Disclosure of Invention
In order to solve the above technical problems, the present invention provides a GNSS altitude measurement apparatus and a measurement method thereof to meet the actual production requirements.
The technical scheme of the invention is that the GNSS elevation measurement device comprises a GNSS measurement data acquisition system, a GNSS measurement data storage system, a GNSS front end data resolving system, a mm-level elevation data guiding system, a GNSS communication system, an elevation correction parameter data broadcasting system and a station network data resolving processing system, wherein the GNSS front end data resolving system is arranged in a GNSS terminal;
the GNSS measurement data acquisition system is used for acquiring and storing satellite data when the GNSS terminal receives the instruction control program;
the GNSS measurement data storage system is used for storing satellite data acquired by the GNSS measurement data acquisition system;
The GNSS front-end data resolving system is used for resolving data stored in the GNSS measurement data storage system and data broadcast by the elevation correction parameter data broadcasting system;
the GNSS communication system (5) is used for communicating the elevation correction parameter data broadcasting system (6) with other systems;
The elevation correction parameter data broadcasting system is used for deciding to call data of a corresponding subnet to be broadcast to the GNSS terminal according to the position of the GNSS terminal;
The station network data analysis processing system is used for calculating elevation data correction parameter information matched around the GNSS terminal according to the position of the GNSS terminal;
The mm-level elevation data guiding system is used for transmitting the mm-level elevation data to the app of the PDA end through a Bluetooth or WIFI way after the GNSS terminal finishes data calculation of the mm-level elevation correction information;
The GNSS control program is used for integrating the GNSS front-end data resolving system and realizing instruction tasks of specific functional operation on the GNSS terminal;
a measuring method for NSS elevation measuring device comprises the following steps:
When a construction and measurement operator performs outdoor measurement, single-point positioning coordinate data of the GNSS terminal are sent to an elevation correction parameter data broadcasting system in a 4G network NTRIP communication protocol mode;
Step two, after the elevation correction parameter data broadcasting system obtains single-point positioning coordinate data of the GNSS terminal, the single-point positioning coordinate data are processed and analyzed through a station network data analysis processing system, then the station network data analysis processing system finds GNSS original virtual observation data of a corresponding subnet from 2 adjacent subnets around the GNSS terminal according to a network construction logic algorithm, and sends the GNSS original virtual observation data in the 2 adjacent subnets to the elevation correction parameter data broadcasting system through a network;
And thirdly, the elevation correction parameter data broadcasting system transmits the GNSS original virtual observation data in 2 adjacent subnets to the GNSS terminal through a network, the GNSS terminal utilizes a built-in GNSS front-end data resolving system to simultaneously resolve the original virtual observation data of the 2 adjacent subnets and single-point positioning coordinate data of the GNSS terminal, the resolving area formed by 3 points of the 2 adjacent subnets and the GNSS terminal is kept for 8-12 minutes for initialization before resolving, the GNSS terminal is kept still during the initialization, and the GNSS terminal can perform mobile operation according to the normal acquisition time requirement after the initialization.
Another measurement method for an NSS elevation measurement apparatus, comprising the steps of:
Erecting a base station B1 and a base station B2 around a construction operation area, and transmitting GNSS original virtual observation data of the base station B1 and the base station B2 to a NTRIP data broadcasting service center by utilizing 4G networks of the base station B1 and the base station B2;
the GNSS terminal sends single-point positioning coordinate data of the GNSS terminal to the NTRIP data broadcasting service center in a 4G network NTRIP communication protocol mode;
Step three, after obtaining the position data of the GNSS terminal, the NTRIP data broadcasting service center sends GNSS raw virtual observation data of a base station B1 and a base station B2 to the GNSS terminal, at this time, the GNSS terminal obtains the GNSS raw virtual observation data of the base station B1 and the base station B2 and single-point positioning coordinate data of the GNSS terminal at the same time, then the GNSS terminal uses a built-in GNSS front-end resolving system to simultaneously resolve the single-point positioning coordinate data of the base station B1, the base station B2 and the GNSS terminal, and before resolving, the resolving area formed by 3 points of the base station B1, the base station B2 and the GNSS terminal maintains an initializing time of 8-12 minutes, during which the GNSS terminal remains stationary, and after initializing, the GNSS terminal can perform a moving operation according to the normal acquisition time requirement.
