WO2020155009A1 - Rtk measurement system and measurement method in confined space - Google Patents

Rtk measurement system and measurement method in confined space Download PDF

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Publication number
WO2020155009A1
WO2020155009A1 PCT/CN2019/074157 CN2019074157W WO2020155009A1 WO 2020155009 A1 WO2020155009 A1 WO 2020155009A1 CN 2019074157 W CN2019074157 W CN 2019074157W WO 2020155009 A1 WO2020155009 A1 WO 2020155009A1
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WO
WIPO (PCT)
Prior art keywords
data
horizontal bearing
ground
bearing surface
servo motor
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PCT/CN2019/074157
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French (fr)
Chinese (zh)
Inventor
李宁
徐嘉
余博尧
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北京讯腾智慧科技股份有限公司
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Priority to PCT/CN2019/074157 priority Critical patent/WO2020155009A1/en
Publication of WO2020155009A1 publication Critical patent/WO2020155009A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Definitions

  • the invention relates to the technical field of positioning, in particular to an RTK measurement system and a measurement method in a confined space.
  • a general RTK measurement system includes a GNSS receiver and a centering pole.
  • the GNSS receiver uses carrier phase difference technology, using at least four satellite signals combined with the reference station data link to calculate accurate centimeter-level positioning data, and the centering pole supports GNSS reception vertically.
  • the machine is in vertical contact with the ground, and the GNSS receiver optimizes positioning data based on the height of the centering pole.
  • the GNSS receiver cannot connect to enough satellite signals and the wireless data link of the reference station due to the terrain, resulting in the inability to obtain positioning data.
  • embodiments of the present invention provide an RTK measurement system and measurement method in a confined space, which solves the technical problem that the existing RTK measurement system cannot perform accurate measurement on narrow terrain.
  • GNSS receiver used to receive satellite signals, reference station data link and correction data to form positioning data
  • the centering pole is used to form a controlled support structure at the top, and controlled to provide a fixed or movable support for the GNSS receiver and laser ranging device at the top. It forms quantitative correction data when it is fixed and provides it when it is movable. Horizontal bearing surface
  • the laser ranging device is used to measure the height difference between the GNSS receiver and the ground when the GNSS receiver is supported by the centering pole to form correction data.
  • the centering rod includes a centering rod body and a stabilized head which are connected, and the stable head includes:
  • the tilt angle servo motor is used for controlled adjustment of the angle between the top stabilized gimbal and the centering rod body;
  • the first rotating servo motor is used to maintain the horizontal stability of the x-axis of the horizontal bearing surface
  • the second rotating servo motor is used to maintain the horizontal stability of the y-axis of the horizontal bearing surface
  • the horizontal bearing plate is used to provide the horizontal bearing surface
  • the GNSS receiver is carried on the top of the horizontal bearing plate
  • the laser ranging device is carried on the bottom.
  • the base of the tilt angle servo motor is fixedly connected to the top end of the centering rod body, the tilt angle servo motor output shaft is perpendicular to the centering rod body, and the tilt angle servo motor
  • the output shaft is fixedly connected to the first rotating servo motor base, the first rotating servo motor output shaft is perpendicular to the tilt angle servo motor output shaft, and the first rotating servo motor output shaft is connected to the
  • the second rotating servo motor base is fixedly connected, the first rotating servo motor output shaft is perpendicular to the second rotating servo motor output shaft, and the second rotating servo motor output shaft is fixedly connected to the horizontal bearing plate to form the Horizontal bearing surface.
  • the laser distance measuring device includes:
  • a laser rangefinder for forming a range finding signal from a laser to obtain the vertical height from the horizontal bearing surface to the ground, and using the laser to form a preset optical pattern
  • a spirit level used to collect the real-time horizontal angle of the horizontal bearing surface
  • Temperature compensation device used to provide the stable working condition of the working condition temperature maintaining level
  • a first axial viewfinder configured to collect the projection pattern formed by the preset optical pattern on the ground at the X-axis end of the horizontal bearing surface
  • a second axial viewfinder configured to collect the projection pattern formed by the preset optical pattern on the ground at the Y-axis end of the horizontal bearing surface
  • the ranging processor is used for forming correction data according to the horizontal error correction ranging signal of the horizontal bearing surface.
  • the following processing modules are deployed in the ranging processor:
  • the viewfinder image judgment module is used to quantify and recognize the degree of deformation of the projection image obtained by the first axis viewfinder and the second axis viewfinder in two vertical directions in the projection plane to form the horizontal Graphic error data of the carrier board;
  • the level gauge judgment module is used to quantify and identify the angle error data of the horizontal bearing plate formed by the inclination change of the horizontal bearing surface in the process of hand-held drift;
  • the levelness weighting module is used for judging the timing and time point of the best levelness according to the error trend of the graphic error data and the angle error data to form the best leveling time;
  • the laser ranging receiving module is used to continuously receive the distance data formed by the ranging signal
  • a time stamp generating module configured to form correction data according to the time stamp of the distance data marked with the optimal horizontal time
  • the communication link control module is used to form a controlled communication link to control the transmission of correction data.
  • the GNSS receiver deploys the following processing modules:
  • the positioning data correction module is used to correct the calculation process of the received satellite signal and/or data link data according to the correction data to form accurate coordinate data of the ground position to be measured;
  • the coordinate data display module is used for fusing the accurate coordinate data with the collected image of the ground position to be measured to form a real-time positioning image, which is transmitted to the mobile terminal through a communication link.
  • the laser rangefinder emits two laser beams of visible light and non-visible light.
  • the non-visible light laser beam is used as a ranging signal.
  • the visible light laser beam is diffused through the lens to form parallel light, and the preset pattern through hole is formed. ⁇ optical pattern.
  • the non-visible laser beam is located at the center of the preset optical pattern.
  • the measurement method in the confined space of the embodiment of the present invention using the above-mentioned RTK measurement system in the confined space, includes:
  • the centering rod enters a free state, hovering above the ground to be tested position by hand;
  • the GNSS receiver uses the height from the ground as the correction data to perform positioning calculation to obtain positioning data;
  • the GNSS receiver merges the positioning data with the image of the position to be measured and transmits it to a mobile terminal on the ground.
  • the obtaining the height from the ground through the laser distance measuring device includes:
  • the time stamp generating module is used to time-stamp the distance data within the minimum error range to form a set of all data corresponding to the minimum error range. The revised data.
  • the RTK measurement system and measurement method in the confined space of the embodiment of the present invention utilize the support flexibility of the center pole to form a traditional fixed support and a creative activity level support.
  • the quantitative scale on the centering rod body and the electronic bubble are used to obtain correction data to complete the positioning measurement of the contact position of the bottom of the centering rod.
  • the centering pole body In the free state of active horizontal support, the centering pole body is held as the grip part, and the controlled support structure at the top forms a horizontal bearing surface to carry the GNSS receiver and the laser ranging device, and the horizontal bearing surface is extended towards Above the opening of the narrow space, the laser distance measuring device is used to obtain the height correction data of the bottom position of the narrow space and the horizontal bearing surface to complete the positioning measurement of the bottom position of the space.
  • FIG. 1 is a schematic diagram of the architecture of an RTK measurement system in a confined space according to an embodiment of the present invention.
  • Fig. 2 is a schematic diagram showing the top view connection of various components in the RTK measurement system in a confined space according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram showing the structure of a laser ranging device in an RTK measurement system in a confined space according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram showing the architecture of signal transmission between the ranging processor and the GNSS receiver in the laser ranging device of the RTK measurement system in a confined space according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a measurement process of a measurement method in a confined space according to an embodiment of the present invention.
  • FIG. 1 An RTK measurement system in a confined space in an embodiment of the present invention is shown in FIG. 1.
  • the RTK measurement system in a confined space includes:
  • the GNSS receiver 300 is used to receive satellite signals, reference station data links and correction data to form positioning data;
  • the centering pole 200 is used to form a controlled support structure at the top, and controlled to provide fixed or movable support for the top GNSS receiver and laser ranging device, form quantitative correction data when fixed support, and provide level when movable support Bearing surface
  • the laser distance measuring device 100 is used to measure the height difference between the GNSS receiver and the ground when the GNSS receiver is supported by the centering pole to form correction data.
  • the RTK measurement system in the confined space of the embodiment of the present invention uses the support flexibility of the center pole to form a free state of traditional fixed support and creative horizontal support.
  • the quantitative scale on the centering rod body and the electronic bubble are used to obtain correction data to complete the positioning measurement of the contact position of the bottom of the centering rod.
  • the centering pole body is used as the gripping part, and the controlled supporting structure at the top forms a horizontal bearing surface to carry the GNSS receiver and the laser distance measuring device.
  • the horizontal bearing surface is extended to the narrow space by the gripping part. Above the opening, the laser distance measuring device is used to obtain the correction data of the bottom position of the narrow space and the height of the horizontal bearing surface to complete the positioning measurement of the bottom position of the space.
  • FIG. 2 The connection of the RTK measurement system in the confined space of an embodiment of the present invention is shown in FIG. 2.
