CN109696153A - RTK inclination measurement accuracy checking method and system - Google Patents
RTK inclination measurement accuracy checking method and system Download PDFInfo
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- CN109696153A CN109696153A CN201811589079.0A CN201811589079A CN109696153A CN 109696153 A CN109696153 A CN 109696153A CN 201811589079 A CN201811589079 A CN 201811589079A CN 109696153 A CN109696153 A CN 109696153A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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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 present invention relates to a kind of RTK inclination measurement accuracy checking method and system, computer equipment, computer storage mediums.Above-mentioned RTK inclination measurement accuracy checking method includes: to obtain to carry out RTK inclination measurement RTK inclination measurement data obtained for measuring target point；It is constructed according to RTK inclination measurement data apart from resection adjustment Models, determines design matrix, prior variance battle array and observation-calculated value vector according to apart from resection adjustment Models；It is the model for characterizing geodetic coordinates coordinate sequence residual error data and variance data apart from resection adjustment Models；The position precision that measuring target point is calculated according to prior variance battle array and observation-calculated value vector detects the precision of the measuring target point estimation coordinate according to the position precision and geometric dilution of precision according to design matrix computational geometry dilution of precision.The present invention reduces the cost for obtaining high-acruracy survey target point estimation coordinate on the basis of guaranteeing that high-precision RTK inclination measurement data extract stability.
Description
Technical field
The present invention relates to RTK field of measuring technique, more particularly to a kind of RTK inclination measurement accuracy checking method and are
System, computer equipment, computer storage medium.
Background technique
High-precision GNSS (Global Navigation Satellite System, Global Navigation Satellite System) dynamic
Positioning mainly uses RTK (Real-time kinematic, carrier phase difference technology) location technology, real-time dynamic positioning essence
Degree can achieve Centimeter Level.What RTK positioning directly determined is the position of GNSS receiver antenna phase center, measuring target point
Position needs to be gone over by antenna phase center position according to space geometry relation transmission between the two.Traditional RTK operation process
Middle to require the round level bubble on measurement centering rod placed in the middle, the horizontal plane where guaranteeing measurement centering rod and measuring target point hangs down
Directly, so that horizontal plane where antenna phase center and measuring target point line and measuring target point, measuring target point are put down
Areal coordinate is identical as antenna phase center, and the geodetic height of measuring target point need to only be passed through by the geodetic height of antenna phase center
The correction of antenna phase center parameter, the long correction of bar can be obtained.The working scene of RTK measurement is complicated, can not erect under the scene of part
Straight to place centering rod, the coordinate precision for being derived by measuring target point at this time will reduce.Solve above-mentioned scene RTK high accuracy positioning
Problem needs the accurate geometrical relationship for determining antenna phase center and measuring target point under measuring rod heeling condition.Common method
Azimuth and the inclination angle of measuring rod to be determined by inertia device come the geometry that determines antenna phase center and measuring target point
Relationship.
Traditional scheme needs the azimuth for determining measuring rod by inertia device and inclination angle to determine antenna phase center
With the geometrical relationship of measuring target point, high-precision inclination measurement data are obtained.RTK inclination measurement scheme based on inertia device
High-precision RTK inclination measurement can be achieved, but need to increase additional inertia device at.Based on fields of measurement resection
Thought, can be by centering rod bottom alignment measuring target point, using measuring target point position as the centre of sphere, with measuring target point to antenna phase
Position centre distance is radius, shakes centering rod and acquires antenna phase center position coordinates sequence, is estimated by resection method
The coordinate of measuring target point out.This method, which does not depend on inertia device, can reduce the hardware cost of inclination measurement.By inclination measurement
The coordinate precision of the influence of operating environment, the measuring target point of resection estimation may not be high, it is therefore desirable to the strong of model
The positional accuracy of degree and inclination measurement provides performance rating.
Summary of the invention
Based on this, it is necessary to provide a kind of RTK inclination measurement accuracy checking method and system, computer equipment, computer
Storage medium.
A kind of RTK inclination measurement accuracy checking method, comprising:
It obtains and carries out RTK inclination measurement RTK inclination measurement data obtained for measuring target point；
It is constructed according to the RTK inclination measurement data apart from resection adjustment Models, according to described apart from resection
Adjustment Models determine design matrix, prior variance battle array and observation-calculated value vector；Wherein, described apart from resection adjustment
Model is the model for characterizing the geodetic coordinates coordinate sequence residual error data and variance data；
The position precision that measuring target point is calculated according to the prior variance battle array and observation-calculated value vector, according to institute
Design matrix computational geometry dilution of precision is stated, the measuring target point is detected according to the position precision and geometric dilution of precision and is estimated
Calculate the precision of coordinate.
