CN105547241B - A kind of measurement method with laser range finder receiver - Google Patents
A kind of measurement method with laser range finder receiver Download PDFInfo
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- CN105547241B CN105547241B CN201510963575.8A CN201510963575A CN105547241B CN 105547241 B CN105547241 B CN 105547241B CN 201510963575 A CN201510963575 A CN 201510963575A CN 105547241 B CN105547241 B CN 105547241B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of measurement methods with laser range finder receiver, by installing electronic compass, angular transducer and two laser range finders in a laser ranging receiver, an object being measured is chosen in front of laser ranging receiver, the different measurement point of two height is chosen on object being measured to be measured with two laser range finders respectively, and carries out obtaining the orientation of object being measured after calculating accordingly.Using measurement method provided by the invention, the measurement effect for the complicated landform that can be greatly improved improves measurement accuracy.
Description
Technical field
The present invention relates to survey fields, and in particular to arrives a kind of measurement method with laser range finder receiver.
Background technology
Most of receiver of existing market does not install laser range finder, even small part installation optar is also deposited
It requires height, low precision to cause staff inconvenient for use in practical range operation, is measured in some complicated landforms difficult.
Invention content
The present invention provides a kind of measurement methods with laser range finder receiver, include the following steps：
Installation electronic compass, angular transducer and two laser range finders in a laser ranging receiver, and
An object being measured is chosen in front of laser ranging receiver, the Virtual Height between the laser ranging receiver and ground is H2；
The all directions angle for by electronic compass obtaining that object being measured is needed to be located at receiver；
The first receiver and the second receiver and ground current angular are obtained by angular transducer；
The first measurement point A is chosen on object being measured, and a measurement distance is obtained by first laser stadia surveying
L1If the first measurement point A is Virtual Height H with the difference in height of laser ranging receiver in the vertical direction1If the first measurement point A
It is D with the pseudo range of laser ranging receiver in the horizontal direction1；
The second measurement point B that height is less than the first measurement point A is chosen on object being measured, passes through second laser rangefinder
Measurement obtains a measurement distance L2If the second measurement point B is with the pseudo range of laser ranging receiver in the horizontal direction
D2；
Calculate measurement distance L1Sharp angle φ between laser ranging receiver：
φ=180 °-alpha-beta；
Wherein, α is measurement distance L1With measurement distance L2Between angle, β be measurement distance L2With laser ranging receiver
Between sharp angle；
Calculate Virtual Height H1With pseudo range D1：
H1=L1* cos φ,
D1=L1*sinφ；
Calculate Virtual Height H2With pseudo range D2：
H2=L2* cos β,
D2=L2*sinβ；
It calculates and is measured distance L between laser ranging receiver and object being measured3And the first measurement point A and
Measured length L between two measurement point B4：
L3=(D1+D2)/2；
L4 2=(H1+H2)2+(D1-D2)2；
Calculate object being measured and the slope θ on ground：
H1+H2=L4*cosθ；
In the methods described above, further include：
According to measured distance L3, and the orientation X of receiver self poisoning1、Y1And electronic compass feedback is tested
Amount object is located at the sharp angle δ on an all directions wherein direction for receiver, can calculate the orientation of object being measured
X2、Y2：
X2=X1+L3*cosδ；
Y2=Y1+L3*sinδ。
Since present invention employs above-mentioned technical solutions, by installing two two Laser Measurings on a receiver
Distance meter respectively measures two measurement points on object being measured by the two laser range finders, and according to measurement
Obtained accordingly result can facilitate the orientation for calculating object being measured of preparation, using measurement method provided by the invention, energy
The measurement effect of the complicated landform enough greatly improved, improves measurement accuracy.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent upon.Identical label indicates identical part in whole attached drawings.Not deliberately proportionally
Draw attached drawing, it is preferred that emphasis is the purport of the present invention is shown.
Fig. 1 is the orientation diagram of receiver and object being measured when the present invention measures；
Fig. 2 is that the present invention obtains object being measured and ground slope, the schematic diagram of length；
Fig. 3 is vertical view of the present invention when measuring.
Specific implementation mode
In the following description, a large amount of concrete details are given in order to provide more thorough understanding of the invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid with the present invention obscure, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical scheme of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiment.