  • the centering rod includes a centering rod body 210 and a stabilized head 220 that are connected, and the stable head 220 includes:
  • the tilt angle servo motor 221 is used for controlled adjustment of the angle between the top stabilized head and the centering rod body;
  • the first rotating servo motor 222 is used to maintain the horizontal stability of the x-axis of the horizontal bearing surface
  • the second rotating servo motor 223 is used to maintain the horizontal stability of the y-axis of the horizontal bearing surface
  • the horizontal carrying plate 224 is used to provide a horizontal carrying surface, carrying the GNSS receiver on the top, and carrying the laser ranging device on the bottom.
  • the base of the tilt angle servo motor 221 is fixedly connected to the top end of the centering rod body 210, the output shaft of the tilt angle servo motor 221 is perpendicular to the centering rod body 210, and the tilt angle servo
  • the output shaft of the motor 221 is fixedly connected to the base of the first rotating servo motor 222, the output shaft of the first rotating servo motor 222 is perpendicular to the output shaft of the tilt angle servo motor 221, and the output shaft of the first rotating servo motor 222 is connected to the second rotating servo through a connecting rod.
  • the base of the motor 223 is fixedly connected, the output shaft of the first rotating servo motor 222 is perpendicular to the output shaft of the second rotating servo motor 223, and the output shaft of the second rotating servo motor 223 is fixedly connected to the horizontal bearing plate 224 to form a horizontal bearing surface.
  • the stabilized head 220 has a zero return state setting and a free state setting.
  • the centering rod When in the zero return state, the centering rod integrally forms a fixed support, and the horizontal bearing plate 224 is parallel to or coincides with the axis of the centering rod body 210.
  • the axis of the centering rod body 210 and the stabilizer head 220 are kept crossing to form a movable support.
  • the zero return state setting and the free state setting can be implemented by the motor control strategy of the centering pole 200.
  • the GNSS receiver is arranged on the top of the horizontal bearing plate 224
  • the laser ranging device is arranged on the bottom of the horizontal bearing plate 224
  • the GNSS receiver, the horizontal bearing plate 224 and the center of mass and the centering rod of the laser ranging device The axes of the body 210 are located on the same vertical axis.
  • the laser ranging device includes:
  • the laser distance meter 120 is used to form a distance measurement signal from a laser to obtain the vertical height from the horizontal bearing surface to the ground, and use the laser to form a preset optical pattern;
  • Level 130 used to collect the real-time horizontal angle of the horizontal bearing surface
  • the temperature compensation device 140 is used to provide a stable working condition of the working condition temperature maintaining level gauge
  • the first axial viewfinder 150 is used to collect the projection pattern formed by the preset optical pattern on the ground at the X-axis end of the horizontal bearing surface;
  • the second axial viewfinder 160 is used to collect the projection pattern formed by the preset optical pattern on the ground at the Y-axis end of the horizontal bearing surface;
  • the ranging processor 170 is used to correct the ranging signal according to the horizontal error of the horizontal bearing surface to form correction data.
  • the horizontal bearing surface of the horizontal bearing plate 224 when the horizontal bearing surface of the horizontal bearing plate 224 is horizontal, its center is located on the vertical axis where the center of mass of the centering rod is located.
  • a laser rangefinder 120 is arranged in the center of the horizontal bearing surface, and the laser light emitted by the laser rangefinder is perpendicular to the horizontal bearing surface.
  • the level 130 is located at the edge of the horizontal bearing surface, and the heat conducting component of the temperature compensation device 140 is in contact with the measuring structure of the level 130.
  • the first axial viewfinder 150 is arranged on the end of the first axis passing through the center on the horizontal bearing surface
  • the second axial viewfinder 160 is arranged on the end of the second axis passing through the center on the horizontal bearing surface.
  • the second axis is perpendicular, and the axis of the optical sensing surface of each viewfinder is perpendicular to the horizontal bearing surface.
  • the laser rangefinder 120 emits two laser beams of visible light and non-visible light, the first laser beam (non-visible light) is used as the ranging signal, and the second laser beam (visible light) is diffused through the lens to form parallel light,
  • the preset optical pattern is formed through the preset pattern through hole.
  • the preset optical pattern may be a cross pattern or a cross pattern corresponding to the setting position of the viewfinder.
  • the first laser beam is located at the center of the preset optical pattern.
  • the first laser beam is coaxial with the preset optical pattern. In actual use, a simple mark is usually performed on the ground to be measured.
  • the viewfinder captures the projection image of the preset optical pattern on the ground and also obtains the ground image.
  • the symmetry center of the preset optical pattern is aligned with the simple mark .
  • the position of the projected image on the ground to be measured and the ground to be measured can be matched, the ground image is transmitted to the mobile terminal for observation, and the horizontal bearing surface can be shifted and adjusted in time so that the symmetry center of the preset optical pattern is aligned with the ground to be measured.
  • the simple marks for measuring the position overlap, so that the first laser beam used as the ranging signal is aligned with the simple marks to complete the distance measurement.
  • the RTK measurement system in the confined space of the embodiment of the present invention further forms a horizontal bearing surface with higher dynamic stability accuracy on the basis of a horizontal bearing plate to maintain the initial stability of the handheld, so that the laser rangefinder has a reference for obtaining a more accurate vertical height. Due to the influence of temperature changes and natural wind direction, the horizontal bearing surface will always be in a dynamic adjustment state, so that the ranging signal keeps drifting.
  • the embodiment of the present invention uses a synchronously projected optical pattern to indicate the ground positioning position and uses two viewfinders to collect negatively correlated pairs of ground Projection pattern, through image analysis, the deformation of the projection pattern in different directions can be obtained, and the quantitative drift data of ground measurement can be obtained.
  • a stable level instrument is used to obtain the level error of the horizontal bearing surface body, and the angle change data of the horizontal bearing surface affected by the hand-held hovering swing is obtained, and the first laser beam is corrected by the error signal of the image deformation and the angle change.
  • the ranging signal of the GNSS can form correction data to ensure that the satellite signal reception error of the handheld hovering GNSS receiver and the height error between the measurement and the ground can be eliminated to the greatest extent.
  • the processing module deployed in the ranging processor of the RTK measurement system in a confined space in an embodiment of the present invention is shown in FIG. 4.
  • the ranging processor implements the corresponding data processing process through the following processing modules:
  • the framing image judgment module 171 is used to quantify and identify the deformation degree of the projection image obtained by the first-axis viewfinder and the second-axis viewfinder in two vertical directions in the projection plane, and form the graphic error data of the horizontal carrier 224 ;
  • the graphic error data reflects the intuitive alignment error of the ranging signal to the ground measurement position, and has the measurement advantage of real-time feedback on the ground positioning position.
  • the drift azimuth and distance of the current measurement signal can be determined by the degree of deformation in the two vertical directions.
  • the level judging module 173 is used to quantify and identify the angle error data of the horizontal bearing plate formed by the inclination change of the horizontal bearing surface in the process of handheld drift;
  • the angle error data reflects the direction and extent of the influence of the drifting attitude of the horizontal bearing plate on the reference of the horizontal bearing surface, and it has the measurement advantage of real-time sensing of the attitude change of the horizontal bearing plate. It can help the horizontal load-bearing board to provide front feedback signals and improve the leveling response efficiency of the horizontal load-bearing surface.
  • the levelness weighting module 172 is used for judging the timing and time point of the best levelness according to the error trend of the graphic error data and the angle error data to form the best leveling time;
  • the laser ranging receiving module 174 is used to continuously receive the distance data formed by the ranging signal
  • the time stamp generating module 175 is used to form correction data according to the time stamp of the distance data marked with the best horizontal time;
  • the communication link control module 176 is used to form a controlled communication link to control the transmission of correction data.
  • the RTK measurement system in the confined space of the embodiment of the present invention uses the measurement process of angle error and image error combined with real-time ranging signal, and takes the angle error and image error that meet the minimum error at the same time as the accurate height distance data, so that the handheld The error factors of drift and swing can be overcome, effectively improving the accuracy of the correction data.
  • the laser ranging device completes the following data processing process:
  • the GNSS receiver 300 deploys the following processing modules, and the processor of the GNSS receiver 300 implements the corresponding data processing process through the following processing modules:
  • the positioning data correction module 310 is used to correct the calculation process of the received satellite signal and/or data link data according to the correction data to form accurate coordinate data of the position to be measured on the ground;
  • the coordinate data display module 320 is used for fusing accurate coordinate data with the collected image of the ground position to be measured to form a real-time positioning image, which is transmitted to the mobile terminal through the communication link.
  • the RTK measurement system in the confined space of the embodiment of the present invention fuses the positioning data calculated by the GNSS receiver with the ground image obtained by the viewfinder and transmits it to the mobile terminal on the ground in real time, so that the measurement freedom of the positioning process
  • the larger improvement is especially suitable for the measurement of the ground area with more obstacles in approach.
  • the GNSS receiver completes the following data processing procedures:
  • the accurate coordinate data is fused with the collected image of the ground to be measured to form a real-time positioning image, which is transmitted to the mobile terminal through the communication link.
