CN106950583A - One kind is based on the united forest highway measuring systems of GPS RTK and measuring method - Google Patents
One kind is based on the united forest highway measuring systems of GPS RTK and measuring method Download PDFInfo
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- CN106950583A CN106950583A CN201710193586.1A CN201710193586A CN106950583A CN 106950583 A CN106950583 A CN 106950583A CN 201710193586 A CN201710193586 A CN 201710193586A CN 106950583 A CN106950583 A CN 106950583A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The united forest highway measuring systems of GPS RTK and measuring method are based on the invention discloses one kind, including：GPS RTK systems, GPS RTK systems include base station, several rover stations and radio communication system；Base station includes GPS, gps antenna, transmitting antenna, radio communication emission system, power supply and controller；GPS and radio communication emission system are electrically connected with the power supply respectively；Controller is electrically connected with GPS；Rover station includes GPS, gps antenna, reception antenna, radio communication reception system, power supply and display controller；GPS and radio communication reception system are electrically connected with the power supply respectively；GPS and radio communication reception system are electrically connected with display controller respectively.The united forest highway measuring systems of GPS RTK should be based on, accurately accurately forest highway can be measured and can simply launch and receive measurement data.
Description
Technical field
The present invention relates to forest highway measuring system technical field, more particularly relate to a kind of united based on GPS-RTK
Forest highway measuring system and measuring method.
Background technology
Forest region survey work is exactly the difficult point of fields of measurement all the time, and measuring instrument usually can in forest region survey is carried out
There are many problems.In face of complicated landform, we are also not at one's wit's end, be have studied both at home and abroad many on forest region survey
Applicable method, and on the abatement countermeasure that crown canopy and mountain region influence, but many researchs are only limitted to theory analysis and laboratory
Topic, its apparatus preparation and the general unit of technical merit are difficult to reach.How limited resource is utilized, pass through improved technology and management
Measure goes to carry out forest region survey work and is only our targets to be reached.Some experiences worked the following is me in forest region survey.
It is current based on the united forest highway measuring systems of GPS-RTK, have that measurement accuracy is low, forest region survey is more difficult
With accuracy of measurement it is relatively low the problem of.
The content of the invention
The present invention provides a kind of based on the united forest highway measuring systems of GPS-RTK and measuring method, existing to solve
Have in technology current based on the united forest highway measuring systems of GPS-RTK, there is that measurement accuracy is low, forest region survey is more difficult
With accuracy of measurement it is relatively low the problem of.
The embodiment of the present invention provides a kind of based on the united forest highway measuring systems of GPS-RTK, including：GPS-RTK systems
System, the GPS-RTK systems are made up of base station, several rover stations and the part of radio communication system three；The base station
Including GPS, gps antenna, transmitting antenna, radio communication emission system, power supply and controller；The GPS
It is electrically connected with respectively with the power supply with the radio communication emission system；The controller and the GPS are electrical
Connection；The transmitting antenna is electrically connected with the radio communication emission system；The gps antenna and the GPS
It is electrically connected with；The rover station includes GPS, gps antenna, reception antenna, radio communication reception system, power supply and shown
Show controller；The GPS and the radio communication reception system are electrically connected with the power supply respectively；The GPS
Receiver is electrically connected with the display controller；The display controller electrically connects with the radio communication reception system
Connect；The gps antenna is electrically connected with the GPS；The reception antenna and radio communication reception system electricity
Property connection.
Preferably, the GPS-RTK systems also include ground monitoring part, Aerospace Satellite part and user's receiving portion,
The information of ground monitoring part monitoring is transmitted to user's receiving portion by Aerospace Satellite part and monitoring information is handled, respectively
There are respective independent function and effect in part, while complementing each other to form an organic whole system again.
