JPH07260481A - Gps survey device - Google Patents

Abstract

PURPOSE:To provide a GPs survey device which can obtain the result at a survey site, improve accuracy, and reduce weight and cost. CONSTITUTION:A first GPS receiver which is moved successively to observation points is provided with an GPS antenna, an analog signal processing part for converting to a lower frequency than that of an electric wave transmitted from a satellite, and a radio signal transmission part for transmitting a radio signal from a transmission antenna. A second GPS receiver 12 installed at a known point is provided with a radio signal reception part 54 with a signal reception antenna 62 for receiving radio signals, a GPS antenna 42 for receiving electric waves transmitted from the satellite, and an analog signal processing part 44 for converting the frequency of electric waves received by the antenna 42 and then amplifying the electric waves. Further, the receiver is provided with a digital signal processing part 56 for generating phase data where the carrier wave phase of electric waves is digitized according to the output signal of the radio signal reception part 54 and an analog signal processing part 44 and a control part 58 for calculating the distance between the points where the GPS receiver is installed and the direction based on the phase data after obtaining the epoch phase data by extracting the phase data transmitted from the digital signal processing part 56 at each fixed time interval.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS surveying device used for stationary surveying and kinematic surveying.

[0002]

2. Description of the Related Art A survey using a GPS system is known. In this type of survey, radio waves transmitted from a plurality of (four or more) satellites are received by a plurality of GPS receivers at the same time, The phase difference of the radio waves received between the GPS receivers is calculated and processed, and the distance and direction between points on the earth are measured. In surveys using such a GPS system, GPS receivers are installed at two points, a known point and an unknown point, and two receivers receive radio waves from satellites at the same time. A method called kinematic surveying is known in which a receiver is fixedly installed at a known point, and the other GPS receiver is sequentially moved to a measurement observation point for measurement.

By the way, G used for such surveying
PS receivers generally correspond to the number of satellites, a GPS antenna that receives radio waves transmitted from satellites, an analog signal processing unit that frequency-converts and amplifies the radio waves received by the GPS antennas. A digital signal processing unit having a number of channels, which generates phase data by digitizing the carrier wave phase of the radio wave from the output signal of the analog signal processing unit for each channel, and the satellite for each channel of the digital signal processing unit. The digital signal processing unit includes a control unit that specifies the phase data transmitted from the digital signal processing unit at predetermined time intervals and stores the extracted phase data in the storage unit as epoch phase data. Eight channels are usually prepared.

However, such a conventional GPS receiver has the technical problems described below.

[0005]

That is, the above-mentioned conventional GPS receiver requires at least two receivers each having a signal processing unit and a control unit having exactly the same configuration, and the measured data is brought to carry out calculation. In addition to the problem that measurement results cannot be obtained without processing, digital signal processing units and control units that handle digital signals are relatively expensive, and this is a major cause of the high cost of surveying receivers. Was becoming. In addition, when the phase data is generated from the radio wave received from the satellite, it is performed by different digital signal processing units, so that there is a problem that the sampling cycle of the phase data is deviated.

Further, particularly in kinematic surveying, one receiver is carried by the measurer, and a plurality of observation points must be sequentially moved. Therefore, it has been required to reduce the weight of the GPS receiver. However, it has not been possible to sufficiently meet this demand by downsizing electronic components used. The present invention has been made in view of the above problems, and an object thereof is to obtain a measurement result in real time at a measurement site and to completely match the sampling period of phase data. It is an object of the present invention to provide a GPS surveying device capable of improving the accuracy of surveying, and at the same time achieving weight saving and cost reduction.

[0007]

To achieve the above object, the present invention uses at least a pair of GPS receivers that receive radio waves transmitted from a plurality of satellites, and installs the GPS receivers at different points. Then, based on the phase difference of the received radio waves received at the same time by the GPS receiver, in the surveying GPS receiver for measuring the distance or direction between the points, one of the GPS receivers is: A GPS antenna for receiving radio waves transmitted from the satellite and this GP
An analog signal processing unit for converting a radio wave received by the S antenna into a carrier frequency lower than the radio wave emitted from the satellite, and a radio signal for transmitting a radio signal from a transmission antenna upon receiving an output signal of the analog processing unit. The other of the GPS receivers has a transmitter, and a radio signal receiver having a reception antenna for receiving the radio signal, a GPS antenna for receiving radio waves transmitted from the satellite, and
An analog signal processing unit that frequency-amplifies and amplifies the radio wave received by the PS antenna, and a digital that generates phase data by digitizing the carrier wave phase of the radio wave from the output signals of the radio signal receiving unit and the analog signal processing unit. The signal processing unit and the phase data sent from the digital signal processing unit are extracted at predetermined time intervals to obtain epoch phase data, and based on the phase data, the distance between points where the GPS receiver is installed, It has a control part which calculates a direction, It is characterized by the above-mentioned.