Above-mentioned RTK inclination measurement accuracy checking method, it is available to be obtained for measuring target point progress RTK inclination measurement
The RTK inclination measurement data obtained are constructed apart from resection adjustment Models, to determine design matrix, prior variance battle array and observation
Value-calculated value vector, to calculate the position essence of measuring target point according to the prior variance battle array and observation-calculated value vector
Degree detects the survey according to the position precision and geometric dilution of precision according to the design matrix computational geometry dilution of precision
The precision of target point estimation coordinate is measured, is sat with obtaining the estimation for the measuring target point that precision reaches required measurement standard or requirement
Mark, above-mentioned RTK inclination measurement accuracy detection processing operations mode is simple, and detection accuracy is high, without rely on inertia device etc. other
Device reduces on the basis of guaranteeing that high-precision RTK inclination measurement data extract stability and obtains high-acruracy survey target point
Estimate the cost of coordinate.
In one embodiment, described to be estimated according to the position precision and the geometric dilution of precision detection measuring target point
The process of precision for calculating coordinate includes:
If the geometric dilution of precision is less than the first geometric accuracy threshold value, and the position precision is less than position precision threshold
Value then determines that the precision of the measuring target point estimation coordinate reaches established standards；
If the geometric dilution of precision is less than the first geometric accuracy threshold value, and the position precision is greater than or equal to position essence
Threshold value is spent, then determines that the precision of the measuring target point estimation coordinate does not reach established standards；
If the geometric dilution of precision is greater than the first geometric accuracy threshold value and less than the second geometric accuracy threshold value, and institute's rheme
Precision is set less than position precision threshold value, then determines that the precision of the measuring target point estimation coordinate reaches established standards.
The present embodiment can estimate that the precision of coordinate is accurately detected to measuring target point, reach setting to obtain precision
The high-precision of standard estimates coordinate, abandons precision and does not reach the appearance mistake of established standards or the estimation coordinate that error is big,
It ensure that the accuracy of acquired measuring target point estimation coordinate.
In one embodiment, described to be estimated according to the position precision and the geometric dilution of precision detection measuring target point
After the process for calculating the precision of coordinate, further includes:
If the geometric dilution of precision is greater than or equal to the second geometric accuracy threshold value, returns to execution and obtain for measurement mesh
The process of punctuate progress RTK inclination measurement RTK inclination measurement data obtained.
In one embodiment, described to be estimated according to the position precision and the geometric dilution of precision detection measuring target point
After the process for calculating the precision of coordinate, further includes:
If the geometric dilution of precision is greater than the first geometric accuracy threshold value and less than the second geometric accuracy threshold value, and institute's rheme
Precision is set more than or equal to position precision threshold value, then returns to execution acquisition and is obtained for measuring target point progress RTK inclination measurement
The process of the RTK inclination measurement data obtained.
In one embodiment, the RTK inclination measurement data include receiver antenna phase center coordinate sequence；
It is described to construct process apart from resection adjustment Models according to the RTK inclination measurement data and include:
The receiver antenna phase center coordinate sequence is converted into ENU coordinate sequence；
According to the ENU coordinate sequence construct the measuring target point apart from observational equation, observed according to the distance
Equation determines the prior variance battle array of the measuring target point；
Error observational equation is converted to apart from observational equation by described, design square is extracted from the error observational equation
Battle array, observation-calculated value vector；
According to the prior variance battle array, design matrix and observation-calculated value vector building apart from resection adjustment mould
Type.
As one embodiment, design matrix and observation-calculating are determined apart from resection adjustment Models according to described
The process of value vector includes:
It solves the error observational equation and obtains the coordinate corrective value of measuring target point；
The design matrix apart from resection adjustment Models and observation-calculating are updated according to the coordinate corrective value
It is worth vector.
In one embodiment, the process according to the design matrix computational geometry dilution of precision includes:
According to the design matrix computational geometry matrix, inversion operation is carried out to the geometric matrix and determines geometric matrix
Inverse matrix；
According to the diagonal element computational geometry dilution of precision of the inverse matrix.
A kind of RTK inclination measurement precision detection system, comprising:
Module is obtained, carries out RTK inclination measurement RTK inclination measurement number obtained for measuring target point for obtaining
According to；
Module is constructed, for constructing according to the RTK inclination measurement data apart from resection adjustment Models, according to described
Design matrix, prior variance battle array and observation-calculated value vector are determined apart from resection adjustment Models；Wherein, the distance
Resection adjustment Models are the model for characterizing the geodetic coordinates coordinate sequence residual error data and variance data；
Computing module, for calculating the position of measuring target point according to the prior variance battle array and observation-calculated value vector
Precision is set, according to the design matrix computational geometry dilution of precision, institute is detected according to the position precision and geometric dilution of precision
State the precision of measuring target point estimation coordinate.
