技术领域technical field
本发明属于测绘领域，尤其涉及一种GNSS与激光测距相结合的测量系统及测量方法。The invention belongs to the field of surveying and mapping, and in particular relates to a measurement system and a measurement method combining GNSS and laser ranging.
背景技术Background technique
GNSS(全球卫星导航系统)是GPS、GLONASS、BDS等各类卫星定位系统的统称，由于其全天候、全天时、广覆盖、高精度的特点，目前在测绘领域得到广泛应用。GNSS测量包括静态和动态两种作业方式；其中动态测量如RTK(实时动态测量)或PPK(后处理动态测量)模式，可以达到厘米级的定位精度。GNSS动态测量通常配以对中杆，从而实现快速地对中整平和移动，在开展地籍测量、地形图测绘等工作时尤为便捷。但如果点位附近有电磁干扰，或所测位置不能同时接收到四颗以上卫星的信号，则GNSS定位无法得到厘米级的定位结果甚至完全无法实施。GNSS (Global Satellite Navigation System) is the collective name of various satellite positioning systems such as GPS, GLONASS, and BDS. Due to its all-weather, all-time, wide coverage, and high-precision characteristics, it is currently widely used in the field of surveying and mapping. GNSS measurement includes static and dynamic operation methods; among them, dynamic measurement such as RTK (real-time dynamic measurement) or PPK (post-processing dynamic measurement) mode can achieve centimeter-level positioning accuracy. GNSS dynamic survey is usually equipped with a centering pole to achieve rapid centering leveling and movement, which is especially convenient when carrying out cadastral surveying, topographic map surveying and other work. However, if there is electromagnetic interference near the point, or the measured position cannot receive signals from more than four satellites at the same time, GNSS positioning cannot obtain centimeter-level positioning results or even cannot be implemented at all.
全站仪是一种可同时测量水平角、垂直角和距离的仪器，测角精度通常有0.5秒、1秒、2秒、5秒几个等级；测距精度有0.5mm+1ppm、1mm+1ppm、2mm+2ppm几个等级。测距可以使用合作目标，也可以使用免棱镜模式。其突出的优势是精度高，无需卫星信号；缺点是点和点之间必须通视。The total station is an instrument that can measure the horizontal angle, vertical angle and distance at the same time. The angle measurement accuracy is usually 0.5 seconds, 1 second, 2 seconds, and 5 seconds; the distance measurement accuracy is 0.5mm+1ppm, 1mm+ 1ppm, 2mm+2ppm several levels. Rangefinder can use cooperative target, also can use mirrorless mode. Its outstanding advantage is that it has high precision and does not require satellite signals; its disadvantage is that it must be in sight between points.
当待定点无法用GNSS方法直接测定(以下简称“待定点”)时，目前最常用的解决方案是将全站仪与GNSS相结合，即在待定点附近选择至少两处GNSS观测条件较好、且相距较远的位置，在每个位置上用RTK方法进行测量，得到若干个已知点，在其中一个与待定点通视的已知点上架设全站仪，并瞄准另一个已知点进行定向，然后再根据极坐标法测定待定点的坐标。此种方法的缺点在于：1)全站仪较为笨重，还需配以三脚架，携带不方便；2)全站仪的对中整平操作较为耗时；3)两已知点必须通视，但又距离不能太近，否则定向误差很大；4)全站仪造价较高，价格通常在数万元。When the point to be fixed cannot be directly measured by GNSS method (hereinafter referred to as "point to be fixed"), the most commonly used solution is to combine the total station with GNSS, that is, to select at least two GNSS observation conditions near the point to be fixed. And far away positions, use RTK method to measure at each position, get several known points, set up a total station on one of the known points that are in line with the point to be fixed, and aim at another known point Carry out orientation, and then determine the coordinates of the point to be fixed according to the polar coordinate method. The disadvantages of this method are: 1) the total station is relatively bulky and needs to be equipped with a tripod, which is inconvenient to carry; 2) the centering and leveling operation of the total station is time-consuming; 3) the two known points must be in sight, But the distance can not be too close, otherwise the directional error is very large; 4) the cost of the total station is relatively high, and the price is usually tens of thousands of yuan.
手持式激光测距仪是一种便携式的激光测距仪，测距精度一般为毫米级。其优点在于便携、价格低廉(仅需数百至数千元)，缺点在于仅能提供距离观测值，且测程较短，通常在200m以内，配以棱镜或反射片则使测程延长2～3倍。一般应用于房产测量、考古等领域。The handheld laser rangefinder is a portable laser rangefinder, and the ranging accuracy is generally at the millimeter level. Its advantage is that it is portable and cheap (only hundreds to thousands of yuan), and its disadvantage is that it can only provide distance observation value, and the measurement range is relatively short, usually within 200m, and the measurement range can be extended by 2 when equipped with prisms or reflectors. ~3 times. Generally used in real estate surveying, archaeology and other fields.