[0008]

According to the GPS surveying device having the above-mentioned configuration, one G
An analog signal processing unit for converting the radio wave received by the GPS antenna into a carrier frequency lower than the radio wave emitted from the satellite, and the PS receiver receives the output signal of the analog processing unit and sends a radio signal from the transmission antenna. And a radio signal transmitting section that includes a receiving antenna that receives the radio signal in the other GPS receiver, and a GP.
An analog signal processing unit that frequency-converts and amplifies the radio wave received by the S antenna, and a digital that generates phase data by digitizing the carrier wave phase of the radio wave from the output signals of the radio signal receiving unit and the analog signal processing unit. Since the signal processing section is provided, the phase data is generated by one digital signal processing section from the radio waves received by the two GPS receivers, so that the sampling cycles can be completely matched.

Further, since the digital signal processing unit generates phase data based on the radio waves received by the two GPS receivers installed at different points, the epoch phase data is obtained based on this phase data. With this epoch phase data, the distance and direction between points can be obtained in real time by the control unit. Further, since one of the receivers has a conventional digital signal processing unit and a control unit removed and is provided with a radio signal transmission unit equipped with an antenna instead of these units, weight reduction and cost reduction can be achieved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. 1 to 6 show an embodiment of a GPS surveying device according to the present invention. The GPS surveying device shown in the figure includes two GPS receivers 10 and 12.
, One of the receivers 10 is sequentially moved to unknown observation points A _{1 to} A _n , measurement is performed at each observation point A _{1 to An} for several minutes, and the receiver 10 is fixedly installed at a known point B. 2GP
The case where the present invention is applied to the kinematic survey for measuring the distances X _{1 to} X _n and the directions between the observation points A _{1 to} A _n and the known points B from the S receiver 12 is illustrated.

When conducting such surveys,
At least four satellites S (S ₁~ S_Four) From
The generated radio waves by the first and second GPS receivers 10 and 12.
Point A based on the phase difference between the received and received radio waves₁~ A
_n, B distance X₁~ X_nIs measured. Unknown point A₁~
A_n2, the details of the first GPS receiver 10 installed in
3 shows. The first GPS receiver 10 shown in FIG.
The form supported by the pole 14 is adopted, and the power switch
16 is a power supply in a hemispherical cover 18 provided on the outer surface
GPS composed of battery 20 and microstrip
Equipped with antenna 22 and electronic components that make up the amplifier
The printed circuit board 24 that has been printed is stored.

An antenna holder 26 is mounted on the outer circumference of the pole 14, and a rod-shaped wireless transmission antenna 28 is supported by the antenna holder 26. The transmitting antenna 28 is connected to the printed circuit board 24 by a cable 32 via a connector 30 attached to the lower surface of the cover 18.
It is connected to the. FIG. 3 is a block diagram showing an electrical configuration of the first GPS receiver 10. The first GPS receiver 10 is connected to the GPS antenna 22, and the radio waves from the satellite S received by the GPS antenna 22 are The carrier frequency f _{1 of the} radio wave transmitted from the satellite S, for example, this is L
_{Since one} signal is 1575.42 MHz, the carrier frequency f ₂ lower than this is, for example, the analog signal processing unit 34 for converting to 63 MHz and the analog signal processing unit 3.
4 and a radio signal transmitting unit 36 for transmitting a radio signal from the transmitting antenna 28.

The analog signal processing section 34 of the first GPS receiver 10 includes a low noise amplifier 34a connected to the GPS antenna 22, a first bandpass filter 34b connected to the output side of the amplifier 34a, and a local oscillator 34c. When,
The output signal of the bandpass filter 34b and the local oscillator 34
It has a mixer 34d for mixing the output signal of c and converting it to a predetermined carrier frequency, and a second bandpass filter 34e connected to the output side of the mixer 34d.

The radio signal transmitting section 36 has an intermediate frequency amplifier 36a connected to the output side of the second band pass filter 34e of the analog signal processing section 34, and power connected to the output side of the intermediate frequency amplifier 36a. The amplifier 36b is included, and the transmitting antenna 28 is connected to the output side of the power amplifier 36b. Second G installed at known point B
Details of the PS receiver 12 are shown in FIGS. The second GPS receiver 12 shown in the figure has a GPS antenna 42 which is housed in a hemispherical cover 40 supported by a tripod 38 and which receives radio waves transmitted from the satellite S. Further, in the cover 40, a printed circuit board 46 on which electronic components forming an analog signal processing section 44 for frequency-converting and amplifying a carrier frequency of a radio wave received by the GPS antenna 42 are mounted is housed.