Above-mentioned RTK inclination measurement precision detection system, it is available to be obtained for measuring target point progress RTK inclination measurement
The RTK inclination measurement data obtained are constructed apart from resection adjustment Models, to determine design matrix, prior variance battle array and observation
Value-calculated value vector, to calculate the position essence of measuring target point according to the prior variance battle array and observation-calculated value vector
Degree detects the survey according to the position precision and geometric dilution of precision according to the design matrix computational geometry dilution of precision
The precision of target point estimation coordinate is measured, is sat with obtaining the estimation for the measuring target point that precision reaches required measurement standard or requirement
Mark, above-mentioned RTK inclination measurement accuracy detection processing operations mode is simple, and detection accuracy is high, without rely on inertia device etc. other
Device reduces on the basis of guaranteeing that high-precision RTK inclination measurement data extract stability and obtains high-acruracy survey target point
Estimate the cost of coordinate.
A kind of computer equipment, including memory, processor and be stored on the memory and can be in the processing
The computer program run on device, the processor realize what any of the above-described embodiment provided when executing the computer program
RTK inclination measurement accuracy checking method.
A kind of computer storage medium, is stored thereon with computer program, which realizes above-mentioned when being executed by processor
The RTK inclination measurement accuracy checking method that any embodiment provides.
RTK inclination measurement accuracy checking method according to the present invention, the present invention also provides a kind of computer equipment and calculating
Machine storage medium, for realizing above-mentioned RTK inclination measurement accuracy checking method by program.Above-mentioned computer equipment and computer
Storage medium can reduce the cost for obtaining high-acruracy survey target point estimation coordinate.
Detailed description of the invention
Fig. 1 is the RTK inclination measurement accuracy checking method flow chart of one embodiment；
Fig. 2 is that the high-acruracy survey target point of one embodiment estimates coordinate acquisition process schematic diagram；
Fig. 3 is the RTK inclination measurement precision detection system structural schematic diagram of one embodiment；
Fig. 4 is the computer system module map of one embodiment.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, with reference to the accompanying drawings and embodiments, to this
Invention is described in further detail.It should be appreciated that the specific embodiments described herein are only used to explain the present invention,
And the scope of protection of the present invention is not limited.
It should be noted that term involved in the embodiment of the present invention " first second third " be only distinguish it is similar
Object does not represent the particular sorted for object, it is possible to understand that ground, " first second third " can be mutual in the case where permission
Change specific sequence or precedence.It should be understood that the object that " first second third " is distinguished in the appropriate case can be mutual
It changes, so that the embodiment of the present invention described herein can be real with the sequence other than those of illustrating or describing herein
It applies.
The term " includes " of the embodiment of the present invention and " having " and their any deformations, it is intended that cover non-exclusive
Include.Such as contain series of steps or module process, method, system, product or equipment be not limited to it is listed
Step or module, but optionally further comprising the step of not listing or module, or optionally further comprising for these processes, side
Method, product or equipment intrinsic other steps or module.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Referenced herein " multiple " refer to two or more."and/or", the association for describing affiliated partner are closed
System indicates may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, individualism
These three situations of B.Character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Refering to what is shown in Fig. 1, Fig. 1 is the RTK inclination measurement accuracy checking method flow chart of one embodiment, comprising:
S10 is obtained and is carried out RTK inclination measurement RTK inclination measurement data obtained for measuring target point；
Above-mentioned RTK inclination measurement data may include measuring target point to each receiver antenna phase center point away from
From data such as, the estimation coordinate of measuring target point and the position RTK geodetic coordinates coordinate sequences；The above-mentioned position RTK geodetic coordinates is sat
Mark sequence includes the position the RTK the earth of the measuring target point obtained as measured by each receiver antenna phase center point respectively
Coordinates.
In one embodiment, above-mentioned acquisition carries out the RTK inclination survey obtained of RTK inclination measurement for measuring target point
Amount data process may include:
Measurement centering rod is adjusted long to setting bar；
Measurement centering rod bottom is placed in measuring target point, when the solution state of GNSS receiver is RTK fixed solution,
Shake the geodetic coordinates sequence of measurement centering rod acquisition receiver antenna phase center；
According to the receiver antenna phase center geodetic coordinates sequence, the distance and survey of phase center to measuring target point
The rough coordinates of amount target point determine RTK inclination measurement data.
Above-mentioned setting bar length can be determined according to specific measurement demand, such as be set as 1.8 meters of -2 meters of equivalences.Can by institute
The bar length of the measurement centering rod of adjustment is input in RTK handbook software, so as to subsequent reading.