Preferably, the GPS-RTK systems need two or more than two GPSs synchronize observation, record
Data carry out processing with coordinate software and can obtain accurate WGS-84 coordinate systems between the base station and the rover station
Basic lineal vector, works by adjustment, Coordinate Conversion, tries to achieve unknown three-dimensional coordinate.
Preferably, all satellite informations of the base station reception channel（Including pseudorange and carrier phase observation data）And institute
The high information of base station coordinates antenna for stating base station is delivered to the rover station by radio communication system.
Preferably, the rover station also receives the satellite data of base station transmission while satellite data is received；It is described
Rover station is completed after initialization, in the base station information transmission received to the controller and by the carrier wave of base station
Observation signal carries out difference processing, and tries to achieve the coordinate of unknown point in real time.
Preferably, the GPS-RTK systems need to be combined with total powerstation to measure；The total powerstation includes ranging
Instrument, electronic theodolite, electronic compensator and microprocessor.
A kind of measuring method based on the united forest highway measuring systems of GPS-RTK, comprises the following steps：
（1）The requirement laid according to global positioning system specifications of surveys and GPS point position, E grades of GPS control nets of selection are used as rover station
The chopped-off head control in area is surveyed, the screen cloth sets four E grades of GPS control points, on the major trunk roads for being distributed in the border for surveying area, wherein GPS
Net is controlled using synchronous ring as elementary cell, using side connected mode, by two known rover station measuring points and two rover stations undetermined
Measuring point is coupled to net type with base station measuring point.
（2）Observation is synchronized in a static manner according to specification and requirement using three GPSs, according to sight during observation
Ready-made surveillance program is mutually got in touch with using intercom before surveying, and is filled in item by item in time in measurement handbook while start is simultaneously conscientious
Every content.
（3）The resolving of GPS basic lineal vectors is transferred in computer in time using accompanying software to the data that the same day gathers,
And check field note and input period, call the roll, check before surveying and survey whether aft antenna height has change, take its average to input antenna
Height, is checked synchronous ring, asynchronous loop closure and repetition measurement baseline, to find unqualified achievement, and is according to circumstances determined
Survey is eliminated, resurveys or mended calmly.
（4）The compensating computation of GPS control nets carries out three-dimensional unconstrined minimization using WGS84 ellipsoids and calculated, reference frame
Using WGS84 coordinate systems, according to Baselines achievement, three-dimensional unconstrined minimization is carried out first and is calculated, then with the plane of GPS point
Coordinate and elevation carry out three-dimensional constraining adjustment as the initial data of the net.
（5）Before mapping, two known bench marks are detected using RTK, first point of known elevation is
100.00m detected values be 100.01, elevation known to second point be 99.99m detected values be 100.01m compared with given value, if
In the poor scope of limit, illustrate that using RTK carry out figure root measurement of higher degree precision be reliable.
（6）Using precision in machine is set first before base station and rover station observation point to be located, precision refers in setting machine
Mark default position mean square error of a point+2.0cm, mean square error of height+3.0cm, lime light position geometric figure intensity factor during observation, each
Twice, position coordinate difference≤+ 5cm of pair observations value takes middle number as final result, in observation for the control point observation of rover station
When check the RTK elevations of rover station measuring point at any time, in digital mapping, RTK observations have been carried out to all rover station control points.
（7）Finally carry out digital mapping and measure the smashed parts, wherein the method measured the smashed parts is method of polar coordinates, in actual measurement much
Number detail points coordinate after, can with the direction intersection in software, Distance Intersection, Cross ruler mensuration and two calculation fix-point methods come
The coordinate of remaining each point is obtained, the function such as skew, copy, extension in software is aided with obtains last figure.
