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A tilt measurement method of a surveying and mapping all-in-one machine based on a GNSS receiver and an IMU sensor

A tilt measurement and sensor technology, applied in the field of surveying and mapping, can solve the problems of low operation efficiency and large tilt measurement error.

Active Publication Date: 2020-12-22
菲曼(北京)科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of low operating efficiency and large tilt measurement error caused by the existing surveying and mapping integrated machine due to the magnetic angle measurement system, the purpose of the present invention is to provide a tilt measurement method of the surveying and mapping integrated machine based on GNSS receiver and IMU sensor

Method used

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  • A tilt measurement method of a surveying and mapping all-in-one machine based on a GNSS receiver and an IMU sensor
  • A tilt measurement method of a surveying and mapping all-in-one machine based on a GNSS receiver and an IMU sensor
  • A tilt measurement method of a surveying and mapping all-in-one machine based on a GNSS receiver and an IMU sensor

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Embodiment 1

[0087] Such as Figure 1~2 As shown, the integrated surveying and mapping machine provided in this embodiment includes a centering pole 1, a GNSS receiver 2, an IMU sensor 3 and a microprocessor 4, wherein the GNSS receiver 2 is arranged on the centering pole 1 At the top, the IMU sensor 3 is arranged on the centering rod 1 and includes a 3-axis accelerometer and a 3-axis gyroscope, and the microprocessor 4 is also arranged on the centering rod 1 and communicates with all The GNSS receiver 2 and the IMU sensor 3. Such as figure 1As shown, the centering pole 1, the GNSS receiver 2, the IMU sensor 3 and the microprocessor 4 are all common accessories of the existing surveying and mapping integrated machine, and the surveying and mapping integrated machine of this embodiment is compatible with the existing The difference of the all-in-one surveying and mapping machine is that the IMU sensor 3 can be arranged at any position of the centering rod 1 like the microprocessor 4 due t...

Embodiment 2

[0153] Such as image 3 As shown, this embodiment provides a further optimization solution based on Embodiment 1, that is, the tilt measurement method of the surveying and mapping integrated machine, which also includes the installation angle self-calibration method described in the following steps S201-S204 after the step S102 :

[0154] S201. Through the steps S103-S108, sequentially obtain the position coordinates of S centering rod bottoms obtained for different antenna phase center positions during the process of shaking the centering rod 1: ((φ O ) k1 (λ O ) k1 (h O ) k1 ) T , ((φ O ) k2 (λ O ) k2 (h O ) k2 ) T ,...,((φ O ) kS (λ O ) kS (h O ) kS ) T , wherein, S is a natural number not less than 2, and the position coordinate of the bottom end of the S-th centering rod is the newly acquired coordinate of the bottom end of the centering rod.

[0155] In the step S201, it is considered that the surveying and mapping integrated machine requires t...

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Abstract

The invention relates to the technical field of surveying and mapping, and discloses an inclination measurement method of a surveying and mapping integrated machine based on a GNSS receiver and an IMU sensor. Through the creation of the present invention, the algorithm principle of the Kalman filter can be used to perform multiple mutual cycles between prediction and correction of the designed multi-dimensional unknown state quantities, so that the multi-dimensional unknown state quantities are constantly approaching the real value, and then based on the multi-dimensional The unknown state quantity can efficiently and accurately obtain the latest 3-dimensional attitude angle and the latest rotation matrix from the XYZ coordinate system to the NED coordinate system, and finally map the coordinates of the antenna phase center of the GNSS receiver to the end position of the centering pole through geometric transformation coordinates to complete the tilt measurement, so that the measurement staff can be completely liberated from the task of leveling the blisters, and the work efficiency can be improved. In addition, there is no need to do any factory calibration, and it can always be self-calibrated during the operation process, which greatly improves the operation efficiency and accuracy, and reduces unnecessary production processes.

Description

technical field [0001] The invention belongs to the technical field of surveying and mapping, and in particular relates to an inclination measurement method of a surveying and mapping integrated machine based on a GNSS receiver and an IMU sensor. Background technique [0002] The traditional surveying and mapping all-in-one machine requires surveyors to use the air bubbles of the centering pole to keep the all-in-one machine level. The latitude and longitude of the antenna phase center of the all-in-one machine is the latitude and longitude of the measuring point at the bottom of the centering pole, and the height of the measuring point is the antenna phase center of the all-in-one machine. Just subtract the known distance from the bottom of the pole to the phase center of the all-in-one antenna from the height. However, in order to ensure the accuracy, this method requires surveyors and mappers to maintain alignment for about half a minute, which is difficult and affects su...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C23/00G01S19/14
CPCG01C23/00G01S19/14G01S19/43G01S19/47G01C15/06G01S19/03
Inventor 刘俊杰李强
Owner 菲曼(北京)科技有限公司
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