S20 is constructed according to the RTK inclination measurement data apart from resection adjustment Models, according to described apart from rear
Intersection adjustment Models determine design matrix, prior variance battle array and observation-calculated value vector；Wherein, described apart from resection
Adjustment Models are the model for characterizing the geodetic coordinates series error data and variance data；
Above-mentioned steps can be converted to the receiver antenna phase center geodetic coordinates sequence in RTK inclination measurement data
ENU (projection plane coordinates system) coordinate sequence, specifically can be based on the coordinate projection parameter that RTK handbook software is arranged by antenna phase
Position center geodetic coordinates sequence is converted to ENU coordinate sequence, then carries out the building apart from resection adjustment Models, to guarantee
The accuracy apart from resection adjustment Models of building.
S30 calculates the position precision of measuring target point, root according to the prior variance battle array and observation-calculated value vector
According to the design matrix computational geometry dilution of precision (PDOP value), according to the position precision and geometric dilution of precision detection
The precision of measuring target point estimation coordinate.
Above-mentioned steps can reach the high-precision of established standards according to position precision and geometric dilution of precision accuracy of identification
The estimation coordinate of measuring target point, to measure the extraction of successfully estimation coordinate, and the RTK inclination measurement of measurement failure
The relevant treatment of data, to guarantee the accuracy of extracted measuring target point estimation coordinate.
RTK inclination measurement accuracy checking method provided by the invention, it is available to carry out RTK inclination for measuring target point
RTK inclination measurement data obtained are measured, are constructed apart from resection adjustment Models, to determine design matrix, prior variance
Battle array and observation-calculated value vector, to calculate measuring target point according to the prior variance battle array and observation-calculated value vector
Position precision examined according to the position precision and geometric dilution of precision according to the design matrix computational geometry dilution of precision
The precision of measuring target point estimation coordinate is surveyed, to obtain the measuring target point that precision reaches required measurement standard or requirement
Estimate coordinate, above-mentioned RTK inclination measurement accuracy detection processing operations mode is simple, and detection accuracy is high, without relying on inertia device
Deng other devices, on the basis of guaranteeing that high-precision RTK inclination measurement data extract stability, acquisition high-acruracy survey is reduced
Target point estimates the cost of coordinate, improves the reliability of acquired measuring target point estimation coordinate.
In one embodiment, described to be estimated according to the position precision and the geometric dilution of precision detection measuring target point
The process of precision for calculating coordinate includes:
If the geometric dilution of precision is less than the first geometric accuracy threshold value, and the position precision is less than position precision threshold
Value then determines that the precision of the measuring target point estimation coordinate reaches established standards；
If the geometric dilution of precision is less than the first geometric accuracy threshold value, and the position precision is greater than or equal to position essence
Threshold value is spent, then determines that the precision of the measuring target point estimation coordinate does not reach established standards；
If the geometric dilution of precision is greater than the first geometric accuracy threshold value and less than the second geometric accuracy threshold value, and institute's rheme
Precision is set less than position precision threshold value, then determines that the precision of the measuring target point estimation coordinate reaches established standards.
Above-mentioned first geometric accuracy threshold value, the second geometric accuracy threshold value and position precision threshold value can be respectively according to specific
Accuracy requirement setting, above-mentioned second geometric accuracy threshold value are greater than the first geometric accuracy threshold value, such as can be by the first geometric accuracy
Threshold value is set as 1.8, and the second geometric accuracy threshold value is set as 3.0, and position precision threshold value is set as 0.05cm.Measuring target point
The precision of estimation coordinate reaches established standards, shows that corresponding RTK inclination measurement data are required high-precision RTK inclination measurement
Data, this time the success of RTK inclination measurement, can terminate currently to calculate；The precision of the estimation coordinate of measuring target point does not reach
Established standards show that corresponding RTK inclination measurement data are wrong or big error RTK inclination measurement data occur, this time
RTK inclination measurement or wherein correlation data calculation fail.
The present embodiment can accurately detect the precision to measuring target point estimation coordinate, reached with to obtain precision and set
The high-precision of calibration standard estimates coordinate, abandons precision and does not reach the appearance mistake of established standards or the estimation seat that error is big
Mark ensure that the accuracy of acquired measuring target point estimation coordinate.
In one embodiment, described to be estimated according to the position precision and the geometric dilution of precision detection measuring target point
After the process for calculating the precision of coordinate, further includes:
If the geometric dilution of precision is greater than or equal to the second geometric accuracy threshold value, returns to execution and obtain for measurement mesh
The process of punctuate progress RTK inclination measurement RTK inclination measurement data obtained.