In the embodiment of the present invention the united forest highway measuring systems of GPS-RTK and measuring method, energy are based on there is provided one kind
It is enough that accurately and precisely forest highway is measured and can simply launch and receive measurement data.In traditional mapping
In, the error of ground point plan-position is influenceed by following error：The exhibition error M exhibitions of mapping base point, the distance for determining culture point
Error M paints away from, the deflection error M thorns M that determines culture point, on topographic map the thorn point tolerance M thorns of culture point and during fair drawing it is caused
Error M paint, the error of plan-position can use formula：M things=M exhibition+M paint+M things to+M thorns+M away from+M and represented.And in GPS-RTK systems
In system, base station therein carries out the transmitting and reception of coordinate information with several rover stations by radio communication system, so
Automated plotting of points is carried out to coordinate information by computer afterwards, the plottable error of mapping base point and culture point therein can be neglected,
Regard 0 as, then remaining M away from, M to, it is 3 times of limit of nominal accuracy then to take error in direction, because being semiobservation angle measurement,
The error in direction is 6x2x3=17 ", and the distance for removing detail point to survey station is 300m, then M is to=17/206265x300=0.024m,
The nominal accuracy 3+5ppm of rangefinder.Take the influence of the every factor of the grade not in place of prism in total station survey into account, take empirical value
0.020m.Then the planar point of the actual measurement is 0.032m relative to the error of mapping base point.Therefore, in the good situation of sight
Under, because total powerstation is relative to theodolite angle measurement, the raising of range accuracy and computer application, the distance of measurement detail point is put
Greatly, the density for base station makees corresponding reduction, and the length of side is relaxed between 100-300m, for several rover stations, wherein
The distance between each two rover station is set between 50-100m.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 shows for a kind of structure based on the united forest highway measuring systems of GPS-RTK provided in an embodiment of the present invention
It is intended to；
Fig. 2 is that a kind of RTK based on the united forest highway measuring systems of GPS-RTK provided in an embodiment of the present invention is relative in real time
Positioning principle schematic diagram；
Fig. 3 is a kind of GPS-RTK data based on the united forest highway measuring systems of GPS-RTK provided in an embodiment of the present invention
Schematic flow sheet；
Fig. 4 is a kind of total powerstation mapping based on the united forest highway measuring systems of GPS-RTK provided in an embodiment of the present invention
Schematic flow sheet.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in Figures 1 to 4, the embodiment of the present invention provides a kind of based on the united forest highway measuring systems of GPS-RTK,
Including：GPS-RTK systems, GPS-RTK systems are made up of base station, several rover stations and the part of radio communication system three；
Base station includes GPS, gps antenna, transmitting antenna, radio communication emission system, power supply and controller；GPS receiver
Machine and radio communication emission system are electrically connected with the power supply respectively；Controller is electrically connected with GPS；Transmitting antenna with
Radio communication emission system is electrically connected with；Gps antenna is electrically connected with GPS；Rover station includes GPS, GPS
Antenna, reception antenna, radio communication reception system, power supply and display controller；GPS and radio communication receive system
System is electrically connected with the power supply respectively；GPS is electrically connected with display controller；Display controller is received with radio communication
System is electrically connected with；Gps antenna is electrically connected with GPS；Reception antenna is electrically connected with radio communication reception system.
GPS-RTK systems also include ground monitoring part, Aerospace Satellite part and user's receiving portion, ground monitoring part
The information of monitoring is transmitted to user's receiving portion by Aerospace Satellite part and monitoring information is handled, and each several part has each
Independent function and effect, while complementing each other to form an organic whole system again.
GPS-RTK systems needs two or more than two GPSs synchronize observation, and the data of record are soft with coordinate
Part progress processing can obtain the basic lineal vector of the accurate WGS-84 coordinate systems between base station and rover station, by adjustment, sit
Conversion work is marked, unknown three-dimensional coordinate is tried to achieve.All satellite informations of the base station reception channel（Including pseudorange and carrier phase
Observation）Rover station is delivered to by radio communication system with the high information of base station coordinates antenna of base station.Rover station exists
Also the satellite data of base station transmission is received while receiving satellite data；Rover station is completed after initialization, the base received
Quasi- station information transmission tries to achieve unknown point in controller and by the carrier observations signal progress difference processing of base station in real time
Coordinate.GPS-RTK systems need to be combined with total powerstation to measure；Total powerstation includes rangefinder, electronic theodolite, electronics and mended
Repay device and microprocessor.