对比文件CN101490505A涉及一种使用GPS接收器提供二维位置数据的有高度修正的手持式激光探测器，但待定点的坐标，需要借助重力感应器件，以便用倾角推算待定点与GPS天线相位中心之间的几何关系。类似的，对比文件CN102540200A披露了一种全球导航卫星系统接收机及位置测量方法；对比文件CN104931976A公开了一种便携型的地理信息现场实时测绘方法；二者均涉及将激光测距仪和GPS组合，但其需要激光测距仪提供俯仰角、方位角。而能提供角度观测值的激光测距仪不同于普通手持式激光测距仪，其实质为手持全站仪，如Trimble LaserAce1000、laica DISTO，其缺点在于：1)内置的重力感应器(或称电子罗盘、陀螺仪、MEMS)，其北方向与地理坐标的北方向(在中国为高斯投影中央子午线的北方向)存在一个夹角，该夹角数值不可忽略且并非固定，会随着其所处位置变化而变化，因而需要现场定向和校正，大大削弱其便捷性；2)即使经过校正将此系统误差消除，其定北的中误差仍然存在，通常大于±1°；3)测角误差较大，能达到±0.1°已属上品；4)由于前述原因，其定位的精度难以达到厘米级；5)造价不菲，通常达数万元。也正是由于上述原因，虽然此类仪器问世已有一段时间，但市场占有率较低。The comparative document CN101490505A relates to a hand-held laser detector with height correction that uses a GPS receiver to provide two-dimensional position data, but the coordinates of the point to be fixed need the help of a gravity sensor to calculate the distance between the point to be fixed and the phase center of the GPS antenna by using the inclination angle. geometric relationship between them. Similar, comparative document CN102540200A discloses a kind of global navigation satellite system receiver and position measurement method; Comparative document CN104931976A discloses a kind of portable real-time surveying and mapping method of geographical information scene; Both involve the combination of laser range finder and GPS , but it requires the laser range finder to provide pitch angle and azimuth angle. The laser range finder that can provide angle observation value is different from the ordinary handheld laser range finder. It is essentially a hand-held total station, such as Trimble LaserAce1000 and laica DISTO. Electronic compass, gyroscope, MEMS), there is an included angle between the north direction and the north direction of the geographical coordinates (in China, the north direction of the central meridian of the Gaussian projection). The value of the angle cannot be ignored and is not fixed. Therefore, on-site orientation and correction are required, which greatly weakens its convenience; 2) Even if the system error is eliminated after correction, the central error of north determination still exists, usually greater than ±1°; 3) Angle measurement error Larger, can reach ± 0.1 ° and is a top grade; 4) Due to the aforementioned reasons, the positioning accuracy is difficult to reach the centimeter level; 5) The cost is expensive, usually tens of thousands of yuan. It is precisely because of the above reasons that although such instruments have been available for some time, their market share is relatively low.
目前市面上还出现了一种内部带有MEMS传感器的GNSS接收机，当对中杆底部放置在待定点上而杆身倾斜一定角度(通常在30°以内)时，通过GNSS天线的相位中心作一铅垂线，其与地面的交点会偏离对中杆底部一定的距离，由于MEMS传感器可给出俯仰角、方位角，便可计算出相应的坐标改正量，如此在外业测量时无需精确整平对中杆的水准气泡，从而可在一定程度上提高GNSS动态测量的效率。实际上对于本行业人员来说，整平对中杆的气泡本来仅需数秒，因而此种设备的性价比不高，然而利用这个特点也可将之用于测量部分GNSS不可测的点，但除了前述的各种缺点(主要是定北不准所导致的方位角误差大)，还需要注意的是，对中杆的底部需放置在待定点上，这意味着待定点1m范围内(对中杆通常长2m，根据倾角30°算得)必须有GNSS观测条件良好的位置，否则同样无法测得。At present, there is also a GNSS receiver with a MEMS sensor inside. When the bottom of the centering pole is placed on the point to be fixed and the pole is tilted at a certain angle (usually within 30°), the phase center of the GNSS antenna will be used as the receiver. A plumb line, its intersection with the ground will deviate from the bottom of the centering pole by a certain distance, since the MEMS sensor can give the pitch angle and azimuth angle, the corresponding coordinate correction can be calculated, so there is no need for precise adjustment during field measurement The leveling bubble of the centering pole can improve the efficiency of GNSS dynamic measurement to a certain extent. In fact, for people in this industry, it only takes a few seconds to level the bubbles of the centering rod, so the cost performance of this kind of equipment is not high. However, this feature can also be used to measure some points that cannot be measured by GNSS, except For the various shortcomings mentioned above (mainly the large azimuth error caused by inaccurate north determination), it should also be noted that the bottom of the centering rod needs to be placed on the point to be fixed, which means that within 1m of the point to be fixed (centering The pole is usually 2m long, calculated according to the inclination angle of 30°) There must be a location with good GNSS observation conditions, otherwise it cannot be measured.