  • the measurement method using the RTK measurement system in the confined space of the embodiment of the present invention includes:
  • Step 10 The centering rod enters the free state setting, and hovering above the ground to be tested position by hand;
  • Step 20 Obtain an image of the position to be measured on the ground through a laser ranging device
  • Step 30 Obtain the height from the ground through the laser ranging device
  • Step 40 The GNSS receiver uses the height from the ground as correction data to perform positioning calculation to obtain positioning data;
  • Step 50 The GNSS receiver merges the positioning data with the image of the location to be measured and transmits it to the mobile terminal on the ground.
  • the measurement method of the embodiment of the present invention effectively overcomes the measurement defect formed by the near-field obstacle, and better improves the degree of freedom of the measurement process.
  • step 30 includes:
  • Step 31 Obtain synchronously collected ground images through the first axis viewfinder and the second axis viewfinder, and use the viewfinder image judgment module to quantify the vertical deformation length in the ground image;
  • Step 32 Obtain synchronously collected angle error data of the horizontal bearing plate 224 through a level meter, and use the level meter judgment module to quantify the inclination angle of the horizontal bearing surface;
  • Step 33 When the inclination angle and the deformation length are both within the minimum error range, the time stamp generating module is used to time stamp the distance data within the minimum error range. Form a set of correction data corresponding to the minimum error range.
  • the correction data corresponding to the minimum error range formed by the measurement method of the embodiment of the present invention can further improve the resolution accuracy of positioning measurement.
  • the correction data within the time range corresponding to the minimum error range is formed, and the final measurement accuracy is improved by using the data conforming to the accuracy approximation trend.
  • the first memory is used to store the program code of the processing procedure of the RTK measurement system in the restricted space of the foregoing embodiment
  • the first processor is used to execute the program code of the processing procedure of the RTK measurement system in the confined space of the foregoing embodiment.
  • the second memory is used to store the program code of the processing procedure of the RTK measurement method in the restricted space of the foregoing embodiment
  • the second processor is used to execute the program code of the processing procedure of the RTK measurement method in the confined space of the foregoing embodiment.
  • the disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present invention essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method in each embodiment of the present invention.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc., which can store program check codes. Medium.
  • the RTK measurement system and measurement method in the confined space of the embodiment of the present invention realize the switching of two measurement states through the centering pole, which expands the application range and measurement accuracy of the GNSS receiver, and reduces the labor workload. Conducive to mass production and large-scale applications. It can be widely used for accurate measurement of on-site engineering environment.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

The present invention provides an RTK measurement system and measurement method in a confined space, solving the technical problem of not being able to perform accurate measurement in narrow terrain by the existing measurement system. The system comprises: a GNSS receiver, used for receiving satellite signals, base station data chain and revised data so as to form positioning data; a centering rod, used for forming a controlled support structure on the top so as to provide fixed support or mobile support to a top device in a controlled manner and to provide a horizontal bearing surface in time of mobile support; and a laser distance measurement device, used for measuring the height difference between the GNSS receiver with mobile support by the centering rod and the ground so as to form revised data. The centering rod is used for forming creative mobile horizontal support. The centering rod is held as a holding portion, with the controlled support structure at the top forming a horizontal bearing surface for the GNSS receiver and the laser distance measurement device. The holding portion is used for extending the horizontal bearing surface to the opening top of a narrow space, thereby completing the positioning measurement of a position at bottom of the space.

Description

一种受限空间内的RTK测量系统和测量方法An RTK measurement system and measurement method in confined space 技术领域Technical field
本发明涉及定位技术领域，具体涉及一种受限空间内的RTK测量系统和测量方法。The invention relates to the technical field of positioning, in particular to an RTK measurement system and a measurement method in a confined space.
发明背景Background of the invention
现有技术中，定位数据的测量主要使用RTK测量系统。一般的RTK测量系统包括GNSS接收机和对中杆，GNSS接收机采用载波相位差分技术，利用至少四颗卫星信号结合基准站数据链计算出精准的厘米级定位数据，对中杆垂直支撑GNSS接收机并与地面竖直接触，GNSS接收机根据对中杆高度优化定位数据。但是在一些狭窄、沟壑等近场受限地形进行测量时，会因地形而导致GNSS接收机无法连接到足够的卫星信号和基准站的无线数据链从而导致无法得出定位数据。In the prior art, the measurement of positioning data mainly uses an RTK measurement system. A general RTK measurement system includes a GNSS receiver and a centering pole. The GNSS receiver uses carrier phase difference technology, using at least four satellite signals combined with the reference station data link to calculate accurate centimeter-level positioning data, and the centering pole supports GNSS reception vertically. The machine is in vertical contact with the ground, and the GNSS receiver optimizes positioning data based on the height of the centering pole. However, when surveying some narrow, ravine and other near-field restricted terrains, the GNSS receiver cannot connect to enough satellite signals and the wireless data link of the reference station due to the terrain, resulting in the inability to obtain positioning data.
发明内容Summary of the invention
鉴于上述问题，本发明实施例提供一种受限空间内的RTK测量系统和测量方法，解决现有RTK测量系统无法在狭窄地形进行准确测量的技术问题。In view of the foregoing problems, embodiments of the present invention provide an RTK measurement system and measurement method in a confined space, which solves the technical problem that the existing RTK measurement system cannot perform accurate measurement on narrow terrain.
本发明实施例的受限空间内的RTK测量系统，包括：The RTK measurement system in a confined space in the embodiment of the present invention includes:
GNSS接收机，用于接收卫星信号、基准站数据链和修正数据，形成定位数据；GNSS receiver, used to receive satellite signals, reference station data link and correction data to form positioning data;
对中杆，用于在顶端形成受控支撑结构，受控提供对顶端所述GNSS接收机和激光测距装置的固定支撑或活动支撑，在固定支撑时形成量化修正数据，在活动支撑时提供水平承载面；The centering pole is used to form a controlled support structure at the top, and controlled to provide a fixed or movable support for the GNSS receiver and laser ranging device at the top. It forms quantitative correction data when it is fixed and provides it when it is movable. Horizontal bearing surface
激光测距装置，用于测量所述GNSS接收机利用对中杆活动支撑时与地面 间的高度差，形成修正数据。The laser ranging device is used to measure the height difference between the GNSS receiver and the ground when the GNSS receiver is supported by the centering pole to form correction data.
本发明一实施例中，所述对中杆包括连接的对中杆本体和稳定云台，所述稳定云台包括：In an embodiment of the present invention, the centering rod includes a centering rod body and a stabilized head which are connected, and the stable head includes:
倾斜角度伺服电机，用于受控调整顶端稳定云台与对中杆本体间的夹角；The tilt angle servo motor is used for controlled adjustment of the angle between the top stabilized gimbal and the centering rod body;
第一转动伺服电机，用于维持所述水平承载面的x轴水平稳定；The first rotating servo motor is used to maintain the horizontal stability of the x-axis of the horizontal bearing surface;
第二转动伺服电机，用于维持所述水平承载面的y轴水平稳定；The second rotating servo motor is used to maintain the horizontal stability of the y-axis of the horizontal bearing surface;
水平承载板，用于提供所述水平承载面，在所述水平承载板顶部承载所述GNSS接收机，在底部承载所述激光测距装置。The horizontal bearing plate is used to provide the horizontal bearing surface, the GNSS receiver is carried on the top of the horizontal bearing plate, and the laser ranging device is carried on the bottom.
本发明一实施例中，所述倾斜角度伺服电机的基座与所述对中杆本体顶端固定连接，所述倾斜角度伺服电机输出轴与所述对中杆本体垂直，所述倾斜角度伺服电机输出轴固定连接所述第一转动伺服电机基座，所述第一转动伺服电机输出轴与所述倾斜角度伺服电机输出轴垂直，所述第一转动伺服电机输出轴通过连接杆件与所述第二转动伺服电机基座固定连接，所述第一转动伺服电机输出轴与所述第二转动伺服电机输出轴垂直，所述第二转动伺服电机输出轴固定连接所述水平承载板形成所述水平承载面。In an embodiment of the present invention, the base of the tilt angle servo motor is fixedly connected to the top end of the centering rod body, the tilt angle servo motor output shaft is perpendicular to the centering rod body, and the tilt angle servo motor The output shaft is fixedly connected to the first rotating servo motor base, the first rotating servo motor output shaft is perpendicular to the tilt angle servo motor output shaft, and the first rotating servo motor output shaft is connected to the The second rotating servo motor base is fixedly connected, the first rotating servo motor output shaft is perpendicular to the second rotating servo motor output shaft, and the second rotating servo motor output shaft is fixedly connected to the horizontal bearing plate to form the Horizontal bearing surface.
本发明一实施例中，所述激光测距装置包括：In an embodiment of the present invention, the laser distance measuring device includes:
激光测距仪，用于将激光形成测距信号获得所述水平承载面至地面的垂直高度，并利用激光形成预置光学图案；A laser rangefinder for forming a range finding signal from a laser to obtain the vertical height from the horizontal bearing surface to the ground, and using the laser to form a preset optical pattern;
水平仪，用于采集所述水平承载面的实时水平夹角；A spirit level, used to collect the real-time horizontal angle of the horizontal bearing surface;
温度补偿装置，用于提供工况温度保持水平仪的稳定工况；Temperature compensation device, used to provide the stable working condition of the working condition temperature maintaining level;
第一轴向取景器，用于在所述水平承载面的X轴端部采集所述预置光学图案在地面形成的投影图案；A first axial viewfinder, configured to collect the projection pattern formed by the preset optical pattern on the ground at the X-axis end of the horizontal bearing surface;
第二轴向取景器，用于在所述水平承载面的Y轴端部采集所述预置光学图案在地面形成的投影图案；A second axial viewfinder, configured to collect the projection pattern formed by the preset optical pattern on the ground at the Y-axis end of the horizontal bearing surface;
测距处理器，用于根据所述水平承载面的水平误差修正测距信号形成修正数据。The ranging processor is used for forming correction data according to the horizontal error correction ranging signal of the horizontal bearing surface.
