CN102033235B - GPS/SINS (Global Positioning System/Strapdown Inertial Navigation System) based town cadastre map control point rapid measuring and off line data processing method - Google Patents
GPS/SINS (Global Positioning System/Strapdown Inertial Navigation System) based town cadastre map control point rapid measuring and off line data processing method Download PDFInfo
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- CN102033235B CN102033235B CN2010105084611A CN201010508461A CN102033235B CN 102033235 B CN102033235 B CN 102033235B CN 2010105084611 A CN2010105084611 A CN 2010105084611A CN 201010508461 A CN201010508461 A CN 201010508461A CN 102033235 B CN102033235 B CN 102033235B
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Abstract
The invention discloses a GPS/SINS (Global Positioning System/Strapdown Inertial Navigation System) based town cadastre map control point rapid measuring and off line data processing method, which comprises the steps of: distributing map control points in a region with unstable GPS signals by using GPS/SINS town cadastre map control point measuring equipment according to first net information, obtaining initial information of the work of the GPS/SINS town cadastre map control point measuring equipment by using the known control points and the special transposition operation through the GPS/SINS town cadastre map control point measuring equipment to form a navigation positioning coordinate system; obtaining coordinates of the map control points in a hiding region by using the GPS/SINS town cadastre map control point measuring equipment in a process of distributing the map control points; and integrating stored measured data of an inertia core part in the external operation with the GPS information by using off line data processing software, realizing high-precision positioning of the map control points in the region with unstable GPS signals and evaluating the positioning precision. The invention can favorably improve the efficiency of distributing the map control points and the positioning precision.
Description
Technical field
The present invention relates to measurement, surveying and mapping technology and inertial navigation positioning and directing technology; Relate in particular to a kind of the measurement fast of utilizing GPS and SINS cooperation carrying out mapping base point to lay in the cities and towns land deeds mapping process and reach data processing method afterwards, belong to technical field of mapping based on GPS/SINS cities and towns land deeds mapping base point.
Background technology
Along with the fast development of Chinese national economy, press for and find out the urban land resources, for the planning of government department and decision-making provide full and accurate data support.At present; China's cities and towns cadastral inventory remains and utilizes GPS and the total powerstation classification completion control survey of arranging net; And China's cities and towns CADASTRAL DATA variable quantity is huge; Needing a kind of is the efficient cities and towns cadastral inventory method of means with the high-tech technology, upgrades in time to ensure the cities and towns CADASTRAL DATA, satisfies the urban construction needs.
The appearance of GPS global-positioning technology; Particularly the cities and towns cadastral survey that develops into of real-time dynamic positioning technology (GPS-RTK) provides a new platform; Distribution method based on the technological cities and towns cadastral survey mapping base point of GPS is at present: set up the GPS base station at known point and look identical satellite synchronously altogether with rover station; The base station sends to rover station to base station coordinates of oneself and carrier phase observed quantity, the rover station utilization simultaneously
The instituteObservation information is integer ambiguity and the further baseline vector that obtains between base station and rover station fixedly, and base station coordinates adds that this baseline vector promptly gets the rover station coordinate, utilizes rover station to record each mapping base point coordinate.Yet, because cities and towns regional architecture thing is intensive, had a strong impact on of the reception of GPS-RTK rover station receiver to satellite-signal, make that the RTK integer ambiguity can not be fixed fast under a lot of situation, be difficult to realize the high precision real-time positioning.Therefore, when utilizing RTK to lay cities and towns land deeds mapping base point, often need spend the more time to seek spacious position to realize the RTK hi-Fix.It is thus clear that, when prior art utilizes GPS-RTK to carry out cadastral survey work, also being subject to many limitations, the superiority of GPS is not also well brought into play, and mapping base point is laid still wastes time and energy.
Summary of the invention
The present invention seeks to provides a kind of propositions a kind of based on GPS/SINS cities and towns land deeds mapping base point measurement and data processing method afterwards fast to the defective that prior art exists.