因此研究一种便于携带、造价低廉的系统以及与之相应的高效率的方法，使GNSS不可测点的坐标精度能在一定的测程内达到厘米级，具有非常现实的意义和广阔的应用前景。Therefore, it is of great practical significance and broad application prospects to study a portable, low-cost system and a corresponding high-efficiency method so that the coordinate accuracy of GNSS unmeasurable points can reach the centimeter level within a certain range. .
发明内容Contents of the invention
为解决上述问题，本发明提出一种GNSS与激光测距相结合的测量系统及测量方法，从而弥补现有技术在运输、效率、成本、精度等多方面的缺陷。In order to solve the above problems, the present invention proposes a measurement system and measurement method combining GNSS and laser ranging, so as to make up for the defects of the prior art in transportation, efficiency, cost, precision and other aspects.
依照本发明，整个测量系统以对中杆作为物理连接的骨架：GNSS接收机位于对中杆的顶部；电子手簿通过手簿托架固定在对中杆的适当位置，当然，作业人员也可以将手簿取下拿在手中，但这样不利于对中杆的整平；对中杆的底部尖端正对待定点标志的中心，当对中杆直立于待定点的上方并保持水准气泡居中时，对中杆的中心轴线将与GNSS天线相位中心、对中杆的底部中心居于同一铅垂线上，从而使得GNSS天线相位中心的平面坐标和高程可以归算至待定点处。According to the present invention, the whole measurement system uses the centering pole as the skeleton of the physical connection: the GNSS receiver is located on the top of the centering pole; the electronic handbook is fixed at the proper position of the centering pole through the handbook bracket, of course, the operator can also Take off the handbook and hold it in your hand, but this is not conducive to the leveling of the centering rod; the bottom tip of the centering rod is right in the center of the mark of the fixed point, when the centering rod is upright above the point to be fixed and the level bubble is centered, The central axis of the centering rod will be on the same vertical line as the phase center of the GNSS antenna and the bottom center of the centering rod, so that the plane coordinates and elevation of the GNSS antenna phase center can be attributed to the point to be fixed.
依照本发明的一方面，可提供一种GNSS与激光测距相结合的测量系统，包括以下部件：①GNSS接收机，用于接收GNSS卫星信号和差分信号，以确定天线相位中心的坐标；②电子手簿，用于控制GNSS接收机并显示其工作状态，记录所测点位的坐标，计算未知点坐标；③装有水准气泡的对中杆，用于安设前述各部件并利于实施测量；④手簿托架，用于将电子手簿固定在对中杆上的合适位置；⑤激光测距装置，用于测定其与目标点之间的距离。According to one aspect of the present invention, a measurement system combining GNSS and laser ranging can be provided, including the following components: ① GNSS receiver, used to receive GNSS satellite signals and differential signals, to determine the coordinates of the antenna phase center; ② electronic The hand book is used to control the GNSS receiver and display its working status, record the coordinates of the measured points, and calculate the coordinates of unknown points; ③The centering rod equipped with level bubbles is used to install the aforementioned components and facilitate the measurement; ④Handbook bracket, used to fix the electronic handbook at a proper position on the centering rod; ⑤Laser distance measuring device, used to measure the distance between it and the target point.
作为优选的，上述激光测距装置通过蓝牙或WIFI与电子手簿进行数据通讯，以便作业人员可通过电子手簿向其发送指令，并自动获知激光测距的结果。Preferably, the above-mentioned laser distance measuring device communicates with the electronic handbook through Bluetooth or WIFI, so that the operator can send instructions to it through the electronic handbook, and automatically know the result of the laser distance measurement.