The present invention measures difficult problem in complicated landform according to current measuring technique, provides a kind of with laser ranging
The measurement method of instrument receiver includes the following steps shown in Fig. 3：
Electronic compass, angular transducer and two laser range finders are installed first in a laser ranging receiver,
And an object being measured is chosen in front of laser ranging receiver, the Virtual Height between the laser ranging receiver and ground is
H2。
The all directions angle for by electronic compass obtaining that object being measured is needed to be located at receiver.
The first receiver and the second receiver and ground current angular are obtained by angular transducer.
The first measurement point A is chosen on object being measured, and a measurement distance is obtained by first laser stadia surveying
L1If the first measurement point A is Virtual Height H with the difference in height of laser ranging receiver in the vertical direction1If the first measurement point A
It is D with the pseudo range of laser ranging receiver in the horizontal direction1。
The second measurement point B that height is less than the first measurement point A is chosen on object being measured, passes through second laser rangefinder
Measurement obtains a measurement distance L2If the second measurement point B is with the pseudo range of laser ranging receiver in the horizontal direction
D2。
Calculate measurement distance L1Sharp angle φ between laser ranging receiver：
φ=180 °-alpha-beta；
Wherein, α is measurement distance L1With measurement distance L2Between angle, β be measurement distance L2With laser ranging receiver
Between sharp angle.
By Virtual Height H1, pseudo range D1, measurement distance L1Right angled triangle is formed, according to triangle theorem, Ke Yiji
Calculate Virtual Height H1With pseudo range D1：
H1=L1* cos φ,
D1=L1*sinφ。
By Virtual Height H2, pseudo range D2, measurement distance L2Right angled triangle is formed, according to triangle theorem, Ke Yiji
Calculate Virtual Height H2With pseudo range D2：
H2=L2* cos β,
D2=L2*sinβ；
Due to Virtual Height H1, Virtual Height H2, pseudo range D1, pseudo range D2, be measured length L4It constitutes up and down
It can be calculated tested between laser ranging receiver and object being measured according to special rectangle rule for the rectangle at right angle
Span is from L3And the first measured length L between measurement point A and the second measurement point B4：
L3=(D1+D2)/2；
L4 2=(H1+H2)2+(D1-D2)2。
According to measured length, Virtual Height H1With Virtual Height H2Object being measured and the slope on ground can be calculated
θ：
H1+H2=L4*cosθ。
In an optional embodiment of the invention, distance L is measured according to what is be finally calculated3, and receiver from
The orientation X of body positioning1、Y1And the object being measured of electronic compass feedback is located on an all directions wherein direction for receiver
Sharp angle δ, the orientation X of object being measured can be calculated2、Y2：
X2=X1+L3*cosδ；
Y2=Y1+L3*sinδ。
In figure 3, due to object being measured, it is located at the east orientation of receiver, therefore chooses angle δ to be calculated,
This can't cause the influence of any substance that can be selected according to specific orientation in some other embodiment the present invention
It selects specific angle to be calculated, it will not be described here.
In conclusion since present invention employs above-mentioned technical solutions, by installing two on a receiver
Laser range finder respectively measures two measurement points on object being measured by the two laser range finders, and root
The orientation for calculating object being measured of preparation can be facilitated according to obtained accordingly result is measured, using measurement side provided by the invention
Method, the measurement effect for the complicated landform that can be greatly improved, improves measurement accuracy.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this field
It applies；Any technical person familiar with the field, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit any simple modifications, equivalents, and modifications made to the above embodiment of the present invention, still fall within the present invention
In the range of technical solution protection.
