技术领域technical field
本发明涉及一种应用于野外便携快速获取目标坐标信息的基于GNSS与激光测距的便携式手持终端，属于测绘技术领域。The invention relates to a portable hand-held terminal based on GNSS and laser ranging, which is used in the field to quickly obtain target coordinate information, and belongs to the field of surveying and mapping technology.
背景技术Background technique
GNSS手持终端具有高精度、全天候、高效率、多功能、易携带、操作简便等特点，目前在野外调查时得到广泛应用。但在野外作业时，当遇到目标难以达到获取目标时，如测量山坡的石头或者海上的某一块礁石时，手持GNSS接收机难以发挥作用，只能借助其他量测手段，如航测等，比较费时费力；此外，强行去测量这些目标会给工作人员的人身安全带来一定威胁。GNSS handheld terminals have the characteristics of high precision, all-weather, high efficiency, multi-function, easy to carry, easy to operate, etc., and are currently widely used in field surveys. However, when working in the field, when the target is difficult to achieve, such as measuring a rock on a hillside or a certain reef at sea, it is difficult to use a hand-held GNSS receiver, so other measurement methods, such as aerial surveys, can only be used. Time-consuming and labor-intensive; in addition, forcibly measuring these targets will pose a certain threat to the personal safety of the staff.
发明内容Contents of the invention
本发明的目的在于克服现有技术中的不足，提供了一种基于GNSS与激光测距的便携式手持终端，解决了现有技术中GNSS接收机无法远距离测量目标坐标的技术问题。The purpose of the present invention is to overcome the deficiencies in the prior art, provide a portable handheld terminal based on GNSS and laser ranging, and solve the technical problem that the GNSS receiver in the prior art cannot measure the coordinates of the target remotely.
为解决上述技术问题，本发明提供了一种基于GNSS与激光测距的便携式手持终端，其特征是，包括壳体和设置在壳体空腔内的测距装置，所述壳体呈“T”型，包括水平方向的主体和竖直向后端倾斜的手柄，主体的上方平行设置有瞄准镜，所述测距装置包括GNSS接收模块、微处理器和设置在主体前端的激光测距模块，其中，In order to solve the above technical problems, the present invention provides a portable handheld terminal based on GNSS and laser ranging, which is characterized in that it includes a housing and a distance measuring device arranged in the cavity of the housing, and the housing is in the shape of "T ” type, including a horizontal main body and a handle vertically inclined to the rear end, a sight is arranged parallel to the upper part of the main body, and the ranging device includes a GNSS receiving module, a microprocessor and a laser ranging module arranged at the front end of the main body ,in,
GNSS接收模块的输出端连接微处理器，用于接收GNSS卫星信号以确定测量点的坐标；The output end of the GNSS receiving module is connected to the microprocessor for receiving GNSS satellite signals to determine the coordinates of the measuring point;
激光测距模块的输出端连接微处理器，用于测定测量点与目标点之间的距离；The output end of the laser ranging module is connected to the microprocessor for measuring the distance between the measuring point and the target point;
微处理器根据测量点的坐标及其与目标点之间的距离获取目标点的坐标。The microprocessor obtains the coordinates of the target point according to the coordinates of the measuring point and the distance between the target point and the target point.
进一步的，还包括电源模块，电源模块输出工作电源至GNSS接收模块、微处理器和激光测距模块，所述电源模块设置在手柄的空腔内。Further, it also includes a power module, the power module outputs working power to the GNSS receiving module, the microprocessor and the laser ranging module, and the power module is arranged in the cavity of the handle.
进一步的，还包括显示模块，显示模块的输入端连接微处理器，显示模块为显示器，所述显示器设置在主体的后端。Further, it also includes a display module, the input end of the display module is connected to the microprocessor, the display module is a display, and the display is arranged at the rear end of the main body.
进一步的，还包括存储模块，存储模块连接微处理器。Further, it also includes a storage module connected to the microprocessor.
进一步的，所述GNSS接收模块包括依次串联的GNSS接收天线、前置放大器、变频器和用于放大滤波处理的信号处理电路，信号处理电路的输出端连接微处理器。Further, the GNSS receiving module includes a GNSS receiving antenna, a preamplifier, a frequency converter, and a signal processing circuit for amplification and filtering in series, and the output end of the signal processing circuit is connected to a microprocessor.
