CN105206309A - GNSS measurement roving station configuration method and GNSS measurement roving station - Google Patents

Abstract

The invention discloses a GNSS measurement roving station configuration method. The GNSS measurement roving station configuration method comprises the following steps that an acceleration sensor collects acceleration data; according to the acceleration data, a gradient of a centering rod is calculated; according to the gradient of the centering rod, the centering rod is adjusted so that the centering rod is in a plumb bob state. The invention also discloses a GNSS measurement roving station. The GNSS measurement roving station comprises a GNSS receiver, the centering rod and a display screen. The GNSS receiver is connected to a top of the centering rod. The display screen is connected to a central section of the centering rod. The acceleration sensor and an acceleration data processor are arranged in the GNSS receiver. By using the GNSS measurement roving station configuration method and the GNSS measurement roving station, inclination angle data is intuitively displayed and recorded so that personnel can conveniently carry out testing and adjusting; adjusting time of test personnel to the centering rod is saved and verticality of the centering rod is increased.

Description

A kind of GNSS measures rover station collocation method and GNSS measures rover station

Technical field

The present invention relates to GNSS fields of measurement, particularly relate to a kind of GNSS and measure rover station collocation method and GNSS measurement rover station.

Background technology

Existing high-precision GNSS is measured rover station and is made up of three parts: GNSS receiver, centering rod and handbook.Survey crew is when carrying out accurate GNSS and measuring, and rover station centering rod must be made to be in stable plummet state (this process also claims leveling), and then open measurement switch and carry out data acquisition, in this period, centering rod must maintain plummet state.If centering rod tilts, the data gathering mistake may be caused.

A kind of general method judging whether centering rod is in vertical state installs a horizontal bubble on centering rod, then adjusts centering rod, be just judged as vertical state when horizontal bubble stabilizes is in middle position, at this time start to measure again.The method thinks horizontal bubble level because be that survey crew is subjective, there is no concrete data analysis, so measured data validity is still to be tested.And adjust the horizontal bubble needs longer time, cause flattening overlong time, measuring speed is excessively slow, and the plummet degree of centering rod also cannot accurately be controlled, and countless according to trackability.

Summary of the invention

In view of current GNSS fields of measurement above shortcomings, the invention provides a kind of GNSS and measure rover station collocation method and GNSS measurement rover station, save the regulating time of centering rod, improve the verticality of centering rod.

For achieving the above object, embodiments of the invention adopt following technical scheme:

A kind of GNSS measures rover station collocation method, and described GNSS measures rover station collocation method and comprises the following steps:

Acceleration information is gathered by acceleration transducer;

The degree of tilt of centering rod is calculated according to acceleration information;

Degree of tilt according to centering rod regulates centering rod, makes centering rod be plummet state.

According to one aspect of the present invention, described step gathers acceleration information by acceleration transducer and comprises the following steps:

Acceleration transducer is made to be in maintenance level state;

Sensing data (the X that continuous collecting specifies number _j, Y _j);

Obtain mean value (X ₀, Y ₀) and preserve;

From sensor obtain data (X, Y) deduct mean value obtain calibrate after acceleration transducer data.

According to one aspect of the present invention, the degree of tilt that described step calculates centering rod according to acceleration information comprises the following steps:

The acceleration information collected is (X, Y, Z), if the angle of X-axis and surface level is angle of pitch ρ, the angle of Y-axis and surface level is roll angle for angle of pitch ρ, the static acceleration value on each axle collected can be expressed as:

$\left\{\begin{array}{c}\mathrm{Ax}=-1g\×\sin \mathrm{\ρ}\\ \mathrm{Ay}=0g\\ \mathrm{Az}=1g\×\cos \mathrm{\ρ}\end{array}\right\};$

When Y-axis aclinal, calculate:

ρ＝-arctan(Ax/Az)；

When Y-axis has inclination angle, calculate:

$\mathrm{\ρ}=-\arctan \left(\sqrt{\frac{{\mathrm{Ax}}^2}{A{y}^2+A{z}^2}}\right);$

In like manner roll angle can be calculated value:

$\mathrm{\φ}=\arctan \left(\sqrt{\frac{{\mathrm{Ay}}^2}{A{x}^2+A{z}^2}}\right);$

The angle of pitch calculated and roll angle are shown on a display screen.

According to one aspect of the present invention, it is further comprising the steps of that described GNSS measures rover station collocation method: when GNSS measurement rover station is measured, centering rod degree of tilt current under real time record.

According to one aspect of the present invention, it is further comprising the steps of that described GNSS measures rover station collocation method: arrange centering rod bank error scope.