Above-mentioned second geometric accuracy threshold value can be arranged according to specific accuracy requirement.If geometric dilution of precision is greater than or waits
In the second geometric accuracy threshold value, shows that established standards have not been reached yet in the precision of current measuring target point estimation coordinate, can return
Receipt row obtains the process that RTK inclination measurement RTK inclination measurement data obtained are carried out for measuring target point, reacquires
RTK inclination measurement data carry out accuracy detection, until measuring target point obtained estimation coordinate reaches established standards, it is required
RTK inclination measurement data.
In one embodiment, described to be estimated according to the position precision and the geometric dilution of precision detection measuring target point
After the process for calculating the precision of coordinate, further includes:
If the geometric dilution of precision is greater than the first geometric accuracy threshold value and less than the second geometric accuracy threshold value, and institute's rheme
Precision is set more than or equal to position precision threshold value, then returns to execution acquisition and is obtained for measuring target point progress RTK inclination measurement
The process of the RTK inclination measurement data obtained.
Above-mentioned first geometric accuracy threshold value, the second geometric accuracy threshold value and position precision threshold value can be respectively according to specific
Accuracy requirement setting, above-mentioned second geometric accuracy threshold value are greater than the first geometric accuracy threshold value.
If geometric dilution of precision is greater than the first geometric accuracy threshold value and less than the second geometric accuracy threshold value, and the position is smart
Degree is greater than or equal to position precision threshold value, shows that established standards have not been reached yet in the precision of current measuring target point estimation coordinate,
The process for executing and obtaining and carrying out RTK inclination measurement RTK inclination measurement data obtained for measuring target point, weight can be returned
The new RTK inclination measurement data that obtain carry out accuracy detection, until measuring target point obtained estimation coordinate reaches established standards,
For required RTK inclination measurement data.
In one embodiment, the RTK inclination measurement data include receiver antenna phase center geodetic coordinates sequence；
It is described to construct process apart from resection adjustment Models according to RTK inclination measurement data and include:
Receiver antenna phase center geodetic coordinates sequence is converted into ENU coordinate sequence, is such as arranged based on handbook software
Receiver antenna phase center geodetic coordinates sequence is converted into ENU coordinate sequence etc. preset coordinate projection parameter；
According to the ENU coordinate sequence construct the measuring target point apart from observational equation, observed according to the distance
Equation determines the prior variance battle array of the measuring target point；
Error observational equation is converted to apart from observational equation by described, design square is extracted from the error observational equation
Battle array, observation-calculated value vector；
According to the prior variance battle array, design matrix and observation-calculated value vector building apart from resection adjustment mould
Type.
The above-mentioned process according to the prior variance battle array for determining the measuring target point apart from observational equation may include:
Observational equation of adjusting the distance carries out linearization process, determines error observational equation, true according to the error observational equation
The estimated distance that measuring target point arrives each receiver antenna phase center point respectively is determined, according to the first proved recipe of the estimated distance
Difference determines prior variance battle array.
Specifically, above-mentioned can be with apart from observational equation are as follows:
In formula, subscript i indicates the receiver antenna phase center point that number is i, subscriptoIndicate measuring target point；Table
Show measuring target pointoTo receiver antenna phase center pointiThe distance of (the receiver antenna phase center point that number is i)；ro=
(Xo,Yo,Zo)TIndicate the coordinate of measuring target point,Indicate the coordinate of receiver antenna phase center point i；
ε indicates that unmodeled dynamiocs, above-mentioned unmodeled dynamiocs ε include the long error in reading of bar, misses to component within antenna phase center parameter PCO days
Difference.
NoteFor the approximation vector of measuring target point, formula (1) is linearized:
Obtain error observational equation:
In formula: viIndicate the corresponding residual error of receiver antenna phase center point i, liIndicate receiver antenna phase center point i
Corresponding observation-calculated value,Indicate the corresponding first error coefficient of receiver antenna phase center point i,It indicates to receive
Corresponding second error coefficient of machine antenna phase center point i,Indicate the corresponding third error of receiver antenna phase center point i
Coefficient, (x y z)TIndicate the correction (coordinate corrective value) of measuring target point.
The above-mentioned main source of error apart from observation equation (1) may include for 3 parts: miss antenna phase center position
Difference, antenna phase center parameter day is to deflection error, the long error in reading of bar.
Formula (1) is linearized and is unfolded, can be obtained:
In formula,Indicate the error of receiver antenna phase center point i.Comparison expression (3) and formula (4) it is found that
In error observation equation (3), the error for having ignored receiver antenna phase center point i influences, above-mentioned receiver antenna phase
The error of position central point iIt can not know, this error can be compensated in stochastic model.