进一步的，还包括GPRS无线通讯模块，GPRS无线通讯模块的输出端连接微处理器，用于接收来自CORS站或者基站的GNSS差分信息以修正测量点的坐标；GPRS无线通讯模块包括通信天线、GPRS模块和SIM卡座，通信天线连接GPRS模块，GPRS模块放置在SIM卡座中，SIM卡座连接微处理器。Further, it also includes a GPRS wireless communication module, the output of the GPRS wireless communication module is connected to the microprocessor for receiving GNSS differential information from the CORS station or base station to correct the coordinates of the measuring point; the GPRS wireless communication module includes a communication antenna, a GPRS The module and the SIM card holder, the communication antenna is connected to the GPRS module, the GPRS module is placed in the SIM card holder, and the SIM card holder is connected to the microprocessor.
进一步的，所述激光测距模块包括激光发射器，所述激光发射器上设置有对应其“开关”功能的按钮，所述按钮位于手柄的前端上部。Further, the laser distance measuring module includes a laser transmitter, and a button corresponding to its "switch" function is arranged on the laser transmitter, and the button is located at the upper front end of the handle.
与现有技术相比，本发明所达到的有益效果是：本发明使用户在野外作业时无需直接接触目标就可获得目标较为精确的坐标信息，提高作业效率，降低工作难度。Compared with the prior art, the beneficial effects achieved by the present invention are: the present invention enables the user to obtain more accurate coordinate information of the target without directly contacting the target when working in the field, thereby improving the working efficiency and reducing the difficulty of the work.
附图说明Description of drawings
图1是本发明手持终端的结构示意图；Fig. 1 is a schematic structural diagram of a handheld terminal of the present invention;
图2是本发明测距装置的原理结构图；Fig. 2 is a schematic structural diagram of the ranging device of the present invention;
图3是本发明一实施例的测量示意图。Fig. 3 is a measurement schematic diagram of an embodiment of the present invention.
附图标记：1、GNSS接收天线；2、前置放大器；3、变频器；4、信号处理电路；5、微处理器；6、激光发射器；7、分光器；8、反光镜；9、探测器；10、前置放大器；11、主放大器；12、门电路；13、时钟振荡器；14、计数器；15、显示器；16、存储模块；17、电源模块；18、通信天线；19、GPRS模块；20、SIM卡座；21、按钮；22、瞄准镜。Reference signs: 1, GNSS receiving antenna; 2, preamplifier; 3, frequency converter; 4, signal processing circuit; 5, microprocessor; 6, laser transmitter; 7, beam splitter; 8, mirror; 9 , detector; 10, preamplifier; 11, main amplifier; 12, gate circuit; 13, clock oscillator; 14, counter; 15, display; 16, storage module; 17, power supply module; 18, communication antenna; 19 , GPRS module; 20, SIM card holder; 21, button; 22, scope.
具体实施方式detailed description
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
如图1和图2所示，本发明的一种基于GNSS与激光测距的便携式手持终端(以下简称“手持终端”)，其特征是，包括壳体和设置在壳体空腔内的测距装置，所述壳体呈“T”型，包括水平方向的主体和竖直向后端倾斜的手柄，主体的上方平行设置有瞄准镜22，所述测距装置包括GNSS接收模块、微处理器5和设置在主体前端的激光测距模块，其中，As shown in Figures 1 and 2, a portable handheld terminal based on GNSS and laser ranging (hereinafter referred to as "handheld terminal") of the present invention is characterized in that it includes a housing and a measuring device arranged in the cavity of the housing. distance device, the housing is "T" shape, including a horizontal main body and a handle vertically inclined to the rear end, a sight 22 is arranged in parallel above the main body, and the distance measuring device includes a GNSS receiving module, a microprocessor Device 5 and the laser ranging module arranged at the front end of the main body, wherein,
GNSS接收模块的输出端连接微处理器5，用于接收GNSS卫星信号以确定测量点的坐标；The output end of GNSS receiving module connects microprocessor 5, is used for receiving GNSS satellite signal to determine the coordinate of measuring point;
激光测距模块的输出端连接微处理器5，用于测定测量点与目标点之间的距离；The output end of the laser ranging module is connected to the microprocessor 5 for measuring the distance between the measuring point and the target point;
微处理器5根据测量点的坐标及其与目标点之间的距离获取目标点的坐标。The microprocessor 5 obtains the coordinates of the target point according to the coordinates of the measuring point and the distance between the target point and the coordinates.
本发明的原理是通过三次获取测量点的坐标及其与目标点之间的距离，在三维坐标系中计算获取目标点的坐标，使用户在野外作业时无需直接接触目标就可获得目标较为精确的坐标信息，提高作业效率，降低工作难度；手持终端的壳体呈T型还设有便于用户手握的手柄，体积小便于用户携带。The principle of the present invention is to obtain the coordinates of the measuring point and the distance between the target point three times, and calculate and obtain the coordinates of the target point in the three-dimensional coordinate system, so that the user can obtain the target more accurately without directly touching the target when working in the field. Coordinate information improves work efficiency and reduces work difficulty; the shell of the handheld terminal is T-shaped and has a handle that is easy for users to hold, and is small in size and easy for users to carry.