本发明一实施例中，所述测距处理器中部署以下处理模块：In an embodiment of the present invention, the following processing modules are deployed in the ranging processor:
取景图像判断模块，用于量化识别所述第一轴向取景器和所述第二轴向取景器同步获取的所述投影图像在投影平面中两个垂直方向上的形变程度，形成所述水平承载板的图形误差数据；The viewfinder image judgment module is used to quantify and recognize the degree of deformation of the projection image obtained by the first axis viewfinder and the second axis viewfinder in two vertical directions in the projection plane to form the horizontal Graphic error data of the carrier board;
水平仪判断模块，用于量化识别所述水平承载面随手持漂移过程中的倾斜变化形成所述水平承载板的角度误差数据；The level gauge judgment module is used to quantify and identify the angle error data of the horizontal bearing plate formed by the inclination change of the horizontal bearing surface in the process of hand-held drift;
水平度加权模块，用于根据所述图形误差数据和所述角度误差数据的误差趋势判断最佳水平度出现的时机和时间点，形成最佳水平时间；The levelness weighting module is used for judging the timing and time point of the best levelness according to the error trend of the graphic error data and the angle error data to form the best leveling time;
激光测距接收模块，用于持续接收所述测距信号形成的距离数据；The laser ranging receiving module is used to continuously receive the distance data formed by the ranging signal;
时间戳生成模块，用于根据所述最佳水平时间标注距离数据的时间戳形成修正数据；A time stamp generating module, configured to form correction data according to the time stamp of the distance data marked with the optimal horizontal time;
通信链路控制模块，用于形成受控通信链路控制修正数据的传输。The communication link control module is used to form a controlled communication link to control the transmission of correction data.
本发明一实施例中，所述GNSS接收机部署以下处理模块：In an embodiment of the present invention, the GNSS receiver deploys the following processing modules:
定位数据修正模块，用于根据所述修正数据对接收的卫星信号和/或数据链数据的解算过程进行修正，形成地面待测量位置的准确坐标数据；The positioning data correction module is used to correct the calculation process of the received satellite signal and/or data link data according to the correction data to form accurate coordinate data of the ground position to be measured;
坐标数据显示模块，用于将所述准确坐标数据与采集的所述地面待测量位置的图像融合形成实时定位图像，通过通信链路向移动终端传输。The coordinate data display module is used for fusing the accurate coordinate data with the collected image of the ground position to be measured to form a real-time positioning image, which is transmitted to the mobile terminal through a communication link.
本发明一实施例中，所述激光测距仪发射可见光和非可见光两个激光束，非可见光激光束作为测距信号，可见光激光束经过透镜扩散形成平行光，通过预置图案通孔形成预置光学图案。In an embodiment of the present invention, the laser rangefinder emits two laser beams of visible light and non-visible light. The non-visible light laser beam is used as a ranging signal. The visible light laser beam is diffused through the lens to form parallel light, and the preset pattern through hole is formed.置optical pattern.
本发明一实施例中，所述非可见光激光束位于所述预置光学图案中心。In an embodiment of the present invention, the non-visible laser beam is located at the center of the preset optical pattern.
本发明实施例的受限空间内的测量方法，利用上述的受限空间内的RTK测量系统，包括：The measurement method in the confined space of the embodiment of the present invention, using the above-mentioned RTK measurement system in the confined space, includes:
所述对中杆进入自由状态，手持悬停在地面待测位置上方；The centering rod enters a free state, hovering above the ground to be tested position by hand;
通过所述激光测距装置获取地面的待测位置图像；Acquiring an image of the ground position to be measured by the laser ranging device;
通过所述激光测距装置获得距地高度；Obtaining the height from the ground through the laser distance measuring device;
所述GNSS接收机将距地高度作为所述修正数据进行定位解算获得定位数据；The GNSS receiver uses the height from the ground as the correction data to perform positioning calculation to obtain positioning data;
所述GNSS接收机将所述定位数据与所述待测位置图像融合后传送至地面的移动终端。The GNSS receiver merges the positioning data with the image of the position to be measured and transmits it to a mobile terminal on the ground.
本发明一实施例中，所述通过所述激光测距装置获得距地高度包括：In an embodiment of the present invention, the obtaining the height from the ground through the laser distance measuring device includes:
通过所述第一轴向取景器和所述第二轴向取景器获得同步采集的地面图像，利用所述取景图像判断模块量化所述地面图像中垂直方向上的形变长度；Obtain synchronously collected ground images through the first-axis viewfinder and the second-axis viewfinder, and use the viewfinder image judgment module to quantify the vertical deformation length in the ground image;
通过所述水平仪获得同步采集的水平承载板角度误差数据，利用所述水平仪判断模块量化水平承载面的倾斜角度；Obtain synchronously collected horizontal bearing plate angle error data through the level gauge, and use the level gauge judgment module to quantify the inclination angle of the horizontal bearing surface;
在所述倾斜角度和所述形变长度同时处于最小误差范围时利用所述时间戳生成模块将处于所述最小误差范围内的距离数据进行时间戳标记，形成一组对应所述最小误差范围的所述修正数据。When the inclination angle and the deformation length are in the minimum error range at the same time, the time stamp generating module is used to time-stamp the distance data within the minimum error range to form a set of all data corresponding to the minimum error range. The revised data.
本发明实施例的受限空间内的RTK测量系统和测量方法利用对中杆的支撑灵活性形成传统的固定支撑和创造性的活动水平支撑。在固定支撑时利用对中杆本体上的量化刻度和电子气泡获得修正数据，完成对中杆底部接触位置的定位测量。在活动水平支撑的自由状态时，对中杆本体作为握持部握持，顶端的受控支撑结构形成水平承载面承载GNSS接收机和激光测距装置，利用握持部将水平承载面伸向狭小空间的开放上方，利用激光测距装置获得狭小空间底部位置与水平承载面的高度修正数据，完成对空间底部位置的定位测量。The RTK measurement system and measurement method in the confined space of the embodiment of the present invention utilize the support flexibility of the center pole to form a traditional fixed support and a creative activity level support. When the support is fixed, the quantitative scale on the centering rod body and the electronic bubble are used to obtain correction data to complete the positioning measurement of the contact position of the bottom of the centering rod. In the free state of active horizontal support, the centering pole body is held as the grip part, and the controlled support structure at the top forms a horizontal bearing surface to carry the GNSS receiver and the laser ranging device, and the horizontal bearing surface is extended towards Above the opening of the narrow space, the laser distance measuring device is used to obtain the height correction data of the bottom position of the narrow space and the horizontal bearing surface to complete the positioning measurement of the bottom position of the space.
附图简要说明Brief description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are For some of the embodiments of the present invention, for those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative work.
图1所示为本发明一实施例受限空间内的RTK测量系统的架构示意图。FIG. 1 is a schematic diagram of the architecture of an RTK measurement system in a confined space according to an embodiment of the present invention.
图2所示为本发明一实施例受限空间内的RTK测量系统中各部件的俯视连接示意图。Fig. 2 is a schematic diagram showing the top view connection of various components in the RTK measurement system in a confined space according to an embodiment of the present invention.
图3所示为本发明一实施例受限空间内的RTK测量系统中激光测距装置 的架构示意图。FIG. 3 is a schematic diagram showing the structure of a laser ranging device in an RTK measurement system in a confined space according to an embodiment of the present invention.
图4所示为本发明一实施例受限空间内的RTK测量系统激光测距装置中测距处理器和GNSS接收机信号传递的架构示意图。FIG. 4 is a schematic diagram showing the architecture of signal transmission between the ranging processor and the GNSS receiver in the laser ranging device of the RTK measurement system in a confined space according to an embodiment of the present invention.
图5所示为本发明一实施例受限空间内测量方法的测量流程示意图。FIG. 5 is a schematic diagram of a measurement process of a measurement method in a confined space according to an embodiment of the present invention.
实施本发明的方式Ways to implement the invention
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例，基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work are protected by the present invention. range.
本发明一实施例受限空间内的RTK测量系统如图1所示。在图1中，受限空间内的RTK测量系统包括：An RTK measurement system in a confined space in an embodiment of the present invention is shown in FIG. 1. In Figure 1, the RTK measurement system in a confined space includes:
GNSS接收机300，用于接收卫星信号、基准站数据链和修正数据，形成定位数据；The GNSS receiver 300 is used to receive satellite signals, reference station data links and correction data to form positioning data;
对中杆200，用于在顶端形成受控支撑结构，受控提供对顶端GNSS接收机和激光测距装置的固定支撑或活动支撑，在固定支撑时形成量化修正数据，在活动支撑时提供水平承载面；The centering pole 200 is used to form a controlled support structure at the top, and controlled to provide fixed or movable support for the top GNSS receiver and laser ranging device, form quantitative correction data when fixed support, and provide level when movable support Bearing surface
激光测距装置100，用于测量GNSS接收机利用对中杆活动支撑时与地面间的高度差，形成修正数据。The laser distance measuring device 100 is used to measure the height difference between the GNSS receiver and the ground when the GNSS receiver is supported by the centering pole to form correction data.