The analog signal processing unit 44 is connected to a receiver main body 52 via a connector 48 attached to the cover 40 and a cable 50, and inside the receiver main body 52,
The wireless signal receiving section 54, the digital signal processing section 56, the control section 58, and the memory 60 are housed, and the operation section 62 and the display section 64 are provided on the front side thereof, and the rear side thereof is provided.
A receiving antenna 62 electrically connected to the wireless signal receiving section 54 is attached.

FIG. 5 is a block diagram showing the electrical construction of the second GPS receiver 12. The analog signal processing unit 44 of the second GPS receiver 12 includes a low noise amplifier 44a connected to the GPS antenna 42, a first band pass filter 44b connected to the output side of the amplifier 44a, a local oscillator 44c, and a band. by mixing the output signal of the output signal and the local oscillator 44c of the pass filter 44b, a mixer 44d for converting into a predetermined carrier frequency f _3, the mixer 44d
Second bandpass filter 44e connected to the output side of
And an intermediate frequency amplifier 44f connected to the output side of the second bandpass filter 44e.

Further, the radio signal receiving section 54 is provided with a reception antenna.
And a low noise amplifier 54a connected to the
First bandpass filter 5 connected to the output side of 54a
4b and an intermediate frequency amplifier 54f. Digital
The signal processing unit 56 is connected to the wireless signal receiving unit 54 and analog signals.
The carrier wave phase of the radio wave from the output signal from the signal processing unit 44.
Generates digitalized phase data,
D. S. Constructed from P (Digital Signal Processor)
Have at least 8 channels
However, in this embodiment, channels 1 to 4 (main channel
2) GPS satellite 12 directly on the satellite S₁~ S_FourFrom
Radio waves received, that is, from the analog signal processing unit 44
The remaining 5 to 8 channels are assigned to the output signal.
The first GPS receiver 10 is the satellite S
₁~ S_FourRadio waves received from, that is, radio signal receiving section
54 is assigned to the signal output from 54.

The control unit 58 extracts the phase data sent from the digital signal processing unit 56 at predetermined time intervals and stores it in the internal memory 60 as epoch phase data, and in accordance with the procedure stored in advance in the memory 60. From the navigation data, the C / A code phase, and the carrier phase included in the epoch phase data, the coordinate values of the unknown points A _{1 to} A _n are calculated, and the distance X ₁ to is calculated from this coordinate value and the coordinate value of the known point B. X
_It calculates _n , and is specifically composed of a microcomputer.

FIG. 6 shows an example of the control procedure executed by the controller 58. In the control procedure shown in the figure, when the procedure is started, first, at step s1, satellites S _{1 to} S
₄ allocations are made. In this case, in this embodiment, 1
To 4 channels is assigned to the satellite S ₁ to S ₄ for receiving at the 2GPS receiver 12, assigned to the satellite S ₁ to S ₄ the remaining 5-8 channel is received at the 1GPS receiver 10.

When the channel allocation is completed, it is determined in step s2 whether or not the measurement start condition is completed. The measurement start conditions determined here are the satellites S _{1 to} S
_Since the C / A code of the radio wave (GPS signal) transmitted from ₄ is different, it is necessary to synchronize with the frequency for each designated channel, so this synchronization state is judged, and the synchronization is When taken, each channel is sequentially locked to its C / A code.

When all the channels are synchronized, it is judged that the measurement start condition is satisfied, and step s
Move to 3. In step s3, initial settings for measurement are performed. The initial setting performed here requires an operation for solving an uncertain solution (wave number) in kinematic surveying, and an operation or data input for solving this uncertain solution is performed.

This initial setting is performed by the first GPS receiver 10
GPS antenna 22 and GP of the second GPS receiver 12
Either replace the S antenna 42, input the coordinates of the known point B, fix the _first GPS receiver 10 at the observation point A ₁ , and perform a stationary survey for about 30 minutes to 1 hour. Do it. When the initial setting is completed, the uncertain solution is calculated in the subsequent step s4, and the value is stored in the memory 60.

Then, in the next step s5, the movement to the observation point A ₁ is instructed and started, and when the observation point is reached, the movement is stopped for several minutes, and the GPS receivers 10 and 12 are measured (step s6). At step s7, data for the designated epoch is fetched, and at step s8, the observation point A is obtained based on the uncertain solution and the epoch phase data obtained on channels 1 to 8.
The coordinate value in the GPS coordinate system of ₁ is calculated.

Then, in step s9, conversion from the GPS coordinate system to the local coordinate system is performed, the converted coordinate value and the distance X ₁ from the known point B are obtained, and the converted coordinate value and the distance X ₁ And are displayed on the display unit 64 in step s10. When the coordinate value of the observation point A ₁ is displayed in this way, it is determined in the following step s11 whether or not all the observations have been completed. If not, the process returns to step s5 and the next observation point A ₂ is displayed. Measurement continues, and observation point A ₁ ~
When all the coordinate values of A _n have been obtained, the procedure ends.