进一步的，还包括电源模块17，电源模块17输出工作电源至GNSS接收模块、微处理器5和激光测距模块，如图1所示，所述电源模块17设置在手柄的空腔内。电源模块可采用现有技术中节能低功耗的电源产品。电源产品设置在手柄的空腔内，将高压电源与主体内的测距装置电子芯片隔离，减少电磁干扰；并且电源可以增加手柄部分的重量，能够保持T型壳体的平稳性。当电源模块采用电池时，设置在手柄位置便于更换电池，如电源产品为可充电电池时，设置在手柄位置也便于打开手柄的下端利用充电接口为充电电池进行充电。Further, it also includes a power module 17, the power module 17 outputs working power to the GNSS receiving module, the microprocessor 5 and the laser ranging module, as shown in Figure 1, the power module 17 is arranged in the cavity of the handle. The power supply module can adopt energy-saving and low-power consumption power supply products in the prior art. The power supply product is set in the cavity of the handle to isolate the high-voltage power supply from the electronic chip of the distance measuring device in the main body to reduce electromagnetic interference; and the power supply can increase the weight of the handle part and maintain the stability of the T-shaped housing. When the power module adopts a battery, it is convenient to replace the battery at the position of the handle. If the power supply product is a rechargeable battery, it is convenient to open the lower end of the handle and use the charging interface to charge the rechargeable battery.
进一步的，还包括显示模块，显示模块的输入端连接微处理器，显示模块为显示器15，如图1所示，所述显示器15设置在主体的后端。显示模块用于显示测量点和目标点的坐标信息，设置在主体的后端，便于用户直接观察，显示模块可以采用现有技术中LCD显示器，也可以采用现有技术中触摸屏。Further, it also includes a display module, the input end of the display module is connected to the microprocessor, and the display module is a display 15, as shown in FIG. 1, the display 15 is arranged at the rear end of the main body. The display module is used to display the coordinate information of the measurement point and the target point, and is arranged at the rear end of the main body, which is convenient for the user to observe directly. The display module can use the LCD display in the prior art, or the touch screen in the prior art.
进一步的，还包括存储模块16，存储模块16连接微处理器5。存储模块16用于存储测量的坐标信息，便于用户以后查阅各个目标点的坐标信息，存储模块16可以采用现有技术的存储器，也可以SD存储卡或采用移动硬盘。Further, a storage module 16 is also included, and the storage module 16 is connected to the microprocessor 5 . The storage module 16 is used to store the measured coordinate information, which is convenient for the user to refer to the coordinate information of each target point later. The storage module 16 can use a memory of the prior art, or an SD memory card or a mobile hard disk.
进一步的，微处理器可以选用现有技术中处理能力强功耗低的单片机或FPGA。Further, the microprocessor may select a single-chip microcomputer or FPGA with strong processing capability and low power consumption in the prior art.
进一步的，还包括GPRS无线通讯模块，GPRS无线通讯模块的输出端连接微处理器5，用于接收来自CORS站或者基站的GNSS差分信息以修正测量点的坐标；GPRS无线通讯模块包括通信天线18、GPRS模块19和SIM卡座20，通信天线18连接GPRS模块19，GPRS模块19放置在SIM卡座20中，SIM卡座20连接微处理器，通过GPRS通讯模块获得基准站或者CORS(卫星定位服务连续运行参考站)播发的差分信息，差分信息包括卫星轨道误差改正、大气影响改正等信息，将差分信息输出到微处理器，微处理器根据差分信息修正GNSS卫星信号，获取更准确的测量点坐标，其中利用差分信号修正GNSS卫星信号属于现有技术。Further, it also includes a GPRS wireless communication module, the output of the GPRS wireless communication module is connected to the microprocessor 5 for receiving GNSS differential information from the CORS station or base station to correct the coordinates of the measuring point; the GPRS wireless communication module includes a communication antenna 18 , GPRS module 19 and SIM card holder 20, communication antenna 18 connects GPRS module 19, GPRS module 19 is placed in SIM card holder 20, SIM card holder 20 connects microprocessor, obtains base station or CORS (satellite positioning) by GPRS communication module Service continuous operation reference station) broadcast differential information, differential information includes satellite orbit error correction, atmospheric impact correction and other information, the differential information is output to the microprocessor, and the microprocessor corrects the GNSS satellite signal according to the differential information to obtain more accurate measurements Point coordinates, wherein using differential signals to correct GNSS satellite signals belongs to the prior art.