依照本发明的又一方面，可提供一种GNSS与激光测距相结合的测量系统，包括以下部件：①GNSS接收机，用于接收GNSS卫星信号和差分信号，以确定天线相位中心的坐标；②带有激光测距装置的电子手簿，包括运算模块以及分别与运算模块连接的激光发射模块、激光接收模块、电源、(电子)水准气泡、WIFI模块、蓝牙模块、摄像头、触摸显示屏、按键，测距结果可被归算至手簿外部的任意参考点位置，用于控制GNSS接收机并显示其工作状态，记录所测点位的坐标，测定其与目标点之间的距离，计算未知点坐标；③装有水准气泡的对中杆，用于安设前述各部件并利于实施测量；④手簿托架，用于将电子手簿固定在对中杆上的合适位置。激光测距装置整合在电子手簿内部，因此激光测距装置可与电子手簿共享一部分电路从而降低成本，测距结果可被归算至手簿外部的任意参考点位置，也就意味着测距装置与对中杆轴线的相对位置关系可被精确测定，从而测距的结果可以精确地归算。摄像头可与激光测距装置指向一致，可用变焦方式放大显示激光所指向的目标，从而辅助作业人员准确瞄准目标，进一步的当配有标尺时可以从电子手簿屏幕上远距离读取标尺上的读数。进一步可配以托架，当待定点与激光测距装置间有障碍物或待定点上方激光反射情况不良时，激光测距装置可在对中杆上滑动且可随时固定，测距装置与对中杆轴线的相对位置关系可被精确测定；当水准气泡居中时，可保证发出的激光为一水平线。According to another aspect of the present invention, a measurement system combining GNSS and laser ranging can be provided, including the following components: ① GNSS receiver, used to receive GNSS satellite signals and differential signals to determine the coordinates of the antenna phase center; ② An electronic hand book with a laser distance measuring device, including a computing module and a laser emitting module connected to the computing module, a laser receiving module, a power supply, (electronic) level bubbles, a WIFI module, a Bluetooth module, a camera, a touch screen, and buttons , the distance measurement result can be attributed to any reference point outside the handbook, used to control the GNSS receiver and display its working status, record the coordinates of the measured point, measure the distance between it and the target point, and calculate the unknown Point coordinates; ③A centering rod equipped with a level bubble, which is used to install the above-mentioned components and facilitate the measurement; ④Handbook bracket, used to fix the electronic handbook at a suitable position on the centering rod. The laser distance measuring device is integrated inside the electronic hand book, so the laser distance measuring device can share a part of the circuit with the electronic hand book to reduce the cost, and the distance measurement result can be attributed to any reference point outside the hand book, which means that the measurement The relative position relationship between the distance device and the axis of the centering rod can be accurately measured, so that the distance measurement result can be accurately reduced. The camera can be pointed at the same point as the laser distance measuring device, and the target pointed by the laser can be enlarged and displayed by zooming, so as to assist the operator to aim at the target accurately. Further, when equipped with a ruler, the distance on the ruler can be read remotely from the screen of the electronic handbook. reading. It can further be equipped with a bracket. When there is an obstacle between the point to be fixed and the laser distance measuring device or the laser reflection above the point to be fixed is not good, the laser distance measuring device can slide on the centering rod and can be fixed at any time. The relative position relationship of the axis of the middle rod can be accurately measured; when the level bubble is centered, it can ensure that the emitted laser light is a horizontal line.
依照发明的再一方面，可提供一种GNSS与激光测距相结合的测量系统，包括以下部件：①带有激光测距装置的GNSS接收机，包括位置解算模块以及分别与位置解算模块连接的GNSS天线、激光发送模块、激光接收模块、电源、WIFI、蓝牙、CDMA/GPRS模块、数传电台模块、按键，用于接收GNSS卫星信号和差分信号，以确定天线相位中心的坐标，并测定其与目标点之间的距离；②电子手簿，用于控制GNSS接收机并显示其工作状态，记录所测点位的坐标，计算未知点坐标；③装有水准气泡的对中杆，用于安设前述各部件并利于实施测量；④手簿托架，用于将电子手簿固定在对中杆上的合适位置。激光测距装置整合在GNSS接收机内部，因此激光测距装置可与GNSS接收机共享一部分电路从而降低成本；测距装置与GNSS天线相位中心的相对位置关系可被精确测定，因此测距的结果可以精确地归算至待定点处。According to yet another aspect of the invention, a measurement system combining GNSS and laser ranging can be provided, including the following components: ① A GNSS receiver with a laser ranging device, including a position calculation module and a position calculation module respectively The connected GNSS antenna, laser sending module, laser receiving module, power supply, WIFI, Bluetooth, CDMA/GPRS module, digital radio module, and buttons are used to receive GNSS satellite signals and differential signals to determine the coordinates of the antenna phase center, and Measure the distance between it and the target point; ②Electronic hand book, used to control the GNSS receiver and display its working status, record the coordinates of the measured points, and calculate the coordinates of unknown points; ③Centering rod equipped with a level bubble, It is used to install the above-mentioned components and facilitate the measurement; ④ Handbook bracket, used to fix the electronic handbook at a suitable position on the centering pole. The laser ranging device is integrated inside the GNSS receiver, so the laser ranging device can share a part of the circuit with the GNSS receiver to reduce costs; the relative positional relationship between the ranging device and the GNSS antenna phase center can be accurately determined, so the result of ranging It can be accurately attributed to the point to be determined.