The present invention adopts following technical scheme for realizing above-mentioned purpose:
The present invention is based on that GPS/SINS cities and towns land deeds mapping base point is measured fast and data processing method afterwards, comprise the steps:
(1) on the basis of chopped-off head GPS control net or under network RTK, select initialization point and on initialization point, set up GPS, confirm the positional information of initialization point;
(2) turn device is placed on the initialization point, utilize installed surface and locked instrument that the inertia core component of SINS is fixed on the turn device, flatten centering and transposition operation, accomplish the initialization of GPS/SINS cities and towns cadastre root point measurement equipment;
(3) keep open state; The staff carries GPS/SINS cities and towns cadastre root point measurement equipment and to next mapping base point, carries out the positioning and directing measurement; The staff utilizes turn device that GPS/SINS cities and towns cadastre root point measurement equipment is flattened centering and rotating operation on this mapping base point; Obtain the SINS inertia core component output information on this mapping base point, and operation control panel, the setting measurement mark;
(4) resolve the mapping base point coordinate according to the information real-time of SINS inertia core component output information and GPS, judge Measuring Time automatically at mapping base point according to bearing accuracy;
(5) locating information of the mapping base point of all layings is measured in repeating step (3) and (4), and it is netted that the operation route forms the node formation, and the raw measurement data of entire job process stores and gets off to be used for data processing afterwards;
(6) utilize data processing software afterwards; Constant error to the inertia core component data that store in the operation process compensates; And further merge with GPS information; Try to achieve concealment area mapping base point and the next coordinate that the gps signal mapping base point is arranged, utilize the further reverse coordinate of proofreading and correct previous concealment area mapping base point of the mapping base point SINS position error information that gps signal is arranged again, realize the hi-Fix of concealment area mapping base point;
(7) calculate each mapping base point coordinate conversion precision, as satisfy then surveying work end of accuracy requirement, otherwise, GPS/SINS cities and towns cadastre root point measurement device repeats steps (2)～(5) utilized.
Wherein, said SINS is a strap-down inertial navigation system, is made up of inertia core component and navigator fix computing machine, and wherein the inertia core component comprises gyroscope and accelerometer.
Wherein, the said maintenance open state of step (3) is meant in the stroke between two mapping base points that SINS and GPS all are in open state and carry out continuous location survey.
Wherein, be meant after turn device leveling centering is finished at the setting measurement mark in the step (3), utilize control panel that the time tag of store sensor data is set.
Wherein, raw measurement data comprises the raw data that the GPS receiver of raw data that reference station sends over, GPS/SINS receives, the raw data of SINS inertia core component output in the step (5).
The direction parameter acquiring method that the described positioning and directing of above-mentioned steps (3) is measured is:
Wherein:
be gyrostatic output conversion amount when being respectively 1,2,3,4 positions;
is rotational-angular velocity of the earth;
local latitude;
is the deflection of SINS.
The described real-time resolving mapping base point of step (4) coordinate method is:
Wherein:
and
is the position coordinates under the terrestrial coordinate system; △ t is coordinate update time; E is a terrestrial coordinate system, and k representes that k constantly;
Advantage of the present invention and beneficial effect: mapping base point is laid free, need not consider the problem that gps signal blocks, and realizes the quick laying of mapping base point.The GPS/SINS system can directly accomplish mapping base point and lay on chopped-off head net (or network RTK) basis, remove the trouble of arranging net step by step in the routine measurement with guide line from; In measuring process, instrument does not need and other mapping base point intervisibility, avoids buildings, car, people's the influence of blocking, and operating rate can obviously be accelerated.
The present invention utilizes special method of operating in inertia measurement location technology and the mapping, can improve efficient and bearing accuracy that mapping base point is laid well, for the measurement of quick short steps point is provided convenience, mapping base point information efficiently.
Description of drawings
Fig. 1 connects and fundamental diagram for present device;
Fig. 2 is a data flowchart of the present invention;
Fig. 3 is a techniqueflow chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing principle of work of the present invention and embodiment are described further:
The inertia core component of present embodiment strapdown inertial navigation system is made up of fiber optic gyro (FOG) and quartz flexible accelerometer; The navigator fix computing machine is selected the PC/104 industrial computer, and it is the serial ports input that the coordinates transmission that GPS-RTK records known point is given the transmission mode of navigator fix computing machine.
Fig. 1 connects and fundamental diagram for present device.Label declaration: 1. GPS constellation, 2. gps signal, 3. antenna for base station, 4. bastion host; 5. data chainning, 6. the base station sends to the differential signal of movement station, 7. rover station GPS main frame; 8. rover station antenna, 9. inertia core component, 10. navigator fix computing machine; 11. turn device, 12. interior industry data handling machines, 13. gps signals.