本发明实施例受限空间内的RTK测量系统利用对中杆的支撑灵活性形成传统的固定支撑和创造性的活动水平支撑的自由状态。在固定支撑时利用对中杆本体上的量化刻度和电子气泡获得修正数据，完成对中杆底部接触位置的定位测量。在活动水平支撑时，对中杆本体作为握持部握持，顶端的受控支撑结构形成水平承载面承载GNSS接收机和激光测距装置，利用握持部将水平承载面伸向狭小空间的开放上方，利用激光测距装置获得狭小空间底部位置与水平承载面的高度修正数据，完成对空间底部位置的定位测量。The RTK measurement system in the confined space of the embodiment of the present invention uses the support flexibility of the center pole to form a free state of traditional fixed support and creative horizontal support. When the support is fixed, the quantitative scale on the centering rod body and the electronic bubble are used to obtain correction data to complete the positioning measurement of the contact position of the bottom of the centering rod. When supporting horizontally, the centering pole body is used as the gripping part, and the controlled supporting structure at the top forms a horizontal bearing surface to carry the GNSS receiver and the laser distance measuring device. The horizontal bearing surface is extended to the narrow space by the gripping part. Above the opening, the laser distance measuring device is used to obtain the correction data of the bottom position of the narrow space and the height of the horizontal bearing surface to complete the positioning measurement of the bottom position of the space.
本发明一实施例受限空间内的RTK测量系统的连接如图2所示。在图2中对中杆包括连接的对中杆本体210和稳定云台220，稳定云台220包括：The connection of the RTK measurement system in the confined space of an embodiment of the present invention is shown in FIG. 2. In Fig. 2 the centering rod includes a centering rod body 210 and a stabilized head 220 that are connected, and the stable head 220 includes:
倾斜角度伺服电机221，用于受控调整顶端稳定云台与对中杆本体间的夹角；The tilt angle servo motor 221 is used for controlled adjustment of the angle between the top stabilized head and the centering rod body;
第一转动伺服电机222，用于维持水平承载面的x轴水平稳定；The first rotating servo motor 222 is used to maintain the horizontal stability of the x-axis of the horizontal bearing surface;
第二转动伺服电机223，用于维持水平承载面的y轴水平稳定；The second rotating servo motor 223 is used to maintain the horizontal stability of the y-axis of the horizontal bearing surface;
水平承载板224，用于提供水平承载面，在顶部承载GNSS接收机，在底部承载激光测距装置。The horizontal carrying plate 224 is used to provide a horizontal carrying surface, carrying the GNSS receiver on the top, and carrying the laser ranging device on the bottom.
在本发明一实施例中，如图2所示，倾斜角度伺服电机221的基座与对中杆本体210顶端固定连接，倾斜角度伺服电机221输出轴与对中杆本体210垂直，倾斜角度伺服电机221输出轴固定连接第一转动伺服电机222基座，第一转动伺服电机222输出轴与倾斜角度伺服电机221输出轴垂直，第一转动伺服电机222输出轴通过连接杆件与第二转动伺服电机223基座固定连接，第一转动伺服电机222输出轴与第二转动伺服电机223输出轴垂直，第二转动伺服电机223输出轴固定连接水平承载板224形成水平承载面。In an embodiment of the present invention, as shown in FIG. 2, the base of the tilt angle servo motor 221 is fixedly connected to the top end of the centering rod body 210, the output shaft of the tilt angle servo motor 221 is perpendicular to the centering rod body 210, and the tilt angle servo The output shaft of the motor 221 is fixedly connected to the base of the first rotating servo motor 222, the output shaft of the first rotating servo motor 222 is perpendicular to the output shaft of the tilt angle servo motor 221, and the output shaft of the first rotating servo motor 222 is connected to the second rotating servo through a connecting rod. The base of the motor 223 is fixedly connected, the output shaft of the first rotating servo motor 222 is perpendicular to the output shaft of the second rotating servo motor 223, and the output shaft of the second rotating servo motor 223 is fixedly connected to the horizontal bearing plate 224 to form a horizontal bearing surface.
稳定云台220具有归零状态设置和自由状态设置，当处于归零状态时对中杆整体形成固定支撑，水平承载板224与对中杆本体210的轴线平行或重合。当处于自由状态时对中杆本体210与稳定云台220的轴线保持交叉，形成活动支撑。归零状态设置和自由状态设置可以通过对中杆200的电机控制策略实现。The stabilized head 220 has a zero return state setting and a free state setting. When in the zero return state, the centering rod integrally forms a fixed support, and the horizontal bearing plate 224 is parallel to or coincides with the axis of the centering rod body 210. When in a free state, the axis of the centering rod body 210 and the stabilizer head 220 are kept crossing to form a movable support. The zero return state setting and the free state setting can be implemented by the motor control strategy of the centering pole 200.
在本发明一实施例中，GNSS接收机设置在水平承载板224顶部，激光测距装置设置在水平承载板224底部，GNSS接收机、水平承载板224与激光测距装置的质心与对中杆本体210的轴线位于同一竖直轴线上。In an embodiment of the present invention, the GNSS receiver is arranged on the top of the horizontal bearing plate 224, the laser ranging device is arranged on the bottom of the horizontal bearing plate 224, the GNSS receiver, the horizontal bearing plate 224 and the center of mass and the centering rod of the laser ranging device The axes of the body 210 are located on the same vertical axis.
本发明一实施例受限空间内的RTK测量系统中激光测距装置的架构如图3所示。在图3中，激光测距装置包括：The architecture of the laser ranging device in the RTK measurement system in a confined space according to an embodiment of the present invention is shown in FIG. 3. In Figure 3, the laser ranging device includes:
激光测距仪120，用于将激光形成测距信号获得水平承载面至地面的垂直高度，并利用激光形成预置光学图案；The laser distance meter 120 is used to form a distance measurement signal from a laser to obtain the vertical height from the horizontal bearing surface to the ground, and use the laser to form a preset optical pattern;
水平仪130，用于采集水平承载面的实时水平夹角； Level 130, used to collect the real-time horizontal angle of the horizontal bearing surface;
温度补偿装置140，用于提供工况温度保持水平仪的稳定工况；The temperature compensation device 140 is used to provide a stable working condition of the working condition temperature maintaining level gauge;
第一轴向取景器150，用于在水平承载面的X轴端部采集预置光学图案在地面形成的投影图案；The first axial viewfinder 150 is used to collect the projection pattern formed by the preset optical pattern on the ground at the X-axis end of the horizontal bearing surface;
第二轴向取景器160，用于在水平承载面的Y轴端部采集预置光学图案在地面形成的投影图案；The second axial viewfinder 160 is used to collect the projection pattern formed by the preset optical pattern on the ground at the Y-axis end of the horizontal bearing surface;
测距处理器170，用于根据水平承载面的水平误差修正测距信号形成修正数据。The ranging processor 170 is used to correct the ranging signal according to the horizontal error of the horizontal bearing surface to form correction data.
在本发明一实施例中，水平承载板224的水平承载面水平时其中心位于对中杆质心所在的竖直轴线上。在水平承载面的中心设置激光测距仪120，激光测距仪发射的激光垂直于水平承载面。水平仪130位于水平承载面的边缘，温度补偿装置140的热量传导部件水平仪130的测量结构接触。第一轴向取景器150设置于水平承载面上通过中心的第一轴线的端部，第二轴向取景器160设置于水平承载面上通过中心的第二轴线的端部，第一轴线与第二轴线垂直，各取景器的光学感应面的轴线与水平承载面垂直。GNSS接收机300与移动终端，测距处理器170与GNSS接收机300、激光测距仪120、水平仪130、温度补偿装置140、第一轴向取景器150、第二轴向取景器160间分别建立近场无线通信链路，近场无线通信采用例如蓝牙、NFC等技术。In an embodiment of the present invention, when the horizontal bearing surface of the horizontal bearing plate 224 is horizontal, its center is located on the vertical axis where the center of mass of the centering rod is located. A laser rangefinder 120 is arranged in the center of the horizontal bearing surface, and the laser light emitted by the laser rangefinder is perpendicular to the horizontal bearing surface. The level 130 is located at the edge of the horizontal bearing surface, and the heat conducting component of the temperature compensation device 140 is in contact with the measuring structure of the level 130. The first axial viewfinder 150 is arranged on the end of the first axis passing through the center on the horizontal bearing surface, and the second axial viewfinder 160 is arranged on the end of the second axis passing through the center on the horizontal bearing surface. The second axis is perpendicular, and the axis of the optical sensing surface of each viewfinder is perpendicular to the horizontal bearing surface. Between the GNSS receiver 300 and the mobile terminal, the ranging processor 170 and the GNSS receiver 300, the laser rangefinder 120, the level 130, the temperature compensation device 140, the first axis viewfinder 150, and the second axis viewfinder 160 respectively A near-field wireless communication link is established, and near-field wireless communication uses technologies such as Bluetooth and NFC.