Compared with the prior art, the invention has the advantages that the elevation correction parameter data broadcasting system and the GNSS front end data resolving system are arranged on the invention, the elevation correction parameter data broadcasting system can decide to call the data of the corresponding sub-network to be broadcasted to the GNSS terminal according to the position of the GNSS terminal, the GNSS front end data resolving system is used for resolving the final elevation data of the data stored in the GNSS measurement data storage system and the data broadcasted by the elevation correction parameter data broadcasting system, and at the moment, the elevation correction parameter data broadcasting system can be realized by only one person without combining with a total station or a level gauge to singly measure the elevation data, thereby being beneficial to high-efficiency construction, reducing the dependence on professional technicians and greatly saving the cost.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the invention, are within the scope of the invention.
Specific embodiments of the present invention will be described below with reference to the accompanying drawings:
As shown in FIG. 1, the GNSS elevation measurement device comprises a GNSS measurement data acquisition system 1, a GNSS measurement data storage system 2, a GNSS front end data resolving system 4, a mm-level elevation data guiding system 3, a GNSS communication system 5, an elevation Cheng Gaizheng parameter data broadcasting system 6 and a station network data analyzing and processing system 7, wherein the GNSS front end data resolving system 4 is arranged in a GNSS terminal, the GNSS measurement data acquisition system 1 is used for acquiring and storing satellite data when a GNSS terminal receives an instruction control program, the GNSS measurement data storage system 2 is used for storing satellite data acquired by the GNSS measurement data acquisition system 1, the GNSS front end data resolving system 4 is used for resolving data stored in the GNSS measurement data storage system 2 and data broadcasted by the elevation correction parameter data broadcasting system 6, the GNSS communication system 5 is used for communicating the elevation correction parameter data broadcasting system 6 with other systems, the GNSS terminal and a server of the elevation correction parameter data broadcasting system 6 after handshake communication is carried out between the GNSS terminal and the server, the GNSS terminal is used for acquiring high-precision elevation correction data, the GNSS terminal is used for controlling the control program to be used for storing satellite data acquired when the GNSS terminal receives an instruction control program, the GNSS front end data is used for guiding and processing the position of the elevation correction parameter data corresponding to the GNSS terminal according to the elevation data guiding and processing system 6, the position of the elevation correction parameter data is transmitted by the GNSS front end data guiding system 6 is used for achieving the corresponding to the position resolving and is used for achieving the position of the GNSS elevation correction data of the terminal according to the elevation data guiding and is higher than the position of the elevation data guiding and is used for achieving the terminal. According to the invention, the position information of the current GNSS terminal is transmitted to the elevation correction parameter data broadcasting system 6, then the elevation Cheng Gaizheng parameter data broadcasting system 6 is used for resolving and matching the observation data information of two station networks which are suitable around the GNSS terminal (the observation data information is different from the direct differential correction information used by the current GNSS terminal), so that the system transmits the observation data of the two matched station networks to the GNSS terminal, a front end resolving program of the GNSS terminal is used for resolving networking data, and then the high-precision mm-level elevation data is resolved, the mm-level elevation data can be directly provided for the mm-level elevation data guiding system 3 at the PDA end for construction guiding, the elevation data obtained by the method meets the requirement of the high-precision construction testing standard, the independent measurement of the elevation data is not needed to be carried out by combining a total station or a level gauge, and is independently completed by an independent system unit, the system can be realized without being influenced by environment and light intensity, all-weather operation can be realized, high-efficiency construction cost is facilitated, and professional technical personnel dependence is greatly reduced.