A kind of measuring method based on the united forest highway measuring systems of GPS-RTK, comprises the following steps：
（1）The requirement laid according to global positioning system specifications of surveys and GPS point position, E grades of GPS control nets of selection are used as rover station
The chopped-off head control in area is surveyed, the screen cloth sets four E grades of GPS control points, on the major trunk roads for being distributed in the border for surveying area, wherein GPS
Net is controlled using synchronous ring as elementary cell, using side connected mode, by two known rover station measuring points and two rover stations undetermined
Measuring point is coupled to net type with base station measuring point.
（2）Observation is synchronized in a static manner according to specification and requirement using three GPSs, according to sight during observation
Ready-made surveillance program is mutually got in touch with using intercom before surveying, and is filled in item by item in time in measurement handbook while start is simultaneously conscientious
Every content.
（3）The resolving of GPS basic lineal vectors is transferred in computer in time using accompanying software to the data that the same day gathers,
And check field note and input period, call the roll, check before surveying and survey whether aft antenna height has change, take its average to input antenna
Height, is checked synchronous ring, asynchronous loop closure and repetition measurement baseline, to find unqualified achievement, and is according to circumstances determined
Survey is eliminated, resurveys or mended calmly.
（4）The compensating computation of GPS control nets carries out three-dimensional unconstrined minimization using WGS84 ellipsoids and calculated, reference frame
Using WGS84 coordinate systems, according to Baselines achievement, three-dimensional unconstrined minimization is carried out first and is calculated, then with the plane of GPS point
Coordinate and elevation carry out three-dimensional constraining adjustment as the initial data of the net.
（5）Before mapping, two known bench marks are detected using RTK, first point of known elevation is
100.00m detected values be 100.01, elevation known to second point be 99.99m detected values be 100.01m compared with given value, if
In the poor scope of limit, illustrate that using RTK carry out figure root measurement of higher degree precision be reliable.
（6）Using precision in machine is set first before base station and rover station observation point to be located, precision refers in setting machine
Mark default position mean square error of a point+2.0cm, mean square error of height+3.0cm, lime light position geometric figure intensity factor during observation, each
Twice, position coordinate difference≤+ 5cm of pair observations value takes middle number as final result, in observation for the control point observation of rover station
When check the RTK elevations of rover station measuring point at any time, in digital mapping, RTK observations have been carried out to all rover station control points.
（7）Finally carry out digital mapping and measure the smashed parts, wherein the method measured the smashed parts is method of polar coordinates, in actual measurement much
Number detail points coordinate after, can with the direction intersection in software, Distance Intersection, Cross ruler mensuration and two calculation fix-point methods come
The coordinate of remaining each point is obtained, the function such as skew, copy, extension in software is aided with obtains last figure.
The united forest highway measuring systems of GPS-RTK are based on there is provided one kind in the embodiment of the present invention, can be accurately and smart
It is true that forest highway is measured and can simply launch and receive measurement data.In traditional mapping, ground point is put down
The error of face position is influenceed by following error：Mapping base point exhibition error M exhibition, determine culture point range error M away from, determine
The deflection error M thorns M of culture point painted, the thorn point tolerance M thorns of culture point and caused error M during fair drawing are painted on topographic map, flat
The error of face position can use formula：M things=M exhibition+M paint+M things to+M thorns+M away from+M and represented, and in GPS-RTK systems, base therein
Quasi- station carries out the transmitting and reception of coordinate information with several rover stations by radio communication system, then passes through computer pair
Coordinate information carries out automated plotting of points, and the plottable error of mapping base point and culture point therein can be neglected, and regard 0 as, then remaining M
Away from, M to it is 3 times of limit of nominal accuracy then to take error in direction, because being semiobservation angle measurement, the error in direction is
6x2x3=17 ", the distance for removing detail point to survey station is 300m, then M is to=17/206265x300=0.024m, rangefinder it is nominal
Precision 3+5ppm.Take the influence of the every factor of the grade not in place of prism in total station survey into account, take empirical value 0.020m.The then actual measurement
The planar point relative to mapping base point error be 0.032m.