在本发明一实施例中，激光测距仪120发射可见光和非可见光两个激光束，第一激光束(非可见光)作为测距信号，第二激光束(可见光)经过透镜扩散形成平行光，通过预置图案通孔形成预置光学图案。预置光学图案可以是与取景器设置位置对应的十字图案或十字型图案。第一激光束位于预置光学图案中心第一激光束与预置光学图案共轴。在实际使用中，通常在地面待测位置进行简单标记，取景器捕获预置光学图案在地面的投影图像的同时也获得了地面图像，在操作过程中将预置光学图案对称中心对准简单标记，就可以实现地面待测位置和地面待测位置上的投影图像的位置匹配，将地面图像传送至移动终端进行观察，就可以适时位移调整水平承载面使得预置光学图案的对称中心与地面待测位置的简单标记重合，使得作为测距信号的第一激光束对准简单标记完 成距离测量。In an embodiment of the present invention, the laser rangefinder 120 emits two laser beams of visible light and non-visible light, the first laser beam (non-visible light) is used as the ranging signal, and the second laser beam (visible light) is diffused through the lens to form parallel light, The preset optical pattern is formed through the preset pattern through hole. The preset optical pattern may be a cross pattern or a cross pattern corresponding to the setting position of the viewfinder. The first laser beam is located at the center of the preset optical pattern. The first laser beam is coaxial with the preset optical pattern. In actual use, a simple mark is usually performed on the ground to be measured. The viewfinder captures the projection image of the preset optical pattern on the ground and also obtains the ground image. During the operation, the symmetry center of the preset optical pattern is aligned with the simple mark , The position of the projected image on the ground to be measured and the ground to be measured can be matched, the ground image is transmitted to the mobile terminal for observation, and the horizontal bearing surface can be shifted and adjusted in time so that the symmetry center of the preset optical pattern is aligned with the ground to be measured. The simple marks for measuring the position overlap, so that the first laser beam used as the ranging signal is aligned with the simple marks to complete the distance measurement.
本发明实施例受限空间内的RTK测量系统利用水平承载板保持手持初步稳定的基础上进一步形成具有更高动态稳定精度的水平承载面，使得激光测距仪具有获得更准确垂直高度的基准。由于受温度变化和自然风向影响水平承载面会一直处于动态调整状态，使得测距信号保持漂移，本发明实施例采用同步投影的光学图案指示地面定位位置利用两个取景器采集负相关的成对地面投影图案，通过图像分析可以获得投影图案在不同方向上的形变，获得地面测量的量化漂移数据。同时利用工况稳定的水平仪获取水平承载面本体的水平度误差，获得水平承载面受手持悬停摆动影响出现的角度变化数据，通过图像形变和角度变化两种途径的误差信号修正第一激光束的测距信号形成修正数据，保证手持悬停状态的GNSS接收机卫星信号接收误差和测量的与地面间的高度误差得以最大限度消除。The RTK measurement system in the confined space of the embodiment of the present invention further forms a horizontal bearing surface with higher dynamic stability accuracy on the basis of a horizontal bearing plate to maintain the initial stability of the handheld, so that the laser rangefinder has a reference for obtaining a more accurate vertical height. Due to the influence of temperature changes and natural wind direction, the horizontal bearing surface will always be in a dynamic adjustment state, so that the ranging signal keeps drifting. The embodiment of the present invention uses a synchronously projected optical pattern to indicate the ground positioning position and uses two viewfinders to collect negatively correlated pairs of ground Projection pattern, through image analysis, the deformation of the projection pattern in different directions can be obtained, and the quantitative drift data of ground measurement can be obtained. At the same time, a stable level instrument is used to obtain the level error of the horizontal bearing surface body, and the angle change data of the horizontal bearing surface affected by the hand-held hovering swing is obtained, and the first laser beam is corrected by the error signal of the image deformation and the angle change. The ranging signal of the GNSS can form correction data to ensure that the satellite signal reception error of the handheld hovering GNSS receiver and the height error between the measurement and the ground can be eliminated to the greatest extent.
本发明一实施例受限空间内的RTK测量系统的测距处理器中部署的处理模块如图4所示。测距处理器通过以下处理模块实现对应的数据处理过程：The processing module deployed in the ranging processor of the RTK measurement system in a confined space in an embodiment of the present invention is shown in FIG. 4. The ranging processor implements the corresponding data processing process through the following processing modules:
取景图像判断模块171，用于量化识别第一轴向取景器和第二轴向取景器同步获取的投影图像在投影平面中两个垂直方向上的形变程度，形成水平承载板224的图形误差数据；The framing image judgment module 171 is used to quantify and identify the deformation degree of the projection image obtained by the first-axis viewfinder and the second-axis viewfinder in two vertical directions in the projection plane, and form the graphic error data of the horizontal carrier 224 ；
图形误差数据体现测距信号对地面测量位置的直观对准误差，具有对地面定位位置实时反馈的测量优势。通过在两个垂直方向上的形变程度可以确定当前测量信号的漂移方位和距离。The graphic error data reflects the intuitive alignment error of the ranging signal to the ground measurement position, and has the measurement advantage of real-time feedback on the ground positioning position. The drift azimuth and distance of the current measurement signal can be determined by the degree of deformation in the two vertical directions.
水平仪判断模块173，用于量化识别水平承载面随手持漂移过程中的倾斜变化形成水平承载板的角度误差数据；The level judging module 173 is used to quantify and identify the angle error data of the horizontal bearing plate formed by the inclination change of the horizontal bearing surface in the process of handheld drift;
角度误差数据体现了水平承载板手持漂移姿态对水平承载面本体基准影响的方向和程度，具有实时感知水平承载板姿态变化的测量优势。可以帮助水平承载板提供前反馈信号，提高水平承载面调平响应效率。The angle error data reflects the direction and extent of the influence of the drifting attitude of the horizontal bearing plate on the reference of the horizontal bearing surface, and it has the measurement advantage of real-time sensing of the attitude change of the horizontal bearing plate. It can help the horizontal load-bearing board to provide front feedback signals and improve the leveling response efficiency of the horizontal load-bearing surface.
水平度加权模块172，用于根据图形误差数据和角度误差数据的误差趋势判断最佳水平度出现的时机和时间点，形成最佳水平时间；The levelness weighting module 172 is used for judging the timing and time point of the best levelness according to the error trend of the graphic error data and the angle error data to form the best leveling time;
激光测距接收模块174，用于持续接收测距信号形成的距离数据；The laser ranging receiving module 174 is used to continuously receive the distance data formed by the ranging signal;
时间戳生成模块175，用于根据最佳水平时间标注距离数据的时间戳形成修正数据；The time stamp generating module 175 is used to form correction data according to the time stamp of the distance data marked with the best horizontal time;
通信链路控制模块176，用于形成受控通信链路控制修正数据的传输。The communication link control module 176 is used to form a controlled communication link to control the transmission of correction data.
本发明实施例受限空间内的RTK测量系统利用角度误差和图像误差结合实时测距信号的测量过程，将同时符合最小误差的角度误差和图像误差的测距信号作为准确高度距离数据，使得手持漂移和摆动的误差因素得以克服，有效提高了修正数据的准确性。The RTK measurement system in the confined space of the embodiment of the present invention uses the measurement process of angle error and image error combined with real-time ranging signal, and takes the angle error and image error that meet the minimum error at the same time as the accurate height distance data, so that the handheld The error factors of drift and swing can be overcome, effectively improving the accuracy of the correction data.
在本发明一实施例中，激光测距装置完成以下数据处理过程：In an embodiment of the present invention, the laser ranging device completes the following data processing process:
量化识别第一轴向取景器和第二轴向取景器同步获取的投影图像在投影平面中两个垂直方向上的形变程度，形成水平承载板224的图形误差数据；Quantitatively identify the degree of deformation in the two vertical directions in the projection plane of the projected image simultaneously acquired by the first-axis viewfinder and the second-axis viewfinder, and form the graphic error data of the horizontal carrier 224;
量化识别水平承载面随手持漂移过程中的倾斜变化形成水平承载板的角度误差数据；Quantitatively identify the angle error data of the horizontal bearing plate formed by the inclination change of the horizontal bearing surface along with the handheld drift process;
根据图形误差数据和角度误差数据的误差趋势判断最佳水平度出现的时机和时间点，形成最佳水平时间；According to the error trend of graphic error data and angle error data, judge the timing and time point of the best levelness to form the best level time;
持续接收测距信号形成的距离数据；Continuously receive the distance data formed by the ranging signal;
根据最佳水平时间标注距离数据的时间戳形成修正数据；Form correction data based on the time stamp of the distance data marked with the best level time;
形成受控通信链路控制修正数据的传输。Form a controlled communication link to control the transmission of correction data.