If receiver antenna phase center point i estimated distanceIt is rightRange estimated
Meter, can obtain:
It can be obtained by Cauchy inequality:
Due toNote Indicate receiver phase central point i
Location error, formula (6) can be exchanged into:
Distance of the above-mentioned measuring target point o to receiver antenna phase center point iIncluding following two parts: a part is
The long reading of bar, a part of antenna parameter day is to component.The precision of the long reading of bar is better than 1mm (millimeter), and antenna parameter day is to component
Precision be better than 5mm.SoPrecision be believed that better than 6mm.Error can be by receiving in the position of receiver phase central point i
Machine exports to obtain.Error is generally small compared with true value in the position provided in view of GNSS positioning, estimated distancePrior variance
It can be maximized, it may be assumed that
Above-mentioned prior variance battle array Q are as follows:Diag () indicates diagonal matrix in formula.
Weigh battle array P are as follows:In formula,Error in weight unit before expression is tested, can be according to the concrete configuration of receiver
Feature setting.
If the number of receiver antenna phase center point is n, that is, acquires n point and is used for inclination measurement resection,
It is available apart from resection adjustment Models according to formula (3) and formula (8):
In formula, V=[v1 v2 … vn]T, indicate residual vector；Design matrix A are as follows:
Dr=(x y z)T, indicate the correction number vector of measuring target point；
L=[l1 l2 … ln]T, indicate observation-calculated value vector；P indicates power battle array；Before expression is tested in weight unit accidentally
Difference, Q indicate prior variance battle array.
As one embodiment, design matrix and observation-calculating are determined apart from resection adjustment Models according to described
The process of value vector includes:
It solves the error observational equation and obtains the coordinate corrective value of measuring target point；
The design matrix apart from resection adjustment Models and observation-calculating are updated according to the coordinate corrective value
It is worth vector.
Specifically, the coordinate of measuring target point can be updated according to the coordinate corrective value, and then after the update distance
The design matrix and observation-calculated value vector of side's intersection adjustment Models.
The present embodiment can carry out adjustment resolving to error observational equation using least square method, acquire measuring target point
Position coordinates correction updates the coordinate of measuring target point, is substituted into apart from resection adjustment Models, updates therein set
Count matrix and observation-calculated value vector.
As one embodiment, the above-mentioned solution error observational equation obtains the mistake of the coordinate corrective value of measuring target point
Journey may include:
Using least square method to progress adjustment resolving is accidentally observed, the position of measuring target point is acquired:
(ATPA) dr=ATPL (10)
P indicates power battle array in formula, and A indicates that design matrix, dr indicate correction number vector (the i.e. coordinate correction of measuring target point
Number), L indicates observation-calculated value vector；
According to above-mentioned equation (10), the coordinate corrective value (correction number vector) of measuring target point is obtained:
Dr=(ATPA)-1·ATPL (11)
The position of measuring target point solves:
In formula, roIndicate the coordinate of updated measuring target point,Indicate the coordinate of the measuring target point before updating.More
The coordinate r of measuring target point after newoIt can be used for recalculating design matrix A and observation-calculated value vector L, for subsequent
Position precision calculates.
As one embodiment, the position precision of above-mentioned measuring target point tests error σ in rear weight unitoAre as follows:
In formula, n indicates the number of receiver antenna phase center point, and sqrt () indicates extraction of square root.
Coordinate covariance matrix D under target point ENU coordinate systemENUAre as follows:
DENU=σo 2(ATPA)-1 (14)
And then obtain error σ H in the plane of measuring target point, day error σ V into direction.
In one embodiment, the process according to the design matrix computational geometry dilution of precision includes:
According to the design matrix computational geometry matrix, inversion operation is carried out to the geometric matrix and determines geometric matrix
Inverse matrix；
According to the diagonal element computational geometry dilution of precision of the inverse matrix.
Specifically, the present embodiment can with the sum of the diagonal element on computational geometry inverse of a matrix matrix leading diagonal, according to
The root sum square of above-mentioned diagonal element determines geometric dilution of precision.