作为优选的，对中杆上标有刻度，用于标识对中杆各处到其底部的长度，以便当激光测距装置或含有激光测距装置的电子手簿在对中杆上滑动时，可以直接读取其到对中杆底部的距离(高度)，此距离可用于计算待定点与已知点之间的高差。Preferably, the centering rod is marked with a scale, which is used to identify the length from each part of the centering rod to its bottom, so that when the laser distance measuring device or the electronic handbook containing the laser distance measuring device slides on the centering rod, The distance (height) to the bottom of the centering pole can be read directly, and this distance can be used to calculate the height difference between the point to be determined and the known point.
作为优选的，系统中还可包括一标有刻度的标尺，标尺上装有水准气泡，标尺表面覆有利于反射激光的材料，标尺与系统其余部分相对独立，用于计算高差，同时可与激光测距仪配合使用，此标尺用于直立于待定点的上方，当气泡居中时，标尺的轴线与待定点位于同一铅垂线上；执行测距操作时，将激光测距装置瞄准此标尺，使光斑落于标尺之上；其刻度用于读取光斑距离标尺底部的距离，其表面的材料可便于作业人员观察光斑是否落于标尺之上，在明亮的环境下尤其有利，并能增加激光测距装置的测程。As a preference, the system can also include a scale marked with a level bubble, and the surface of the scale is covered with a material that is conducive to reflecting the laser. The scale is relatively independent from the rest of the system and is used to calculate the height difference. At the same time, it can be used with the laser Used in conjunction with a rangefinder, this ruler is used to stand upright above the point to be fixed. When the bubble is in the center, the axis of the ruler and the point to be fixed are on the same plumb line; when performing a distance measurement operation, aim the laser distance measuring device at this ruler, Make the light spot fall on the scale; the scale is used to read the distance between the light spot and the bottom of the scale. The material on the surface can facilitate the operator to observe whether the light spot falls on the scale. It is especially beneficial in a bright environment and can increase the laser The range of the distance measuring device.
本发明还提供.一种GNSS与激光测距相结合的测量方法，包括以下步骤：步骤1，在待定点P附近，选择n个(n≥2)可利用GNSS方法测量的点，按观测顺序分别记为P1,P2,…，Pi，…,Pn,在Pi(i＝1,2,……,n)点上同时或按任意次序完成下述操作：1)用GNSS方法测定Pi之点位，其北坐标、东坐标、高程分别表示为(xi,yi,Hi)，平面中误差、高程中误差分别记为δpi、δHi，2)用激光测距装置测定Pi到P点的平距Di，测距中误差记为δDi；The present invention also provides. A measurement method combining GNSS and laser ranging, comprising the following steps: Step 1, near the point P to be fixed, select n (n≥2) points that can be measured by the GNSS method, and follow the order of observation Denote them as P1, P2,..., Pi,...,Pn respectively, and complete the following operations at Pi (i=1,2,...,n) at the same time or in any order: 1) Use GNSS method to measure the point of Pi The north coordinate, east coordinate, and elevation are expressed as (xi , yi , Hi ) respectively, and the error in the plane and the height are respectively recorded as δpi and δHi . 2) Measure Pi to The horizontal distance Di of point P, the error in ranging is recorded as δDi ;
步骤2，计算点P的坐标初始值，Step 2, calculate the initial coordinate value of point P,
其中,其中Dj、Dm分别表示点Pj、Pm到点P的平距，表示已知点Pj、Pm间的平距，xj、yj分别表示点Pj的北坐标、东坐标，xm、ym分别表示点Pm的北坐标、东坐标，j、m代表前述n个利用GNSS方法所测点中的任意两个；in, where Dj and Dm represent the horizontal distance from point Pj and Pm to point P respectively, Indicates the horizontal distance between the known points Pj and Pm, xj and yj respectively represent the north and east coordinates of point Pj , xm and ym represent the north and east coordinates of point Pm respectively, j and m represent Any two of the aforementioned n points measured by GNSS method;
步骤3，列立如下误差方程，Step 3, set up the following error equation,
V＝Bω-lV=Bω-l
其中，表示各距离观测值的改正数，in, Indicates the correction number of each distance observation value,
表示点P的坐标改正数， Indicates the coordinate correction number of point P,
表示点Pi到点P的平距概略值；Indicates the approximate value of the horizontal distance from point Pi to point P;
步骤4，计算点P的坐标改正数，Step 4, calculate the coordinate correction number of point P,
ω＝(BTWB)-1BTWlω＝(BT WB)-1 BT Wl
其中，δi表示Di的中误差；in, δi represents the median error of Di ;
步骤5，计算点P的坐标平差值，Step 5, calculate the coordinate adjustment value of point P,
作为优选的，采用迭代方式进行m(m≥1)次平差，其中1次平差是指步骤3至5的一次顺序执行，即将第i次平差所得结果视为第i+1次平差的输入x0、y0，反复计算，直至Δx、Δy的绝对值均小于某一阈值。As a preference, m (m≥1) adjustments are carried out in an iterative manner, where one adjustment refers to the sequential execution of steps 3 to 5, that is, the result of the i-th adjustment As the input x0 and y0 of the i+1th adjustment, the calculation is repeated until the absolute values of Δx and Δy are both less than a certain threshold.