According to one aspect of the present invention, it is further comprising the steps of that described GNSS measures rover station collocation method: when centering rod degree of tilt is in outside error range, GNSS receiver cannot measurement point position.

A kind of GNSS measures rover station, described GNSS measures rover station and comprises GNSS receiver, centering rod and display screen, described GNSS receiver is connected with centering rod top, and described display screen is connected with in the middle part of centering rod, is provided with acceleration transducer and acceleration information processor in described GNSS receiver.

Advantage of the invention process: GNSS of the present invention measures rover station collocation method and gathers acceleration information by acceleration transducer, then the degree of tilt of centering rod is calculated according to acceleration information, centering rod is regulated again according to the degree of tilt of centering rod, centering rod is made to be plummet state, show intuitively and record inclination data, be convenient to personnel carry out testing and regulating, save the regulation time of tester's centering rod, also improve the verticality of centering rod, avoid and collect misdata when king-rod tilts, improve testing efficiency and the quality of data, and provide extra trackability for observation station position data.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is the method schematic diagram that a kind of GNSS of the present invention measures rover station collocation method;

Fig. 2 is the structural representation that a kind of GNSS of the present invention measures rover station.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

As shown in Figure 1, a kind of GNSS measures rover station collocation method, and described GNSS measures rover station collocation method and comprises the following steps:

Step S1: gather acceleration information by acceleration transducer;

The embodiment that described step S1 gathers acceleration information by acceleration transducer can be: gather acceleration information by the acceleration transducer in GNSS receiver, described acceleration information can be (X _j, Y _j).

Step S2: the degree of tilt calculating centering rod according to acceleration information;

Described step S2 calculates the degree of tilt of centering rod concrete steps according to acceleration information are as follows:

Acceleration transducer is not for being that it is accurate to have so when measuring, and in the process used, the data measured can be caused again larger deviation is occurred because of a variety of causes, when now in order to sensor can be allowed to be suitable for current, just must first calibrate sensor, its calibration flow process is as follows:

Acceleration transducer is made to be in maintenance level state;

Sensing data (the X that continuous collecting specifies number _j, Y _j);

Obtain mean value (X ₀, Y ₀) and preserve;

From sensor obtain data (X, Y) deduct mean value just obtain calibrate after acceleration transducer data.The data (X, Y, Z) obtained from acceleration transducer can not the inclination angle of direct representation sensor, needs just can obtain inclination value by corresponding formulae discovery.If the angle of X-axis and surface level is angle of pitch ρ, the angle of Y-axis and surface level is roll angle for the angle of pitch:

When acceleration transducer is placed in the horizontal plane, its coordinate system overlaps with fundamental coordinate system: now the angle of pitch is 0, and each number of axle of acceleration transducer is according to as follows:

$\left\{\begin{array}{c}\mathrm{Ax}=0g\\ \mathrm{Ay}=0g\\ \mathrm{Az}=1g\end{array}\right\}$

ρ when sensor and surface level form an angle of pitch time, each axle static data of acceleration transducer is as follows:

$\left\{\begin{array}{c}\mathrm{Ax}=-1g\×\sin \mathrm{\ρ}\\ \mathrm{Ay}=0g\\ \mathrm{Az}=1g\×\cos \mathrm{\ρ}\end{array}\right\};$

When Y-axis aclinal, calculate:

ρ＝-arctan(Ax/Az)；

When Y-axis has inclination angle, calculate:

$\mathrm{\ρ}=-\arctan \left(\sqrt{\frac{{\mathrm{Ax}}^2}{A{y}^2+A{z}^2}}\right);$

In like manner roll angle can be calculated value:

$\mathrm{\φ}=\arctan \left(\sqrt{\frac{{\mathrm{Ay}}^2}{A{x}^2+A{z}^2}}\right);$

Finally the angle of pitch calculated and roll angle are shown on a display screen.

Step S3: the degree of tilt according to centering rod regulates centering rod, makes centering rod be plummet state;

Described step S3 regulates centering rod according to the degree of tilt of centering rod, centering rod is made to be that the embodiment of plummet state can be: the adjustment carrying out centering rod according to the angle of pitch of display screen display and roll angle i.e. degree of tilt, finally make the angle of pitch and roll angle all trend towards zero, thus make centering rod be plummet state.

In actual applications, when using GNSS measurement rover station to measure, centering rod is inevitably made to offset, cannot accomplish to make centering rod be absolute plummet state, thus error range setting can be carried out to the degree of tilt of centering rod, when the degree of tilt of centering rod is within error range, GNSS measures rover station and can measure, but when the degree of tilt of centering rod is in outside error range, just cannot measure, need again to carry out Slope angle adjustment to centering rod, be within error range to make it, then just measure, so, GNSS can be avoided to measure rover station and to collect wrong data.Simultaneously, when GNSS measurement rover station can be measured, centering rod degree of tilt data now under real time record, and mate with measurement data, for observation station position data provides extra trackability, when adding up measurement data, the convenient data large to some application condition are rejected, thus ensure that the accuracy of measurement data.