As one embodiment, the above-mentioned process according to the design matrix A computational geometry matrix G may include:
Geometric matrix, i.e. G are determined according to the product between the transposed matrix of the design matrix A and the design matrix A
=ATA。
The inverse matrix of above-mentioned geometric matrix can be with are as follows:
At this point, above-mentioned geometric dilution of precision PDOP value are as follows:
PDOP=sqrt (q11+q22+q22)。
In one embodiment, RTK inclination measurement data are obtained, carry out the detection of above-mentioned RTK inclination measurement data precision with
Identification measures successfully or the process of the RTK inclination measurement data of measurement failure can be refering to what is shown in Fig. 2, comprise the following processes:
Adjustment measurement centering rod is long to suitable bar, and the long reading of bar is input in RTK handbook software；
Measurement centering rod bottom is placed in measuring target point, when the solution state of GNSS receiver is RTK fixed solution,
Start inclination measurement on handbook software, shakes measurement centering rod and acquire the position receiver antenna phase center RTK geodetic coordinates
Coordinate sequence；
Coordinate projection parameter based on the setting of handbook software is converted to the position antenna phase center RTK geodetic coordinates sequence
ENU coordinate sequence；
Resection adjustment Models are constructed based on formula (9)；
It is solved equation based on least square adjustment method using formula (11), obtains the coordinate corrective value dr of measuring target point；
Update measuring target point ENU coordinate (Xo Yo Zo)T, design matrix A, observation based on formula (9) more new model
Value-calculated value vector L indicates model residual error at this time；
The design matrix A of calculating, computational geometry dilution of precision PDOP value；
Calculate error σ H in the plane of measuring target point ENU coordinate, the position of day error σ V and from measuring target point to direction
Set precision σo；
When and PDOP value be less than PDOP threshold value P1 (the first geometric accuracy threshold value), and measuring target point position precision be less than essence
Spend threshold value δ0(position precision threshold value) then measures successfully (precision of corresponding RTK inclination measurement data reaches established standards), knot
Beam calculates；When and PDOP value be less than PDOP threshold value P1, but measuring target point position accuracy value be greater than or equal to precision threshold δ0, then
Failure (precision of corresponding RTK inclination measurement data does not reach established standards) is calculated, terminates to calculate；When PDOP value is greater than
PDOP threshold value P1, and PDOP value is greater than or equal to PDOP threshold value P2 (the second geometric accuracy threshold value), then needs to continue to rock measuring rod
Antenna phase center location point is added, antenna phase center coordinate sequence is resurveyed and obtains RTK inclination measurement data, until upper
It states RTK inclination measurement data and meets end design conditions；It is less than PDOP threshold value P2 when PDOP value is greater than PDOP threshold value P1, and measures
Aiming spot accuracy value is greater than or equal to precision threshold δ0When, it need to continue to rock measuring rod addition antenna phase center position
Point resurveys antenna phase center coordinate sequence and obtains RTK inclination measurement data, until above-mentioned RTK inclination measurement data are full
Foot terminates design conditions；It is less than PDOP threshold value P2 when PDOP value is greater than PDOP threshold value P1, and measuring target point position accuracy value is small
In precision threshold δ0When, it measures successfully, exits calculating.
The RTK inclination measurement precision detection system structural schematic diagram of one embodiment is shown with reference to Fig. 3, Fig. 3, comprising:
Module 10 is obtained, carries out RTK inclination measurement RTK inclination measurement number obtained for measuring target point for obtaining
According to；
Module 20 is constructed, for constructing according to the RTK inclination measurement data apart from resection adjustment Models, according to institute
It states and determines design matrix, prior variance battle array and observation-calculated value vector apart from resection adjustment Models；Wherein, it is described away from
It is the model for characterizing the geodetic coordinates coordinate sequence residual error data and variance data from resection adjustment Models；
Computing module 30, for calculating measuring target point according to the prior variance battle array and observation-calculated value vector
Position precision is detected according to the design matrix computational geometry dilution of precision according to the position precision and geometric dilution of precision
The precision of the measuring target point estimation coordinate.
In one embodiment, above-mentioned computing module is further used for:
If the geometric dilution of precision is less than the first geometric accuracy threshold value, and the position precision is less than position precision threshold
Value then determines that the precision of the measuring target point estimation coordinate reaches established standards；
If the geometric dilution of precision is less than the first geometric accuracy threshold value, and the position precision is greater than or equal to position essence
Threshold value is spent, then determines that the precision of the measuring target point estimation coordinate does not reach established standards；
If the geometric dilution of precision is greater than the first geometric accuracy threshold value and less than the second geometric accuracy threshold value, and institute's rheme
Precision is set less than position precision threshold value, then determines that the precision of the measuring target point estimation coordinate reaches established standards.
In one embodiment, above-mentioned RTK inclination measurement precision detection system, further includes:
First return module returns if being greater than or equal to the second geometric accuracy threshold value for the geometric dilution of precision
Execute the process for obtaining and carrying out RTK inclination measurement RTK inclination measurement data obtained for measuring target point.
In one embodiment, above-mentioned RTK inclination measurement precision detection system, further includes:
Second return module, if being greater than the first geometric accuracy threshold value for the geometric dilution of precision and less than the second geometry
Precision threshold, and the position precision be greater than or equal to position precision threshold value, then return execution obtain for measuring target point into
The process of row RTK inclination measurement RTK inclination measurement data obtained.