Therefore, in the case where sight is good, because total powerstation is relative to theodolite angle measurement, the raising of range accuracy
And computer application, the distance amplification of measurement detail point, for the corresponding reduction of density work of base station, the length of side is relaxed to
Between 100-300m, for several rover stations, wherein the distance between each two rover station is set between 50-100m.Its
Middle GPS-RTK systems need to be combined with total powerstation to measure；Total powerstation includes rangefinder, electronic theodolite, electronic compensation
The measurement function of device and microprocessor, wherein total powerstation has fundamental measurement function and program measurement function, wherein fundamental measurement work(
Electronic range measurement, electronics angle measurement can be included（Horizontal angle, vertical angle）, its Program measurement function includes cutting for horizontal range and the discrepancy in elevation
Change display, three-dimensional coordinate measurement, Opposite side survey, setting out survey, misalignment measurement, resection measurement, areal calculation etc..Especially note
As long as meaning is start, electronics angle measurement system is to start working and show in real time observation data；Other measurement functions are ranging
And data processing.It can be while the distance and angle-data of measurement space target, directly obtain three-dimensional coordinate data.To sum up institute
State so that the united forest highway measuring systems of GPS-RTK should be based on, accurately and precisely forest highway can be measured
And can simply launch and receive measurement data.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and modification of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (7)
1. one kind is based on the united forest highway measuring systems of GPS-RTK, it is characterised in that including：GPS-RTK systems, it is described
GPS-RTK systems are made up of base station, several rover stations and the part of radio communication system three；The base station includes GPS
Receiver, gps antenna, transmitting antenna, radio communication emission system, power supply and controller；The GPS and the nothing
Line electricity communication emission system is electrically connected with the power supply respectively；The controller is electrically connected with the GPS；It is described
Transmitting antenna is electrically connected with the radio communication emission system；The gps antenna is electrically connected with the GPS；
The rover station includes GPS, gps antenna, reception antenna, radio communication reception system, power supply and display controller；
The GPS and the radio communication reception system are electrically connected with the power supply respectively；The GPS and institute
State display controller electric connection；The display controller is electrically connected with the radio communication reception system；Described GPS days
Line is electrically connected with the GPS；The reception antenna is electrically connected with the radio communication reception system.
2. it is as claimed in claim 1 a kind of based on the united forest highway measuring systems of GPS-RTK, it is characterised in that described
GPS-RTK systems also include ground monitoring part, Aerospace Satellite part and user's receiving portion, the letter of ground monitoring part monitoring
Breath is transmitted to user's receiving portion by Aerospace Satellite part and monitoring information is handled, and each several part has each independent work(
Can and it act on, while complementing each other to form an organic whole system again.
3. it is as claimed in claim 1 a kind of based on the united forest highway measuring systems of GPS-RTK, it is characterised in that described
GPS-RTK systems needs two or more than two GPSs synchronize observation, and the data of record are with coordinate software
Reason can obtain the basic lineal vector of the accurate WGS-84 coordinate systems between the base station and the rover station, by adjustment, sit
Conversion work is marked, unknown three-dimensional coordinate is tried to achieve.
4. it is as claimed in claim 1 a kind of based on the united forest highway measuring systems of GPS-RTK, it is characterised in that described
All satellite informations of the base station reception channel（Including pseudorange and carrier phase observation data）With the base station coordinates of the base station
The high information of antenna is delivered to the rover station by radio communication system.