In the operating area, set up GPS antenna for base station 3 on the known GPS point; Antenna for base station 3 is connected to bastion host 4; Antenna for base station 3 receives gps satellite signal 2 and signal is transferred to bastion host 4; Main frame 4 is connected to data chainning 5, through data chainning 5 differential signals such as base station coordinates and carrier phase observation data 6 is sent to rover station GPS main frame 7; At operation field; Rover station antenna 8 is fixed in the center of SINS inertia core component 9; SINS inertia core component 9 utilizes Serial Port Line to link to each other with navigator fix computing machine 10; Select initialization point A according to pinpoint as far as possible principle, turn device 11 is arranged on this working point, and leveling centering.SINS inertia core component 9 is fixed on the turn device 11, utilizes a plurality of positions of rotating to accomplish the initialization of SINS, form elements of a fix system; The mapping base point B easy motion that SINS inertia core component 9 is taken off and is blocked to gps signal from turn device 11; In this process; If gps signal can be used, rover station antenna 8 receives gps signals 13 and is transferred to rover station main frame 7 so, and rover station main frame 7 utilizes fixedly integer ambiguity of differential signal 6 that the base station that obtains sends to movement station and gps signal 10; And further obtain the real-time coordinate of rover station; SINS is according to the coordinate of the output real-time resolving SINS of inertia core component 9, and in navigator fix computing machine 10, carries out field data and merge, and exports the on-the-spot elements of a fix; After arriving mapping base point B, turn device 11 is arranged on this mapping base point, and leveling centering.SINS inertia core component 9 is fixed on the turn device 11, rotates turn device 11 and accomplish SINS inertia core component output collection, resolve the coordinate of mapping base point, preserve all information in this process; After accomplishing fieldwork observation; Canned data is imported interior industry computing machine 12; Start data processing software afterwards, this software is proofreaied and correct and positioning error is proofreaied and correct four modules and formed by data download, anchor point Information Statistics, GPS and SINS are auxiliary, and output and the positioning calculation result of inertia core component who utilizes SINS is under the situation of gps signal difference; Assistant GPS positions; And utilize the data of gathering to carry out backward and resolve, carry out cadastre root point measurement devices collect data aftertreatment of GPS/SINS cities and towns and GPS/SINS coordinate conversion on this basis, finally try to achieve institute's measuring point accurate coordinate and precision thereof.
Fig. 2 is a data flowchart of the present invention.The base station sends to rover station through data chainning with differential signal; Rover station obtains the initialization position coordinate and is transferred to the navigator fix computing machine; SINS gets into working cycle after accomplishing initialization; SINS gathers the output of inertia core component, and in the navigator fix computing machine, carries out location compute, and inertia core component information, GPS information and SINS locating information in the format position fixing process as requested; Field operation imports computing machine with canned data after measuring and accomplishing, and utilizes the error of data processing software compensation inertia core component afterwards, realizes high-precision mapping base point location.
Fig. 3 is a techniqueflow chart of the present invention.In the operating area, set up the GPS base station on the known GPS point, connect data chainning and send differential signal to rover station; Lay on-the-spot at mapping base point; Select initialization point A according to pinpoint as far as possible principle; Gps antenna is linked to each other through cable with its main frame and is fixed in the center of SINS inertia core component, and SINS inertia core component utilizes Serial Port Line to link to each other with the navigator fix computing machine, and the GPS main frame links to each other with the navigator fix computing machine through serial ports; Corresponding baud rate and correcting code are set, realize that inertia core component, GPS main frame are respectively and the data transmission between the navigator fix computing machine.Turn device is arranged on the initialization point A, and leveling centering.The staff is fixed on SINS inertia core component on the turn device, starts SINS, utilizes a plurality of positions of rotating to accomplish the initialization of SINS, obtains the directional information of SINS according to formula (1); The mapping base point B easy motion that SINS inertia core component is taken off and is blocked to gps signal from turn device; In this process, the staff will note the stationarity of moving, and SINS is according to the output of inertia core component; Utilize the coordinate of formula (2) real-time resolving SINS; Obtain the gps coordinate of current point according to gps signal, and in the navigator fix computing machine, carry out the field data fusion, export the on-the-spot elements of a fix; After arriving mapping base point B, the staff is arranged in turn device on this mapping base point, and leveling centering.SINS inertia core component is fixed on the turn device; Rotate turn device and accomplish the sensor output collection of SINS; Resolve the coordinate of mapping base point, preserve all information in this process, on mapping base point, measure; The staff will press markers sign button according to the output information on the control panel; After accomplishing fieldwork observation, get into data processing software afterwards, carry out the cadastre root point measurement devices collect data aftertreatment of GPS/SINS cities and towns; Carry out the GPS/SINS coordinate conversion, finally try to achieve institute's measuring point accurate coordinate and precision thereof.