作为优选的，步骤1中增加以下操作：量测激光测距装置几何中心至对中杆底部的高差hi，同时量测点P至激光光斑处的高差h′i，h′i的量测中误差记为作为优选的，增加如下过程作为步骤6：As a preference, the following operations are added in step 1: measure the height difference hi from the geometric center of the laser distance measuring device to the bottom of the centering pole, and measure the height difference h'i from point P to the laser spot, h'i The error in the measurement is recorded as As preferred, add the following process as step 6:
按下式计算点P的k(1≤k≤n)个初始高程值：Calculate k (1≤k≤n) initial elevation values of point P according to the following formula:
Hpi＝Hi+hi-h′iHpi =Hi +hi -h′i
计算点P的高程平差值，Calculate the elevation adjustment value of point P,
k可根据需要进行选择，可以选择1个点，全部的点或部分点参与计算；同时采用加权平均的方式，可以提高高程平差值的精度。k can be selected according to the needs, you can choose one point, all or part of the points to participate in the calculation; at the same time, the weighted average method can improve the accuracy of the elevation adjustment value.
本发明提供的技术方案，其装置成本低廉、便于携带，方案简单易行。激光测距装置仅需提供距离观测值，无需重力感应器的协助，摆脱了对于方位、角度观测值的依赖，测程可达数百米，可实现多个已知点上快速作业，最少只需在两个点上进行测量，通过最小二乘和合理定权，最终能获得待定点坐标的最优解。本发明有效弥补了现有技术的缺陷，具有广阔的应用前景。The technical solution provided by the invention has low device cost, is easy to carry, and is simple and feasible. The laser distance measuring device only needs to provide the distance observation value without the assistance of the gravity sensor, and gets rid of the dependence on the azimuth and angle observation values. The measurement is carried out on two points, and the optimal solution of the coordinates of the point to be determined can be finally obtained through least squares and reasonable weighting. The invention effectively makes up for the defects of the prior art and has broad application prospects.
附图说明Description of drawings
附图1是根据本发明构造的一个GNSS与激光测距相结合的测量系统的简图，其中激光测距装置为一独立的单元，并配有标尺。Accompanying drawing 1 is a schematic diagram of a measurement system combining GNSS and laser ranging according to the present invention, wherein the laser ranging device is an independent unit and equipped with a scale.
附图2是根据本发明构造的一个GNSS与激光测距相结合的测量系统的简图，其中激光测距装置整合在电子手簿内部，并配有标尺。Accompanying drawing 2 is a schematic diagram of a measurement system combining GNSS and laser distance measurement according to the present invention, wherein the laser distance measurement device is integrated inside the electronic handbook and equipped with a ruler.
附图3是根据本发明构造的一个GNSS与激光测距相结合的测量系统的简图，其中激光测距装置整合在接收机内部，并配有标尺。Accompanying drawing 3 is a schematic diagram of a measurement system combining GNSS and laser ranging according to the present invention, wherein the laser ranging device is integrated inside the receiver and equipped with a ruler.
附图4是根据本发明构造的如附图2中所采用的包含激光测距装置的电子手簿示意图。Accompanying drawing 4 is a schematic diagram of an electronic handbook including a laser distance measuring device as adopted in accompanying drawing 2 constructed according to the present invention.
附图5是根据本发明构造的如附图3中所采用的包含激光测距装置的GNSS接收机示意图。Figure 5 is a schematic diagram of a GNSS receiver including a laser ranging device as used in Figure 3 constructed according to the present invention.
附图6是根据本发明构造的一种测量方法的示意图，其使用如附图1所示的装置，并在3个GNSS观测条件良好的位置上对同一待定点进行观测。Accompanying drawing 6 is the schematic diagram of a kind of measuring method according to the structure of the present invention, and it uses the device as shown in accompanying drawing 1, and on the position of 3 good GNSS observation conditions, the same point to be fixed is observed.
具体实施方案specific implementation plan
现结合附图，来详细说明依据本发明得出的几个优选方案。Now in conjunction with the accompanying drawings, several preferred solutions obtained according to the present invention will be described in detail.