在本发明一实施例中，如图4所示，GNSS接收机300部署以下处理模块，GNSS接收机300的处理器通过以下处理模块实现对应的数据处理过程：In an embodiment of the present invention, as shown in FIG. 4, the GNSS receiver 300 deploys the following processing modules, and the processor of the GNSS receiver 300 implements the corresponding data processing process through the following processing modules:
定位数据修正模块310，用于根据修正数据对接收的卫星信号和/或数据链数据的解算过程进行修正，形成地面待测量位置的准确坐标数据；The positioning data correction module 310 is used to correct the calculation process of the received satellite signal and/or data link data according to the correction data to form accurate coordinate data of the position to be measured on the ground;
坐标数据显示模块320，用于将准确坐标数据与采集的地面待测量位置的图像融合形成实时定位图像，通过通信链路向移动终端传输。The coordinate data display module 320 is used for fusing accurate coordinate data with the collected image of the ground position to be measured to form a real-time positioning image, which is transmitted to the mobile terminal through the communication link.
本发明实施例受限空间内的RTK测量系统将GNSS接收机解算后的定位数据和取景器获得的地面图像相融合，并实时传输至地表的移动终端，使得定位过程的测量自由度有了较大的提升，尤其可以适用于进场障碍物较多的地面 区域范围测量。The RTK measurement system in the confined space of the embodiment of the present invention fuses the positioning data calculated by the GNSS receiver with the ground image obtained by the viewfinder and transmits it to the mobile terminal on the ground in real time, so that the measurement freedom of the positioning process The larger improvement is especially suitable for the measurement of the ground area with more obstacles in approach.
在本发明一实施例中，GNSS接收机完成以下数据处理过程：In an embodiment of the present invention, the GNSS receiver completes the following data processing procedures:
根据修正数据对接收的卫星信号和/或数据链数据的解算过程进行修正，形成地面待测量位置的准确坐标数据；Correct the calculation process of the received satellite signal and/or data link data according to the correction data to form accurate coordinate data of the ground to be measured;
将准确坐标数据与采集的地面待测量位置的图像融合形成实时定位图像，通过通信链路向移动终端传输。The accurate coordinate data is fused with the collected image of the ground to be measured to form a real-time positioning image, which is transmitted to the mobile terminal through the communication link.
本发明一实施例受限空间内的测量方法如图5所示。在图5中，测量方法利用本发明实施例的受限空间内的RTK测量系统，包括：The measurement method in a confined space according to an embodiment of the present invention is shown in FIG. 5. In Fig. 5, the measurement method using the RTK measurement system in the confined space of the embodiment of the present invention includes:
步骤10：对中杆进入自由状态设置，手持悬停在地面待测位置上方；Step 10: The centering rod enters the free state setting, and hovering above the ground to be tested position by hand;
步骤20：通过激光测距装置获取地面的待测位置图像；Step 20: Obtain an image of the position to be measured on the ground through a laser ranging device;
步骤30：通过激光测距装置获得距地高度；Step 30: Obtain the height from the ground through the laser ranging device;
步骤40：GNSS接收机将距地高度作为修正数据进行定位解算获得定位数据；Step 40: The GNSS receiver uses the height from the ground as correction data to perform positioning calculation to obtain positioning data;
步骤50：GNSS接收机将定位数据与待测位置图像融合后传送至地面的移动终端。Step 50: The GNSS receiver merges the positioning data with the image of the location to be measured and transmits it to the mobile terminal on the ground.
本发明实施例测量方法有效克服了近场障碍形成的测量缺陷，较好改善了测量过程的自由度。The measurement method of the embodiment of the present invention effectively overcomes the measurement defect formed by the near-field obstacle, and better improves the degree of freedom of the measurement process.
在本发明一实施例中，如图5所示，步骤30包括：In an embodiment of the present invention, as shown in FIG. 5, step 30 includes:
步骤31：通过第一轴向取景器和第二轴向取景器获得同步采集的地面图像，利用取景图像判断模块量化地面图像中垂直方向上的形变长度；Step 31: Obtain synchronously collected ground images through the first axis viewfinder and the second axis viewfinder, and use the viewfinder image judgment module to quantify the vertical deformation length in the ground image;
步骤32：通过水平仪获得同步采集的水平承载板224角度误差数据，利用水平仪判断模块量化水平承载面的倾斜角度；Step 32: Obtain synchronously collected angle error data of the horizontal bearing plate 224 through a level meter, and use the level meter judgment module to quantify the inclination angle of the horizontal bearing surface;
步骤33：在倾斜角度和形变长度同时处于最小误差范围时利用时间戳生成模块将处于最小误差范围内的距离数据进行时间戳标记。形成一组对应最小误差范围的修正数据。Step 33: When the inclination angle and the deformation length are both within the minimum error range, the time stamp generating module is used to time stamp the distance data within the minimum error range. Form a set of correction data corresponding to the minimum error range.
本发明实施例测量方法形成的对应最小误差范围的修正数据可以进一步提高定位测量的解算精度形成与最小误差范围对应的时间范围内的修正数据， 利用符合精度逼近趋势的数据提高最终测量精度。The correction data corresponding to the minimum error range formed by the measurement method of the embodiment of the present invention can further improve the resolution accuracy of positioning measurement. The correction data within the time range corresponding to the minimum error range is formed, and the final measurement accuracy is improved by using the data conforming to the accuracy approximation trend.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or changes within the technical scope disclosed by the present invention. All replacements shall be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
本发明实施例的受限空间内的RTK测量系统，包括：The RTK measurement system in a confined space in the embodiment of the present invention includes:
第一存储器，用于存储上述实施例的受限空间内的RTK测量系统的处理过程的程序代码；The first memory is used to store the program code of the processing procedure of the RTK measurement system in the restricted space of the foregoing embodiment;
第一处理器，用于执行上述实施例的受限空间内的RTK测量系统的处理过程的程序代码。The first processor is used to execute the program code of the processing procedure of the RTK measurement system in the confined space of the foregoing embodiment.
本发明实施例的受限空间内的RTK测量系统，包括：The RTK measurement system in a confined space in the embodiment of the present invention includes:
第二存储器，用于存储上述实施例的受限空间内的RTK测量方法的处理过程的程序代码；The second memory is used to store the program code of the processing procedure of the RTK measurement method in the restricted space of the foregoing embodiment;
第二处理器，用于执行上述实施例的受限空间内的RTK测量方法的处理过程的程序代码。The second processor is used to execute the program code of the processing procedure of the RTK measurement method in the confined space of the foregoing embodiment.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。A person of ordinary skill in the art may be aware that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the above-described system, device, and unit can refer to the corresponding process in the foregoing method embodiment, which is not repeated here.
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或 一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序校验码的介质。If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method in each embodiment of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc., which can store program check codes. Medium.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. within.
工业实用性Industrial applicability
本发明实施例的受限空间内的RTK测量系统和测量方法，通过对中杆实现两种测量状态的切换，扩展了GNSS接收机的适用范围和测量时的精度，降低人力工作量。有利于批量生产和规模应用。可以普遍应用于现场工程环境的 准确测量。The RTK measurement system and measurement method in the confined space of the embodiment of the present invention realize the switching of two measurement states through the centering pole, which expands the application range and measurement accuracy of the GNSS receiver, and reduces the labor workload. Conducive to mass production and large-scale applications. It can be widely used for accurate measurement of on-site engineering environment.

Claims (10)

  1. 一种受限空间内的RTK测量系统，其特征在于，包括：An RTK measurement system in a confined space, which is characterized in that it includes:
    GNSS接收机，用于接收卫星信号、基准站数据链和修正数据，形成定位数据；GNSS receiver, used to receive satellite signals, reference station data link and correction data to form positioning data;
    对中杆，用于在顶端形成受控支撑结构，受控提供对顶端所述GNSS接收机和激光测距装置的固定支撑或活动支撑，在固定支撑时形成量化修正数据，在活动支撑时提供水平承载面；The centering pole is used to form a controlled support structure at the top, and controlled to provide a fixed or movable support for the GNSS receiver and laser ranging device at the top. It forms quantitative correction data when it is fixed and provides it when it is movable. Horizontal bearing surface
    激光测距装置，用于测量所述GNSS接收机利用对中杆活动支撑时与地面间的高度差，形成修正数据。The laser distance measuring device is used to measure the height difference between the GNSS receiver and the ground when the GNSS receiver is supported by the centering pole to form correction data.
  2. 如权利要求1所述的受限空间内的RTK测量系统，其特征在于，所述对中杆包括连接的对中杆本体和稳定云台，所述稳定云台包括：The RTK measurement system in a confined space according to claim 1, wherein the centering rod comprises a centering rod body and a stabilized platform connected to each other, and the stable platform includes:
    倾斜角度伺服电机，用于受控调整顶端稳定云台与对中杆本体间的夹角；The tilt angle servo motor is used for controlled adjustment of the angle between the top stabilized gimbal and the centering rod body;
    第一转动伺服电机，用于维持所述水平承载面的x轴水平稳定；The first rotating servo motor is used to maintain the horizontal stability of the x-axis of the horizontal bearing surface;
    第二转动伺服电机，用于维持所述水平承载面的y轴水平稳定；The second rotating servo motor is used to maintain the horizontal stability of the y-axis of the horizontal bearing surface;
    水平承载板，用于提供所述水平承载面，在所述水平承载板顶部所述承载GNSS接收机，在底部承载所述激光测距装置。The horizontal bearing plate is used to provide the horizontal bearing surface, the GNSS receiver is carried on the top of the horizontal bearing plate, and the laser ranging device is carried on the bottom.