Claims (2)
1. a kind of measurement method with laser range finder receiver, which is characterized in that include the following steps：
Electronic compass, angular transducer and two laser range finders are installed in a laser ranging receiver, and in laser
An object being measured is chosen in front of ranging receiver, the Virtual Height between the laser ranging receiver and ground is H2；
The all directions angle for by electronic compass obtaining that object being measured is needed to be located at receiver；
The first receiver and the second receiver and ground current angular are obtained by angular transducer；
The first measurement point A is chosen on object being measured, and a measurement distance L is obtained by first laser stadia surveying1If
First measurement point A is Virtual Height H with the difference in height of laser ranging receiver in the vertical direction1If the first measurement point A with swash
The pseudo range of ligh-ranging receiver in the horizontal direction is D1；
The second measurement point B that height is less than the first measurement point A is chosen on object being measured, passes through second laser stadia surveying
Obtain a measurement distance L2If the second measurement point B is D with the pseudo range of laser ranging receiver in the horizontal direction2；
Calculate measurement distance L1Sharp angle φ between laser ranging receiver：
φ=180 °-alpha-beta；
Wherein, α is measurement distance L1With measurement distance L2Between angle, β be measurement distance L2Between laser ranging receiver
Sharp angle；
Calculate Virtual Height H1With pseudo range D1：
H1=L1* cos φ,
D1=L1*sinφ；
Calculate Virtual Height H2With pseudo range D2：
H2=L2* cos β,
D2=L2*sinβ；
It calculates and is measured distance L between laser ranging receiver and object being measured3And first measurement point A and second survey
Measure the measured length L between point B4：
L3=(D1+D2)/2；
L4 2=(H1+H2)2+(D1-D2)2；
Calculate object being measured and the slope θ on ground：
H1+H2=L4*cosθ。
2. the method as described in claim 1, which is characterized in that further include：
According to measured distance L3, and the orientation X of receiver self poisoning1、Y1And the measured object of electronic compass feedback
Body is located at the sharp angle δ on an all directions wherein direction for receiver, can calculate the orientation X of object being measured2、Y2：
X2=X1+L3*cosδ；
Y2=Y1+L3*sinδ。
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| CN201510963575.8A CN105547241B (en) | 2015-12-20 | 2015-12-20 | A kind of measurement method with laser range finder receiver |
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| CN201510963575.8A CN105547241B (en) | 2015-12-20 | 2015-12-20 | A kind of measurement method with laser range finder receiver |
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| CN105547241B true CN105547241B (en) | 2018-10-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106940170A (en) * | 2017-03-07 | 2017-07-11 | 华东交通大学 | A kind of contactless Platform Construction Clearance double excitation telemetry |
| CN109000568A (en) * | 2017-06-07 | 2018-12-14 | 华东交通大学 | A kind of contactless measurement of rail superelevation |
| CN107053219B (en) * | 2017-06-16 | 2019-07-09 | 齐鲁工业大学 | A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign |
| CN108286958A (en) * | 2018-02-06 | 2018-07-17 | 北京优尔博特创新科技有限公司 | A kind of distance measuring method and range-measurement system |
| CN109900240A (en) * | 2019-04-08 | 2019-06-18 | 华东交通大学 | A kind of pair of reflective detection method of bridge-type shield steel rail translation |
| CN111121656A (en) * | 2019-12-22 | 2020-05-08 | 同济大学 | Detection equipment and method for detecting distance between prefabricated parts |
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| JPS6171313A (en) * | 1984-09-14 | 1986-04-12 | Hamamatsu Photonics Kk | Distance measuring apparatus |
| JP4002919B2 (en) * | 2004-09-02 | 2007-11-07 | 技研トラステム株式会社 | Moving body height discrimination device |
| CN102072745B (en) * | 2009-11-20 | 2013-12-11 | 中国农业科学院农业资源与农业区划研究所 | Remote monitoring-based device, system and method for measuring crop yield in real time |
| CN101881613A (en) * | 2010-06-21 | 2010-11-10 | 邓丹 | Method for measuring distance between two points |
| CN102829755A (en) * | 2012-08-27 | 2012-12-19 | 西安煤航信息产业有限公司 | Quick measuring method based on laser ranging device |
| CN103604413A (en) * | 2013-11-20 | 2014-02-26 | 南昌航空大学 | Space distance measurement method based on intelligent cell phone |
| CN104457736A (en) * | 2014-11-03 | 2015-03-25 | 深圳市邦彦信息技术有限公司 | Method and device for acquiring target location information |
| CN105043339A (en) * | 2015-06-09 | 2015-11-11 | 国家电网公司 | Method and system for measuring distance between electric transmission line and interference object |
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