本发明的第一个实施例尽可能地利用了已有的设备，将之组合为如附图1所示的测量系统。GNSS接收机，附图中给出的为某种一体机的图示，实际使用中，可以采用市面上的任何一种测地型一体机或分体机，如美国Trimble公司生产的R8，电子手簿可使用与之配套的TSC2手簿。对中杆可采用中国南方公司生产的2.2m碳纤维可拉伸绝缘对中杆，可进一步选配对中杆支架，以便对中杆能迅速整平并保持稳定。激光测距仪可选用任何一种毫米级测距精度的产品，如瑞士leica公司生产的X310手持激光测距仪，测距精度±1.0mm，测程0.05m～120m。测距仪可用托架固定在对中杆上并可沿杆身上下滑动，以寻找最佳测距位置，注意的是，测距时应使对中杆轴线、测距几何中心、光斑位于同一铅垂面上；其几何中心到对中杆轴线的距离可以用游标卡尺等方式进行精确测定，从而可对测距结果进行精确改正；作为一种替代方案，也可由操作人员用手持的方式，让其几何中心贴准对中杆的轴线并沿对中杆滑动至最佳的测距位置。测距时，应保证对中杆的水准气泡和测距仪的水准气泡(光学的或电子的)均居中。测距的指令可以直接在测距仪上操作按键，也可以通过建立电子手簿与测距仪的连接，从电子手簿上发出；同样的，测距结果可以由操作人员读取并手动填入电子手簿，也可通过数据通讯自动读取。标尺是可选的，可采用水准塔尺或带刻度的对中杆，便于携带且能达到mm级精度；有些情况下甚至可以直接利用待定点垂直方向的地物(如墙角点，其正上方的墙壁可作为激光反射物)，并用卷尺测量光斑至待定点的高差即可。或在现有的标尺的基础上，如由另一操作人员手持激光测距仪的反射片沿标尺上下移动到光斑处，或整尺涂上反射率高的材料，以增加测距仪的测程。The first embodiment of the present invention utilizes existing equipment as much as possible, and combines them into a measurement system as shown in FIG. 1 . The GNSS receiver, shown in the attached figure is an illustration of a certain integrated machine. In actual use, any geodesic integrated machine or split machine on the market can be used, such as the R8 produced by Trimble in the United States. The controller can use the matching TSC2 controller. The centering rod can use the 2.2m carbon fiber stretchable insulated centering rod produced by China Southern Company, and the centering rod bracket can be further selected so that the centering rod can be quickly leveled and kept stable. The laser rangefinder can choose any product with millimeter-level ranging accuracy, such as the X310 handheld laser rangefinder produced by Swiss Leica Company, with a ranging accuracy of ±1.0mm and a measuring range of 0.05m to 120m. The rangefinder can be fixed on the centering rod with a bracket and can slide up and down along the rod to find the best distance measuring position. Note that the axis of the centering rod, the geometric center of the distance measurement and the light spot should be at the same position when measuring the distance. On the vertical plane; the distance from its geometric center to the axis of the centering rod can be accurately measured with a vernier caliper, etc., so that the distance measurement result can be accurately corrected; as an alternative, the operator can also use a hand-held method to allow the Its geometric center is aligned with the axis of the centering rod and slides along the centering rod to the best distance measuring position. When measuring the distance, it should be ensured that the level bubble of the centering rod and the level bubble (optical or electronic) of the rangefinder are both in the center. The distance measurement command can be directly operated on the rangefinder, or it can be sent from the electronic handbook by establishing a connection between the electronic handbook and the rangefinder; similarly, the distance measurement result can be read by the operator and filled in manually. It can also be read automatically through data communication. The ruler is optional, you can use a leveling tower ruler or a centering rod with a scale, which is easy to carry and can achieve mm-level accuracy; in some cases, you can even directly use the ground objects in the vertical direction of the point to be fixed (such as the corner point, directly above it The wall can be used as a laser reflector), and use a tape measure to measure the height difference from the spot to the point to be determined. Or on the basis of the existing ruler, for example, another operator holds the reflective sheet of the laser rangefinder and moves it up and down along the ruler to the spot, or the whole ruler is coated with a material with high reflectivity to increase the rangefinder. Procedure.
本发明的第二个实施例与第一个实施例类似，如附图2所示，主要的不同在于将激光测距装置整合在电子手簿的内部，使二者合二为一，这样的好处是进一步降低硬件的成本、使二者的通讯更加直接，同时也进一步扩展了手簿的功能，使之在某些场合可直接作为测距仪使用。可将激光测距装置安装在手簿壳体的内部，其激光可从手簿的顶端或右侧收发，以便于操作。手簿上应有水准气泡或内置电子水准气泡。The second embodiment of the present invention is similar to the first embodiment, as shown in Figure 2, the main difference is that the laser distance measuring device is integrated inside the electronic handbook, so that the two are combined into one, so that The advantage is to further reduce the cost of the hardware, make the communication between the two more direct, and further expand the function of the handbook, so that it can be directly used as a rangefinder in some occasions. The laser distance measuring device can be installed inside the shell of the handbook, and its laser can be sent and received from the top or right side of the handbook for easy operation. There should be a level bubble on the hand book or a built-in electronic level bubble.