进一步的，所述GNSS接收模块包括依次串联的GNSS接收天线1、前置放大器2、变频器3和用于放大滤波处理的信号处理电路4，信号处理电路4的输出端连接微处理器。GNSS接收天线1将来自卫星的微弱能量转化为相应的电流量，通过前置放大器2将GNSS卫星信号加以放大，变频器3将信号将高频卫星信号变频为低一两个级别的中频信号，最后通过信号通道4对信号进行进一步变频、放大、滤波等一系列处理，实现对GNSS信号的跟踪、锁定、测量，提供计算位置(测量点)的数据信息。Further, the GNSS receiving module includes a GNSS receiving antenna 1, a preamplifier 2, a frequency converter 3, and a signal processing circuit 4 for amplification and filtering in series, and the output end of the signal processing circuit 4 is connected to a microprocessor. The GNSS receiving antenna 1 converts the weak energy from the satellite into a corresponding amount of current, amplifies the GNSS satellite signal through the preamplifier 2, and the frequency converter 3 converts the signal from the high-frequency satellite signal into an intermediate frequency signal that is one or two levels lower. Finally, through the signal channel 4, a series of processing such as further frequency conversion, amplification, and filtering are performed on the signal to realize tracking, locking, and measurement of the GNSS signal, and provide data information for calculating the position (measurement point).
进一步的，所述激光测距模块包括激光发射部分：激光发射器6、分光器7、反光镜8；激光接收部分：探测器9、前置放大器10、主放大器11；和信号处理部分：门电路12，时钟振荡器13，计数器14。系统测距时，激光发射器6发射激光脉冲信号，时钟振荡器13不断产生具有一定时间间隔的标准脉冲信号T0，计数器14开始计时，激光通过分光器7分为两部分，一部分发射至目标物体反射，一部分通过反光镜8发射，两部分光最终都由探测器9接收，将模拟信号变为电信号，电信号通过前置放大器10与主放大器11放大整形后进入微处理器，门电路12关闭，计时器14停止计时。通过时钟脉冲时间间隔与脉冲个数相乘，就是主波与回波的时间间隔，便得到测距距离。Further, the laser ranging module includes a laser emitting part: a laser transmitter 6, a beam splitter 7, a mirror 8; a laser receiving part: a detector 9, a preamplifier 10, a main amplifier 11; and a signal processing part: a gate Circuit 12, clock oscillator 13, counter 14. When the system is ranging, the laser transmitter 6 emits a laser pulse signal, the clock oscillator 13 continuously generates a standard pulse signal T0 with a certain time interval, the counter 14 starts timing, the laser is divided into two parts by the beam splitter 7, and one part is emitted to the target Reflected by the object, part of the light is emitted by the mirror 8, and the two parts of the light are finally received by the detector 9, which converts the analog signal into an electrical signal, and the electrical signal is amplified and shaped by the preamplifier 10 and the main amplifier 11, and then enters the microprocessor and the gate circuit 12 is closed, and timer 14 stops counting. By multiplying the time interval of the clock pulse by the number of pulses, that is, the time interval between the main wave and the echo, the ranging distance is obtained.
进一步的，所述激光发射器上设置有对应其“开关”功能的按钮21，如图1所示，所述按钮21位于手柄的前端上部。当需要使用激光测量模块进行距离测量时，按下按钮21，即可打开激光发射器进行激光距离测量。Further, the laser transmitter is provided with a button 21 corresponding to its "switch" function, as shown in Figure 1, the button 21 is located at the upper front end of the handle. When it is necessary to use the laser measurement module for distance measurement, press the button 21 to turn on the laser transmitter for laser distance measurement.
手持终端相较传统的GNSS接收机相比，可测量远距离目标，这是GNSS传统手持机所不具备的，大大扩宽了手持终端的应用范围；同时与常规测量方式，如全站仪等相比，手持终端又具备体积小、功率低、便于携带的特点。手持机设计成“T”型，方便测量时抓握，同时又配有瞄准镜，整个量测过程与射击一般，过程简单、高效。本发明同时配备的LED显示屏可实时显示位置和被测目标点。综上，本发明集定位与测距功能一体，且依旧保持GNSS手持机的便携性特点，野外作业时可降低作业人员工作难度，提高工作效率。Compared with traditional GNSS receivers, handheld terminals can measure long-distance targets, which is not available in traditional GNSS handhelds, which greatly expands the application range of handheld terminals; at the same time, it is compatible with conventional measurement methods, such as total stations, etc. In contrast, the handheld terminal has the characteristics of small size, low power, and easy to carry. The handheld is designed in a "T" shape, which is convenient to grasp during measurement. At the same time, it is equipped with a scope. The entire measurement process is similar to shooting, and the process is simple and efficient. The LED display screen equipped with the present invention can display the position and the measured target point in real time. To sum up, the present invention integrates positioning and ranging functions, and still maintains the portability characteristics of GNSS handhelds. When working in the field, it can reduce the difficulty of workers' work and improve work efficiency.