In the GPS surveying device configured as described above, if the first GPS receiver 10 is moved to the observation points A _{1 to} A _n and measurement is performed for a few minutes, the known points B and the observation points A ₁ to A _n are obtained. _n
The distances X _{1 to} X _n can be calculated in real time. Further, in the GPS surveying device having the above configuration, the first G
The PS receiver 10 includes an analog signal processing unit 34 that converts the radio wave received by the GPS antenna 22 into a frequency lower than the radio wave transmitted from the satellite S, and the analog processing unit 3
And a radio signal transmitting unit 36 for transmitting a radio signal from the transmitting antenna 28 in response to the output signal of the second GP.
The S receiver 12 includes a radio signal receiving unit 54 including a reception antenna 62 that receives the radio signal, and a GPS antenna 4
The analog signal processing unit 44 that frequency-converts and amplifies the radio wave received in 2 and the output signals of the radio signal receiving unit 54 and the analog signal processing unit 44 generate phase data in which the carrier wave phase of the radio wave is digitized. Since the digital signal processing unit 56 is provided, the two receivers 10, 1
One digital signal processing unit 56 from the radio waves received in 2
Since the phase data is generated by, the sampling period can be completely matched.

Further, since the first GPS receiver has the conventional digital signal processing section and control section removed and is provided with the radio signal transmitting section 36 equipped with an antenna in place of these components, the weight and cost are reduced. And one GPS in particular
When applied to a kinematic system where surveying is performed while moving the receiver sequentially, the effect is extremely effectively exhibited.

In the above embodiment, the carrier frequency f ₂ which is frequency-converted by the analog signal processing section 34 of the first GPS receiver 10 is the carrier frequency f ₃ which is frequency-converted by the analog signal processing section 44 of the second GPS receiver 12. If it is matched with the above, the frequency conversion part in the configuration of the radio signal receiving section 54 of the second GPS receiver 12 is not necessary, and the configuration can be further simplified. Further, in the above embodiment, the case where the GPS receiving apparatus of the present invention is applied to the kinematic survey is illustrated, but the implementation of the present invention is not limited to this and can be used for the stationary survey.

[0028]

As described above in detail in the embodiments,
According to the GPS surveying device of the present invention, the measurement result can be obtained in real time at the surveying site, and the sampling accuracy of the phase data is completely matched to improve the precision of the surveying, and further, the weight saving and the low price are achieved. Can be achieved at the same time.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an outline of a measurement state of a kinematic survey using a surveying GPS receiver according to the present invention.

FIG. 2 is an external view illustrating an example of one receiver of the GPS receiver according to the present invention.

FIG. 3 is a functional block diagram of the GPS receiver shown in FIG.

FIG. 4 is an external view illustrating an example of the other receiver of the GPS receiver according to the present invention.

5 is a functional block diagram of the GPS receiver shown in FIG.

FIG. 6 is a flowchart showing an example of a control procedure of a control unit performed by the GPS surveying instrument of the present invention.

[Explanation of symbols]

 10, 12 GPS receiver 22, 42 GPS antenna 28 Transmission antenna 34 Analog signal processing unit 36 Radio signal transmitting unit 44 Analog signal processing unit 54 Radio signal receiving unit 56 Digital signal processing unit 58 Control unit 60 Memory

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location H04B 7/26

Claims (1)

[Claims] 1. Use of at least a pair of GPS receivers that receive radio waves transmitted from a plurality of satellites, the GPS receivers are installed at different points, and the GPS receivers receive the signals at the same time. In a GPS surveying device for measuring the distance and direction between the points based on the phase difference of radio waves, one of the GPS receivers is a GPS antenna for receiving radio waves transmitted from the satellite, and the GPS antenna An analog signal processing unit for converting the radio wave received by the carrier wave into a carrier frequency lower than that of the radio wave transmitted from the satellite, and a radio signal transmission unit for receiving a signal output from the analog processing unit and transmitting a radio signal from a transmission antenna. And the other of the GPS receivers includes a radio signal receiving unit having a receiving antenna for receiving the radio signal, and an electric wave transmitted from the satellite. A GPS antenna, an analog signal processing unit that frequency-converts and amplifies the radio wave received by the GPS antenna, and a carrier wave phase of the radio wave is digitized from output signals of the radio signal receiving unit and the analog signal processing unit. A digital signal processing unit that generates phase data, and phase data sent from the digital signal processing unit is extracted at predetermined time intervals to obtain epoch phase data, and the GPS receiver is installed based on this phase data. A GPS surveying device, comprising: a control unit that calculates the distance and direction between the points.