In addition, the invention also provides two measuring methods for the GNSS elevation measuring device, wherein when construction and measurement operators measure outdoors, single-point positioning coordinate data of the GNSS terminal are sent to an elevation correction parameter data broadcasting system 6 in a 4G network NTRIP communication protocol mode; after the elevation correction parameter data broadcasting system 6 obtains single-point positioning coordinate data of the GNSS terminal, the single-point positioning coordinate data of the GNSS terminal is processed and analyzed by the station network data analyzing and processing system 7, then the station network data analyzing and processing system 7 finds GNSS original virtual observation data of the corresponding sub-network from 2 adjacent sub-networks around the GNSS terminal according to a network logic algorithm, and the GNSS original virtual observation data in the 2 adjacent sub-networks are transmitted to the elevation correction parameter data broadcasting system 6 through the network (wherein, the GNSS original virtual observation data is different from single RTCM differential correction information broadcasted by a third party data system used by a current GNSS receiver, only one sub-network is broadcasted currently in RTCM information, but the two sub-networks are found at the same time, and the data is no longer RTCM but the original virtual observation data), then the elevation correction parameter data broadcasting system 6 transmits the GNSS original virtual observation data in the 2 adjacent sub-networks to the terminal through the network, the GNSS terminal simultaneously solves the GNSS original virtual observation data of the 2 adjacent sub-networks and the GNSS terminal according to the initial time required by the initial time of the initial calculation of the GNSS terminal 12, the initial positioning coordinate calculation method is maintained for the initial time of the GNSS terminal is not normally calculated according to the initial time required by the initial time calculation of the GNSS terminal 12, in the measuring method, the advantage of all-weather operation of a GNSS receiver is utilized, the problem that the GNSS receiver cannot perform high-precision elevation operation is also broken, three points are utilized to form a surface to form three resolving baselines, two subnetworks are used as known points, and adjustment resolving is performed based on redundant observation combinations of the three baselines, so that high-precision mm-level elevation data of to-be-measured points are obtained.
When a construction measurement operator measures outdoors, there is a situation that a plurality of available virtual subnets can be used in the working area, at the moment, another measurement method for an NSS elevation measurement device can be adopted, at the moment, 2 GNSS base stations can be erected around the construction working area by self, base station B1 and base station B2 are utilized to transmit GNSS original virtual observation data of base station B1 and base station B2 to an NTRIP data broadcasting service center by utilizing 4G networks of base station B1 and base station B2, then GNSS terminals transmit single-point positioning coordinate data of the GNSS terminals to the NTRIP data broadcasting service center in a 4G network NTRIP communication protocol mode (the GNSS original virtual observation data of the base station B1 and the base station B2 are different from single RTCM differential correction information transmitted by a current GNSS receiver by using a third-party data system, and only one sub-net is currently transmitted), in the measurement method of the invention is characterized in that two sub-nets are simultaneously found, and data are not RTCM but original virtual observation data are simultaneously, after the GNSS terminal position of the GNSS terminal is obtained by the NTRIP data transmission service center, the GNSS terminal coordinate data of the GNSS terminal is simultaneously transmitted to the base station B1 and the GNSS terminal is simultaneously, and the GNSS terminal coordinate data of the GNSS terminal is simultaneously obtained by the virtual observation data of the base station B1 and the base station B2, and the GNSS terminal coordinate data is simultaneously transmitted to the GNSS terminal coordinate data of the GNSS terminal is simultaneously and the initial virtual observation data of the base station B1 is simultaneously obtained by the GNSS terminal coordinate data of the GNSS terminal and the initial data is simultaneously transmitted to the GNSS data and the terminal data is transmitted to the initial data and the GNSS data is transmitted to the initial and the GNSS data and the terminal and is used and the real, According to the method, the GNSS terminal can obtain high-precision three-dimensional coordinates in real time, the precision reaches mm level, the precision is far higher than the elevation precision level of 3-5cm of the current GNSS terminal, and after possessing the high-precision mm-level elevation data, the high-level line construction such as high-speed rail construction, high-speed rail construction and moving operation can be satisfied, In the two measurement methods, the main principle of improving the positioning accuracy comprises the following four points of 1. Adding more satellite signals of the observation data, namely, double-base line calculation and simultaneous use of two base line data, means that a receiver can receive more satellite signals, the quantity of the observation data is increased, the more observation data provides redundant information, and the influence of random errors can be reduced through a data fusion technology. 