reference point or the position where the aerial camera reference point is located;

the azimuth information comprises first azimuth information of a straight line where a ranging phase center and an aerial camera reference point are located when the eccentricity component measuring instrument is located at the perspective reference point, and second azimuth information of the ranging phase center and a GNSS antenna reference point.

2. The eccentric component measuring instrument according to claim 1, wherein the orientation adjusting body includes a first orientation adjusting means and a second orientation adjusting means;

the first orientation adjusting device is arranged at the upper part of the second orientation adjusting device;

the laser ranging module and the gyroscope module board are both arranged in the first orientation adjusting device;

the first orientation adjusting device is used for adjusting the measuring orientations of the laser ranging module and the gyroscope module in the vertical direction;

the second orientation adjusting device is used for adjusting the measuring orientations of the laser ranging module and the gyroscope module in the horizontal direction.

3. The eccentricity component measuring instrument according to claim 2, wherein the first orientation adjusting means includes a first housing, a second housing, a first bracket, a second bracket, and a first stepping motor;

the laser ranging module and the gyroscope module are both arranged in the first shell;

a first through hole is formed in the first shell, and the laser ranging module is opposite to the first through hole;

the upper surface and the lower surface of the second shell are both provided with second through holes, and the second through holes are used for looking through the output laser of the laser ranging module and the reflected laser to be received;

the first bracket and the second bracket are arranged at the upper part of the second shell;

the first position of the first shell is rotatably connected with the first bracket, the first stepping motor is arranged on the second bracket, and the output shaft of the first stepping motor is fixedly connected with the second position of the first shell; the first position and the second position are two intersection points of a central axis of the first shell and the first shell, and the central axis is parallel to the upper surface of the second shell;

the first stepping motor is used for driving the first shell to rotate around the central axis.

4. The eccentric component measuring instrument according to claim 3, wherein a first gear set and a first bearing are provided at a second position of the first housing;

a third through hole is formed in the second position of the first shell;

the first gear set comprises a first internal gear, a first external gear and a second external gear, and the first internal gear is fixed in the third through hole;

the first external gear meshes with the first internal gear, and the second external gear meshes with the first external gear;

the first bearing is arranged outside the first gear set, an outer ring of the first bearing is fixed with the first shell, an output shaft of the first stepping motor penetrates through the inner ring of the first bearing and can rotate relative to the inner ring of the first bearing, and the output shaft of the first stepping motor is fixedly connected with the center of the second outer gear;

a support shaft is arranged on one side, facing the first gear set, of the inner ring of the first bearing, and the support shaft is fixedly connected with the center of the first outer gear;

one side of an inner ring of the first bearing, which is back to the first gear set, is fixedly connected with a shell of the first stepping motor.

5. The eccentricity component measuring instrument according to claim 3, wherein the second orientation adjusting means includes a base plate and a second stepping motor;

the second stepping motor is arranged in the second shell;

the second shell is arranged on the bottom plate, and an output shaft of the second stepping motor is connected with the bottom plate shaft;

the second stepping motor is used for driving the second shell to rotate relative to the bottom plate;

and a fourth through hole is formed in the bottom plate and is used for seeing through the output laser of the laser ranging module and the reflected laser which needs to be received.

6. The eccentricity component measuring instrument according to claim 5, wherein the second orientation adjusting means further comprises a second gear set and a second bearing;

the second gear set and the second bearing are both arranged on the bottom plate;

the second gear set comprises a second internal gear and a third external gear;

the second bearing is positioned in the second internal gear, and the second internal gear, the second bearing and the bottom plate are coaxially arranged;

the third external gear is meshed with the second internal gear, and an output shaft of the second stepping motor is fixedly connected with the center of the third external gear;

the outer ring of the second bearing is fixed with the bottom plate, and the inner ring of the second bearing is in tight fit with the transmission shaft arranged on the second shell.

7. The eccentricity component measuring instrument according to claim 5, further comprising a horizontal adjustment base;

the direction adjusting body is arranged on the horizontal adjusting base;

the horizontal adjusting base comprises an upper plate, a lower plate and a horizontal adjuster arranged between the upper plate and the lower plate;

a level gauge is arranged on the upper surface of the upper plate;

the upper surface of upper plate is provided with spacing post, spacing post with the spacing hole cooperation that sets up on the bottom plate is used for the restriction horizontal adjustment base with the relative motion of position adjustment main part on the horizontal direction.

8. The eccentric component measuring instrument according to claim 5, further comprising a first motor driving module, a second motor driving module, and an MCU control board;

the first motor driving module and the second motor driving module are both arranged in the second shell;

the MCU control board is arranged in the first shell;

the first motor driving module is connected with the first stepping motor, and the second motor driving module is connected with the second stepping motor;

the MCU control panel is respectively connected with the laser ranging module and the gyroscope module and used for calculating an eccentric component between a shooting main distance of the aerial camera and a phase center of the GNSS antenna according to the distance information and the azimuth information.

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