  3. 如权利要求2所述的受限空间内的RTK测量系统，其特征在于，所述倾斜角度伺服电机的基座与所述对中杆本体顶端固定连接，所述倾斜角度伺服电机输出轴与所述对中杆本体垂直，所述倾斜角度伺服电机输出轴固定连接所述第一转动伺服电机基座，所述第一转动伺服电机输出轴与所述倾斜角度伺服电机输出轴垂直，所述第一转动伺服电机输出轴通过连接杆件与所述第二转动伺服电机基座固定连接，所述第一转动伺服电机输出轴与所述第二转动伺服电机输出轴垂直，所述第二转动伺服电机输出轴固定连接所述水平承载板形成所述水平承载面。The RTK measurement system in a confined space according to claim 2, wherein the base of the tilt angle servo motor is fixedly connected to the top end of the centering rod body, and the tilt angle servo motor output shaft is connected to the The centering rod body is vertical, the tilt angle servo motor output shaft is fixedly connected to the first rotation servo motor base, the first rotation servo motor output shaft is perpendicular to the tilt angle servo motor output shaft, and the first A rotating servo motor output shaft is fixedly connected to the second rotating servo motor base through a connecting rod, the first rotating servo motor output shaft is perpendicular to the second rotating servo motor output shaft, and the second rotating servo motor The motor output shaft is fixedly connected to the horizontal bearing plate to form the horizontal bearing surface.
  4. 如权利要求2所述的受限空间内的RTK测量系统，其特征在于，所述激光测距装置包括：The RTK measurement system in a confined space according to claim 2, wherein the laser distance measuring device comprises:
    激光测距仪，用于将激光形成测距信号获得所述水平承载面至地面的垂直高度，并利用激光形成预置光学图案；A laser rangefinder for forming a range finding signal from a laser to obtain the vertical height from the horizontal bearing surface to the ground, and using the laser to form a preset optical pattern;
    水平仪，用于采集所述水平承载面的实时水平夹角；A spirit level, used to collect the real-time horizontal angle of the horizontal bearing surface;
    温度补偿装置，用于提供工况温度保持水平仪的稳定工况；Temperature compensation device, used to provide the stable working condition of the working condition temperature maintaining level;
    第一轴向取景器，用于在所述水平承载面的X轴端部采集所述预置光学图案在地面形成的投影图案；A first axial viewfinder, configured to collect the projection pattern formed by the preset optical pattern on the ground at the X-axis end of the horizontal bearing surface;
    第二轴向取景器，用于在所述水平承载面的Y轴端部采集所述预置光学图案在地面形成的投影图案；A second axial viewfinder, configured to collect the projection pattern formed by the preset optical pattern on the ground at the Y-axis end of the horizontal bearing surface;
    测距处理器，用于根据所述水平承载面的水平误差修正测距信号形成修正数据。The ranging processor is used for forming correction data according to the horizontal error correction ranging signal of the horizontal bearing surface.
  5. 如权利要求4所述的受限空间内的RTK测量系统，其特征在于，所述测距处理器中部署以下处理模块：The RTK measurement system in a confined space according to claim 4, wherein the following processing modules are deployed in the ranging processor:
    取景图像判断模块，用于量化识别所述第一轴向取景器和所述第二轴向取景器同步获取的所述投影图像在投影平面中两个垂直方向上的形变程度，形成所述水平承载板的图形误差数据；The viewfinder image judgment module is used to quantify and recognize the degree of deformation of the projection image obtained by the first axis viewfinder and the second axis viewfinder in two vertical directions in the projection plane to form the horizontal Graphic error data of the carrier board;
    水平仪判断模块，用于量化识别所述水平承载面随手持漂移过程中的倾斜变化形成所述水平承载板的角度误差数据；The level gauge judgment module is used to quantify and identify the angle error data of the horizontal bearing plate formed by the inclination change of the horizontal bearing surface in the process of hand-held drift;
    水平度加权模块，用于根据所述图形误差数据和所述角度误差数据的误差趋势判断最佳水平度出现的时机和时间点，形成最佳水平时间；The levelness weighting module is used for judging the timing and time point of the best levelness according to the error trend of the graphic error data and the angle error data to form the best leveling time;
    激光测距接收模块，用于持续接收所述测距信号形成的距离数据；The laser ranging receiving module is used to continuously receive the distance data formed by the ranging signal;
    时间戳生成模块，用于根据所述最佳水平时间标注距离数据的时间戳形成修正数据；A time stamp generating module, configured to form correction data according to the time stamp of the distance data marked with the optimal horizontal time;
    通信链路控制模块，用于形成受控通信链路控制修正数据的传输。The communication link control module is used to form a controlled communication link to control the transmission of correction data.
  6. 如权利要求4所述的受限空间内的RTK测量系统，其特征在于，所述GNSS接收机部署以下处理模块：The RTK measurement system in a confined space according to claim 4, wherein the GNSS receiver deploys the following processing modules:
    定位数据修正模块，用于根据所述修正数据对接收的卫星信号和/或数据链数据的解算过程进行修正，形成地面待测量位置的准确坐标数据；The positioning data correction module is used to correct the calculation process of the received satellite signal and/or data link data according to the correction data to form accurate coordinate data of the ground position to be measured;
    坐标数据显示模块，用于将所述准确坐标数据与采集的所述地面待测量位置的图像融合形成实时定位图像，通过通信链路向移动终端传输。The coordinate data display module is used for fusing the accurate coordinate data with the collected image of the ground position to be measured to form a real-time positioning image, which is transmitted to the mobile terminal through a communication link.
  7. 如权利要求4所述的受限空间内的RTK测量系统，其特征在于，所述激光测距仪发射可见光和非可见光两个激光束，非可见光激光束作为测距信号，可见光激光束经过透镜扩散形成平行光，通过预置图案通孔形成预置光学图案。The RTK measurement system in a confined space according to claim 4, wherein the laser rangefinder emits two laser beams of visible light and non-visible light, the non-visible light laser beam is used as the ranging signal, and the visible light laser beam passes through the lens Diffusion forms parallel light, and forms a preset optical pattern through a preset pattern through hole.
  8. 如权利要求7所述的受限空间内的RTK测量系统，其特征在于，所述非可见光激光束位于所述预置光学图案中心。8. The RTK measurement system in a confined space according to claim 7, wherein the invisible laser beam is located at the center of the preset optical pattern.
  9. 一种受限空间内的测量方法，其特征在于，利用如权利要求1至8任一所述的受限空间内的RTK测量系统，包括：A measurement method in a confined space, characterized in that using the RTK measurement system in a confined space according to any one of claims 1 to 8, comprising:
    所述对中杆进入自由状态，手持悬停在地面待测位置上方；The centering rod enters a free state, hovering above the ground to be tested position by hand;
    通过所述激光测距装置获取地面的待测位置图像；Acquiring an image of the ground position to be measured by the laser ranging device;
    通过所述激光测距装置获得距地高度；Obtaining the height from the ground through the laser distance measuring device;
    所述GNSS接收机将距地高度作为所述修正数据进行定位解算获得定位数据；The GNSS receiver uses the height from the ground as the correction data to perform positioning calculation to obtain positioning data;
    所述GNSS接收机将所述定位数据与所述待测位置图像融合后传送至地面的移动终端。The GNSS receiver merges the positioning data with the image of the position to be measured and transmits it to a mobile terminal on the ground.
  10. 如权利要求9所述的受限空间内的测量方法，提特征在于，所述通过所述激光测距装置获得距地高度包括：9. The measurement method in a confined space according to claim 9, wherein said obtaining the height from the ground through the laser distance measuring device comprises:
    通过所述第一轴向取景器和所述第二轴向取景器获得同步采集的地面图像，利用所述取景图像判断模块量化所述地面图像中垂直方向上的形变长度；Obtain synchronously collected ground images through the first-axis viewfinder and the second-axis viewfinder, and use the viewfinder image judgment module to quantify the vertical deformation length in the ground image;
    通过所述水平仪获得同步采集的水平承载板角度误差数据，利用所述水平仪判断模块量化水平承载面的倾斜角度；Obtain synchronously collected horizontal bearing plate angle error data through the level gauge, and use the level gauge judgment module to quantify the inclination angle of the horizontal bearing surface;
    在所述倾斜角度和所述形变长度同时处于最小误差范围时利用所述时间戳生成模块将处于所述最小误差范围内的距离数据进行时间戳标记，形成一组对应所述最小误差范围的所述修正数据。When the inclination angle and the deformation length are in the minimum error range at the same time, the time stamp generating module is used to time-stamp the distance data within the minimum error range to form a set of all data corresponding to the minimum error range. The revised data.
PCT/CN2019/074157 2019-01-31 2019-01-31 Rtk measurement system and measurement method in confined space WO2020155009A1 (en)

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US6064942A (en) * 1997-05-30 2000-05-16 Rockwell Collins, Inc. Enhanced precision forward observation system and method
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