2. Geometric constraints are enhanced, geometric diversity is enhanced by the fact that the two baselines generally have different geometric distributions, and the geometric diversity of observation is increased. This diversity helps to reduce errors due to poor satellite geometry (e.g., satellites concentrated in a region). By the combined calculation of the two baselines, systematic errors such as atmospheric delay, multipath effect and the like can be partially offset. 3. The reduction of error sources, dual baseline solution can better estimate and eliminate the effects of atmospheric delays (such as ionosphere and troposphere delays) through joint processing of the two baselines. Furthermore, multipath effects are one of the main sources of error in GNSS measurements. Double baseline solution can better identify and reduce multipath errors by adding observation data. 4. In the double-baseline calculation, the invention generally uses the least square method and other optimization algorithms to carry out joint processing on the observation data of the two baselines to obtain the optimal absolute coordinate solution, and carries out weighting processing on the observation data of the two baselines according to the quality of the baselines (such as signal-to-noise ratio, satellite geometric distribution and the like) to further improve the calculation precision. In general, the method synchronously observes satellite signals through two receivers fixed on known points and one receiver on a to-be-measured point, determines the accurate relative position or a base line vector between three observation stations by utilizing a method of intersection behind the space distance, and then calculates the three-dimensional coordinates of the to-be-measured point by utilizing the known points of the two base stations. In addition, the measurement method utilizes the advantages of all-weather operation of the GNSS receiver, simultaneously breaks the problem that the GNSS receiver cannot perform high-precision elevation operation, forms a surface by utilizing three points to form three resolving baselines, and performs adjustment resolving based on redundant observation combinations of the three baselines by taking the base station B1 and the base station B2 as known points, so that high-precision mm-level elevation data of a to-be-measured point are obtained.
The invention has the working principle that the position information of the current GNSS terminal is transmitted to the elevation correction parameter data broadcasting system 6, then the elevation Cheng Gaizheng parameter data broadcasting system 6 is used for resolving and matching the observation data information of two station networks which are suitable for the periphery of the GNSS terminal (the observation data information is different from the direct differential correction information used by the current GNSS terminal), so that the system transmits the observation data of the two matched station networks to the GNSS terminal, the front end resolving program of the GNSS terminal is used for resolving networking data, and then the high-precision mm-level elevation data is resolved, the mm-level elevation data can be directly provided for the mm-level elevation data guiding system 3 at the PDA end for construction guidance, the elevation data obtained by the method meets the requirement of the high-precision construction standard, the independent measurement of the elevation data is not needed by combining a total station or a level gauge, and is independently completed by an independent system unit, the system can be realized by a celebrity, the system is not influenced by environment and light intensity, the invention can realize the operation, is favorable for high-efficiency construction, the dependence on professional staff is reduced, and the weather cost is greatly saved.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "upper," "lower," "left," "right," "front," "back," and the like are used herein for illustrative purposes only.
The present invention is not limited in any way by the above-described preferred embodiments, but is not limited to the above-described preferred embodiments, and any person skilled in the art will appreciate that the present invention can be embodied in the form of a program for carrying out the method of the present invention, while the above disclosure is directed to equivalent embodiments capable of being modified or altered in some ways, it is apparent that any modifications, equivalent variations and alterations made to the above embodiments according to the technical principles of the present invention fall within the scope of the present invention.