5. a kind of one kind for determining flame spread rates as claimed in claim 1 is based on the united forest highway measurements of GPS-RTK
System, it is characterised in that the rover station also receives the satellite data of base station transmission while satellite data is received；It is described
Rover station is completed after initialization, in the base station information transmission received to the controller and by the carrier wave of base station
Observation signal carries out difference processing, and tries to achieve the coordinate of unknown point in real time.
6. it is as claimed in claim 1 a kind of based on the united forest highway measuring systems of GPS-RTK, it is characterised in that described
GPS-RTK systems need to be combined with total powerstation to measure；The total powerstation includes rangefinder, electronic theodolite, electronics and mended
Repay device and microprocessor.
7. the measuring method based on the united forest highway measuring systems of GPS-RTK described in claim any one of 1-6, it is special
Levy and be, comprise the following steps：
（1）The requirement laid according to global positioning system specifications of surveys and GPS point position, E grades of GPS control nets of selection are used as rover station
The chopped-off head control in area is surveyed, the screen cloth sets four E grades of GPS control points, on the major trunk roads for being distributed in the border for surveying area, wherein GPS
Net is controlled using synchronous ring as elementary cell, using side connected mode, by two known rover station measuring points and two rover stations undetermined
Measuring point is coupled to net type with base station measuring point；
（2）Synchronize observation in a static manner according to specification and requirement using three GPSs, during observation according to observation before
Ready-made surveillance program is mutually got in touch with using intercom, while start and the conscientious items filled in item by item in time in measurement handbook
Content；
（3）The resolving of GPS basic lineal vectors is transferred in computer in time using accompanying software to the data that the same day gathers, and is examined
Look into field note and input period, call the roll, check before survey and survey whether aft antenna height has change, take its average input antenna high, it is right
Synchronous ring, asynchronous loop closure and repetition measurement baseline are checked, to find unqualified achievement, and according to circumstances determine to wash in a pan
Eliminate, resurvey or mend survey；
（4）The compensating computation of GPS control nets carries out three-dimensional unconstrined minimization using WGS84 ellipsoids and calculated, and reference frame is used
WGS84 coordinate systems, according to Baselines achievement, carry out three-dimensional unconstrined minimization and calculate, then with the plane coordinates of GPS point first
With elevation three-dimensional constraining adjustment is carried out as the initial data of the net；
（5）Before mapping, two known bench marks are detected using RTK, first point of known elevation is examined for 100.00m
Measured value is 100.01, elevation known to second point be 99.99m detected values be 100.01m compared with given value, if in the poor model of limit
In enclosing, illustrate that using RTK carry out figure root measurement of higher degree precision be reliable；
（6）Using precision in machine is set first before base station and rover station observation point to be located, precision index is pre- in setting machine
If position mean square error of a point+2.0cm, mean square error of height+3.0cm, lime light position geometric figure intensity factor during observation, each flowing
Twice, position coordinate difference≤+ 5cm of pair observations value takes middle number as final result for the control point observation stood, in observation with
When check rover station measuring point RTK elevations, in digital mapping, RTK observations have been carried out to all rover station control points；
（7）Finally carry out digital mapping and measure the smashed parts, wherein the method measured the smashed parts is method of polar coordinates, surveying most broken
After the coordinate of portion's point, it can be obtained with the direction intersection in software, Distance Intersection, Cross ruler mensuration and two calculation fix-point methods
The coordinate of remaining each point, the function such as skew, copy, extension in software is aided with, obtains last figure.
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| CN113219501A (en) * | 2021-01-29 | 2021-08-06 | 上海井融网络科技有限公司 | Earth measurement method and system based on inertial measurement unit and RTK receiver |
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| CN114923466A (en) * | 2022-03-17 | 2022-08-19 | 北京建筑大学 | Method and system for measuring and guiding offset distance of center line of large-span bridge |
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