Claims (6)
1. measure fast based on GPS/SINS cities and towns land deeds mapping base point and data processing method afterwards for one kind, it is characterized in that comprising the steps:
(1) on the basis of chopped-off head GPS control net or under network RTK, select initialization point and on initialization point, set up GPS, confirm the positional information of initialization point;
(2) turn device is placed on the initialization point, utilize installed surface and locked instrument that the inertia core component of SINS is fixed on the turn device, flatten centering and transposition operation, accomplish the initialization of GPS/SINS cities and towns cadastre root point measurement equipment;
(3) keep open state; The staff carries GPS/SINS cities and towns cadastre root point measurement equipment and to next mapping base point, carries out positioning and directing direction of measurement parameter; The staff utilizes turn device that GPS/SINS cities and towns cadastre root point measurement equipment is flattened centering and transposition operation on this mapping base point; Obtain the SINS inertia core component output information on this mapping base point, and operation control panel, the setting measurement mark;
(4) resolve the mapping base point coordinate according to the information real-time of SINS inertia core component output information and GPS, judge Measuring Time automatically at mapping base point according to bearing accuracy;
(5) locating information of the mapping base point of all layings is measured in repeating step (3) and (4), and it is netted that the operation route forms the node formation, and the raw measurement data of entire job process stores and gets off to be used for data processing afterwards;
(6) utilize data processing software afterwards; Constant error to the inertia core component data that store in the operation process compensates; And further merge with GPS information; Try to achieve concealment area mapping base point and the next coordinate that the gps signal mapping base point is arranged, utilize the further reverse coordinate of proofreading and correct previous concealment area mapping base point of the mapping base point SINS position error information that gps signal is arranged again, realize the hi-Fix of concealment area mapping base point;
(7) calculate each mapping base point coordinate conversion precision, as satisfy then surveying work end of accuracy requirement, otherwise, GPS/SINS cities and towns cadastre root point measurement device repeats steps (2)～(5) utilized.
2. according to claim 1 the measurement fast based on GPS/SINS cities and towns land deeds mapping base point reaches data processing method afterwards; It is characterized in that said SINS is a strap-down inertial navigation system; Be made up of inertia core component and navigator fix computing machine, wherein the inertia core component comprises gyroscope and accelerometer.
3. according to claim 1 and 2 the measurement fast based on GPS/SINS cities and towns land deeds mapping base point reaches data processing method afterwards; It is characterized in that the said maintenance open state of step (3) is meant in the stroke between two mapping base points that SINS and GPS all are in open state and carry out continuous location survey.
4. according to claim 1 the measurement fast based on GPS/SINS cities and towns land deeds mapping base point reaches data processing method afterwards; It is characterized in that setting measurement mark described in the step (3) is meant after turn device leveling centering is finished, and utilizes control panel that the time tag of store sensor data is set.
5. according to claim 1ly measure fast and data processing method afterwards, it is characterized in that the raw data that the GPS receiver of raw data that raw measurement data in the step (5) comprises reference station and send over, GPS/SINS receives, the raw data of SINS inertia core component output based on GPS/SINS cities and towns land deeds mapping base point.
6. according to claim 1 the measurement fast based on GPS/SINS cities and towns land deeds mapping base point reaches data processing method afterwards, it is characterized in that the described method that positions the orientation survey direction parameter of step (3) is:
Wherein: ω
1, ω
2, ω
3, ω
4Gyrostatic output conversion amount when being respectively 1,2,3,4 positions; Ω
IeBe rotational-angular velocity of the earth; The λ local latitude; Φ is the deflection of SINS.
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| CN104462298A (en) * | 2014-11-28 | 2015-03-25 | 东南大学 | Cadastral surveying system and method achieving automatic cadastral mapping |
| CN104613966B (en) * | 2015-01-30 | 2017-11-14 | 东南大学 | A kind of cadastration off-line data processing method |
| CN105607105A (en) * | 2016-03-07 | 2016-05-25 | 东南大学 | Inertial positioning method for real estate field measurement |
| CN106707322B (en) * | 2016-12-30 | 2017-11-28 | 立得空间信息技术股份有限公司 | High dynamic positioning and orientation system and method based on RTK/SINS |
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| CN101000245A (en) * | 2007-01-10 | 2007-07-18 | 北京航空航天大学 | Data blending method of navigation system combined by SINS/GPS micromagnetic compass |
| CN101105524A (en) * | 2007-08-17 | 2008-01-16 | 东南大学 | Quick cadastral survey measurement and data processing method based on real-time dynamic positioning technology |
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| CN101000245A (en) * | 2007-01-10 | 2007-07-18 | 北京航空航天大学 | Data blending method of navigation system combined by SINS/GPS micromagnetic compass |
| CN101105524A (en) * | 2007-08-17 | 2008-01-16 | 东南大学 | Quick cadastral survey measurement and data processing method based on real-time dynamic positioning technology |
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