本发明的第三个实施例与第二实施例类似，如附图3所示，主要的不同在于将激光测距装置整合在GNSS接收机的内部，使二者合二为一，这样的好处在于可进一步降低硬件的成本。同时，激光测距装置与GNSS天线相位中心最好是共轴的，否则应将其几何关系精确地测定以归算距离。由于激光测距装置与天线相位中心很近，因此，此时已知点上对中杆的整平变得不是太重要。如果配以可拉伸的对中杆，则可尽量降低GNSS接收机的高度(但也要考虑卫星信号的接收问题)，以便减少标尺整平误差带来的影响。The third embodiment of the present invention is similar to the second embodiment, as shown in Figure 3, the main difference is that the laser distance measuring device is integrated in the GNSS receiver, so that the two are combined into one, such benefits The advantage is that the cost of hardware can be further reduced. At the same time, the phase center of the laser ranging device and the GNSS antenna should preferably be coaxial, otherwise the geometric relationship should be accurately measured to calculate the distance. Since the laser ranging device is very close to the phase center of the antenna, the leveling of the centering rod at a known point becomes less important at this time. If it is equipped with a stretchable centering pole, the height of the GNSS receiver can be reduced as much as possible (but the reception of satellite signals should also be considered), so as to reduce the impact of scale leveling errors.
在本发明的第二个实施例中，激光测距装置可与电子手簿整合为一个单元，其构成图如附图4所示。In the second embodiment of the present invention, the laser distance measuring device and the electronic handbook can be integrated into one unit, and its composition diagram is shown in Fig. 4 .
本发明的一个实施例如附图6所示，由于待定点P位于屋檐下，直接采用GNSS无法测出其坐标，因此采用了如附图1所示的系统，在待定点附近选择三处GNSS观测条件良好的位置P1、P2和P3，按以下步骤进行：An embodiment of the present invention is shown in accompanying drawing 6, because the point P to be fixed is located under the eaves, its coordinates cannot be measured by GNSS directly, so a system as shown in accompanying drawing 1 is adopted, and three GNSS observations are selected near the point to be fixed For positions P1, P2 and P3 in good condition, proceed as follows:
步骤1，在各点上按任意顺序或同时执行下述操作：Step 1, perform the following operations on each point in any order or at the same time:
1)用RTK方法测出Pi的北坐标、东坐标、高程分别记为xi、yi、Hi；点Pi的平面点位中误差记为δPi，高程中误差记为δHi，需要说明的是，也可以使用PPK方法；1) Use the RTK method to measure the north coordinate, east coordinate, and elevation of Pi, which are recorded as xi , yi , and Hi respectively; the error in the plane point position of point Pi is recorded as δPi , and the error in elevation is recorded as δHi . Note that the PPK method can also be used;
2)用激光测距装置测定Pi到P点的平距Di，测距中误差记为δDi；读取激光测距装置在对中杆上的高度读数hi，读取光斑至点P的高差h′i；2) Use the laser distance measuring device to measure the horizontal distance Di from Pi to point P, and record the error in the distance measurement as δDi ; read the height reading hi of the laser distance measuring device on the centering rod, and read the light spot to point P height difference h′i ;
步骤2，在已知点中，任意挑选出两个点，如P1和P3，采用如下公式计算点P的坐标初始值：Step 2. From the known points, randomly select two points, such as P1 and P3, and calculate the initial coordinate value of point P using the following formula:
其中,in,
步骤3，列立误差方程式：Step 3, set up the error equation:
其中，in,
步骤4，计算点P的坐标改正数，Step 4, calculate the coordinate correction number of point P,
ω＝(BTWB)-1BTWlω＝(BT WB)-1 BT Wl
其中，in,
步骤5，计算点P的坐标平差值：Step 5, calculate the coordinate adjustment value of point P:
并判断Δx、Δy的绝对值是否小于1mm，若否则进行迭代，重复步骤3至5，直至满足前述条件。And judge whether the absolute values of Δx and Δy are less than 1 mm, if not, iterate and repeat steps 3 to 5 until the aforementioned conditions are met.
步骤6，计算点P的3个高程初始值：Step 6, calculate the 3 initial elevation values of point P:
计算点P的高程平差值：Calculate the elevation adjustment value of point P:
本文中所描述的具体实施例仅仅是对本发明精神作举例说明，并不意味着将本发明限制于所举的实例，本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。The specific embodiments described herein are only to illustrate the spirit of the present invention, and do not mean that the present invention is limited to the examples cited. Those skilled in the art of the present invention can make various modifications to the described specific embodiments. Various modifications or additions or substitutions in similar ways will not deviate from the spirit of the present invention or go beyond the scope defined by the appended claims.
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| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20170929 Termination date:20211119 |