A kind of GNSS measures rover station embodiment

A kind of GNSS measures rover station, described GNSS measures rover station and comprises GNSS receiver 1, centering rod 2 and display screen 3, described GNSS receiver 1 is connected with centering rod 2 top, described display screen 3 is connected with in the middle part of centering rod 2, is provided with acceleration transducer 11 and acceleration information processor 12 in described GNSS receiver 1.

Acceleration information is gathered by acceleration transducer 11, then calculated the degree of tilt of centering rod 2 according to the acceleration information collected by acceleration information processor 12, and show on display screen 3, data display intuitively facilitates and adjusts centering rod 2, save the regulating time of centering rod, improve the verticality of centering rod.

Advantage of the invention process: GNSS of the present invention measures rover station collocation method and gathers acceleration information by acceleration transducer, then the degree of tilt of centering rod is calculated according to acceleration information, centering rod is regulated again according to the degree of tilt of centering rod, centering rod is made to be plummet state, display directly perceived and record inclination data, be convenient to personnel carry out testing and regulating, save the regulation time of tester's centering rod, also improve the verticality of centering rod, avoid and collect misdata when king-rod tilts, improve testing efficiency and the quality of data, and provide extra trackability for observation station position data.

The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, the technician of any skilled is in technical scope disclosed by the invention; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.

Claims (7)

1. GNSS measures a rover station collocation method, it is characterized in that, described GNSS measures rover station collocation method and comprises the following steps:

Acceleration information is gathered by acceleration transducer;

The degree of tilt of centering rod is calculated according to acceleration information;

Degree of tilt according to centering rod regulates centering rod, makes centering rod be plummet state.

2. GNSS according to claim 1 measures rover station collocation method, it is characterized in that, described step gathers acceleration information by acceleration transducer and comprises the following steps:

Acceleration transducer is made to be in maintenance level state;

Sensing data (the X that continuous collecting specifies number _j, Y _j);

Obtain mean value (X ₀, Y ₀) and preserve;

From sensor obtain data (X, Y) deduct mean value obtain calibrate after acceleration transducer data.

3. GNSS according to claim 2 measures rover station collocation method, and it is characterized in that, the degree of tilt that described step calculates centering rod according to acceleration information comprises the following steps:

The acceleration information collected is (X, Y, Z), if the angle of X-axis and surface level is angle of pitch ρ, the angle of Y-axis and surface level is roll angle for angle of pitch ρ, the static acceleration value on each axle collected can be expressed as:

$\left\{\begin{array}{c}\mathrm{Ax}=-1g\×\sin \mathrm{\ρ}\\ \mathrm{Ay}=0g\\ \mathrm{Az}=1g\×\cos \mathrm{\ρ}\end{array}\right\};$

When Y-axis aclinal, calculate:

ρ＝-arctan(Ax/Az)；

When Y-axis has inclination angle, calculate:

$\mathrm{\ρ}=-\arctan \left(\sqrt{\frac{{\mathrm{Ax}}^2}{A{y}^2+A{z}^2}}\right);$

In like manner roll angle can be calculated value:

$\mathrm{\φ}=\arctan \left(\sqrt{\frac{{\mathrm{Ay}}^2}{A{x}^2+A{z}^2}}\right);$

The angle of pitch calculated and roll angle are shown on a display screen.

4. GNSS according to claim 1 measures rover station collocation method, it is characterized in that, it is further comprising the steps of that described GNSS measures rover station collocation method: when GNSS measurement rover station is measured, centering rod degree of tilt current under real time record.

5. measure rover station collocation method according to the GNSS one of Claims 1-4 Suo Shu, it is characterized in that, it is further comprising the steps of that described GNSS measures rover station collocation method: arrange centering rod bank error scope.

6. GNSS according to claim 5 measures rover station collocation method, it is characterized in that, it is further comprising the steps of that described GNSS measures rover station collocation method: when centering rod degree of tilt is in outside error range, GNSS receiver cannot measurement point position.

7. a GNSS measures rover station, it is characterized in that, described GNSS measures rover station and comprises GNSS receiver, centering rod and display screen, described GNSS receiver is connected with centering rod top, described display screen is connected with in the middle part of centering rod, is provided with acceleration transducer and acceleration information processor in described GNSS receiver.