实施例一Embodiment one
如图3所示，以从山脚测量山顶点T为测量实例，如图3所示。为获得T(Xt,Yt,Zt)坐标，至少需要在三个不同点上进行瞄准测距，故分别在三个分布相对均匀的点P0、P1、P2上进行瞄准测量，每次测量时，通过瞄准镜22瞄准同一点，按下按钮21进行激光测量，分别得到距离L0、L1、L2。三个测量点坐标由GNSS接收模块获得，若可接收到差分信息，手持终端测量点的坐标由差分信号进行修正；若没有，则只进行GNSS单点定位。由此获得三个测量点坐标P0(X0,Y0,Z0)、P1(X1,Y1,Z1)、P2(X2,Y2,Z2)。则由以下公式即可获得T点：As shown in Figure 3, take the measurement of the top T of the mountain from the foot of the mountain as an example, as shown in Figure 3. In order to obtain the T(Xt , Yt , Zt ) coordinates, at least three different points need to be used for aiming and ranging, so aiming and measuring are carried out at three relatively evenly distributed points P0 , P1 , and P2 , for each measurement, aim at the same point through the scope 22, press the button 21 to perform laser measurement, and obtain the distances L0 , L1 , and L2 respectively. The coordinates of the three measurement points are obtained by the GNSS receiving module. If the differential information can be received, the coordinates of the measurement points of the handheld terminal are corrected by the differential signal; if not, only the GNSS single-point positioning is performed. Thereby, three measuring point coordinates P0 (X0 , Y0 , Z0 ), P1 (X1 , Y1 , Z1 ), and P2 (X2 , Y2 , Z2 ) are obtained. Then the T point can be obtained by the following formula:
本发明使用户在野外作业时无需直接接触目标就可获得目标较为精确的坐标信息，提高作业效率，降低工作难度。The invention enables the user to obtain more accurate coordinate information of the target without directly contacting the target when working in the field, thereby improving the working efficiency and reducing the working difficulty.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变型，这些改进和变型也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made, these improvements and modifications It should also be regarded as the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610375825.0ACN106093968A (en) | 2016-05-31 | 2016-05-31 | A kind of portable handheld terminal based on GNSS Yu laser ranging |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610375825.0ACN106093968A (en) | 2016-05-31 | 2016-05-31 | A kind of portable handheld terminal based on GNSS Yu laser ranging |
| Publication Number | Publication Date |
|---|---|
| CN106093968Atrue CN106093968A (en) | 2016-11-09 |
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| CN201610375825.0APendingCN106093968A (en) | 2016-05-31 | 2016-05-31 | A kind of portable handheld terminal based on GNSS Yu laser ranging |
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| CN (1) | CN106093968A (en) |
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| US20120109577A1 (en)* | 2010-11-01 | 2012-05-03 | Bushnell Inc. | Distance measuring device for golf |
| CN203250029U (en)* | 2013-03-29 | 2013-10-23 | 北京正图数创信息技术有限公司 | Novel high-precision GIS hand-held range-finding device |
| CN203643612U (en)* | 2013-12-28 | 2014-06-11 | 广州南方卫星导航仪器有限公司 | GNSS handheld terminal with distance measuring function |
| CN203825197U (en)* | 2014-01-26 | 2014-09-10 | 北京东方泰坦科技股份有限公司 | Field terminal and data acquisition device |
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| CN108152838A (en)* | 2017-12-15 | 2018-06-12 | 中国航空工业集团公司洛阳电光设备研究所 | It is a kind of that the device and method for measuring target location are taken aim at based on sight |
| CN108152838B (en)* | 2017-12-15 | 2024-04-16 | 中国航空工业集团公司洛阳电光设备研究所 | Device and method for measuring target position based on sighting |
| CN113050137A (en)* | 2021-03-09 | 2021-06-29 | 江西师范大学 | Multi-point cooperative measurement spatial information acquisition method |
| CN116721237A (en)* | 2023-06-09 | 2023-09-08 | 北京优贝卡科技有限公司 | House type wall editing method, device, equipment and storage medium |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20161109 | |
| RJ01 | Rejection of invention patent application after publication |