In one embodiment, the RTK inclination measurement data include receiver antenna phase center geodetic coordinates sequence；
The building module is further used for:
The receiver antenna phase center geodetic coordinates sequence is converted into ENU coordinate sequence；
According to the ENU coordinate sequence construct the measuring target point apart from observational equation, observed according to the distance
Equation determines the prior variance battle array of the measuring target point；
Error observational equation is converted to apart from observational equation by described, design square is extracted from the error observational equation
Battle array, observation-calculated value vector；
According to the prior variance battle array, design matrix and observation-calculated value vector building apart from resection adjustment mould
Type.
As one embodiment, the building module is further used for:
It solves the error observational equation and obtains the coordinate corrective value of measuring target point；
The coordinate of measuring target point is updated according to the coordinate corrective value, and then is updated described apart from resection adjustment mould
Design matrix and observation-calculated value vector of type.
In one embodiment, the computing module is further used for:
According to the design matrix computational geometry matrix, inversion operation is carried out to the geometric matrix and determines geometric matrix
Inverse matrix；
According to the diagonal element computational geometry dilution of precision of the inverse matrix.
Fig. 4 is the module map for being able to achieve a computer system 1000 of the embodiment of the present invention.The computer system 1000
An only example for being suitable for the invention computer environment is not construed as proposing appointing to use scope of the invention
What is limited.Computer system 1000 can not be construed to need to rely on or the illustrative computer system 1000 with diagram
In one or more components combination.
Computer system 1000 shown in Fig. 4 is the example for being suitable for computer system of the invention.Have
Other frameworks of different sub-systems configuration also can be used.Such as to have big well known desktop computer, notebook etc. similar
Equipment can be adapted for some embodiments of the present invention.But it is not limited to equipment enumerated above.
As shown in figure 4, computer system 1000 includes processor 1010, memory 1020 and system bus 1022.Including
Various system components including memory 1020 and processor 1010 are connected on system bus 1022.Processor 1010 is one
For executing the hardware of computer program instructions by arithmetic sum logical operation basic in computer system.Memory 1020
It is one for temporarily or permanently storing the physical equipment of calculation procedure or data (for example, program state information).System is total
Line 1020 can be any one in the bus structures of following several types, including memory bus or storage control, outer
If bus and local bus.Processor 1010 and memory 1020 can carry out data communication by system bus 1022.Wherein
Memory 1020 includes read-only memory (ROM) or flash memory (being all not shown in figure) and random access memory (RAM), RAM
Typically refer to the main memory for being loaded with operating system and application program.
Computer system 1000 further includes display interface 1030 (for example, graphics processing unit), display 1040 (example of equipment
Such as, liquid crystal display), audio interface 1050 (for example, sound card) and audio frequency apparatus 1060 (for example, loudspeaker).
Computer system 1000 generally comprises a storage equipment 1070.Storing equipment 1070 can from a variety of computers
It reads to select in medium, computer-readable medium refers to any available medium that can be accessed by computer system 1000,
Including mobile and fixed two media.For example, computer-readable medium includes but is not limited to, flash memory (miniature SD
Card), CD-ROM, digital versatile disc (DVD) or other optical disc storages, cassette, tape, disk storage or other magnetic storages are set
Any other medium that is standby, or can be used for storing information needed and can be accessed by computer system 1000.
Computer system 1000 further includes input unit 1080 and input interface 1090 (for example, I/O controller).User can
With by input unit 1080, such as the touch panel equipment in keyboard, mouse, display device 1040, input instruction and information are arrived
In computer system 1000.Input unit 1080 is usually connected on system bus 1022 by input interface 1090, but
It can also be connected by other interfaces or bus structures, such as universal serial bus (USB).
Computer system 1000 can carry out logical connection with one or more network equipment in a network environment.Network is set
It is standby to can be PC, server, router, tablet computer or other common network nodes.Computer system 1000 is logical
It crosses local area network (LAN) interface 1100 or mobile comm unit 1110 is connected with the network equipment.Local area network (LAN) refers to having
It limits in region, such as family, school, computer laboratory or the office building using the network media, interconnects the computer of composition
Network.WiFi and twisted pair wiring Ethernet are two kinds of technologies of most common building local area network.WiFi is a kind of to make to calculate
1000 swapping data of machine system or the technology that wireless network is connected to by radio wave.Mobile comm unit 1110 can be one
It answers and makes a phone call by radio communication diagram while movement in a wide geographic area.Other than call, move
Dynamic communication unit 1110 is also supported to carry out internet visit in 2G, 3G or the 4G cellular communication system for providing mobile data service
It asks.
It should be pointed out that other includes than the computer system of the more or fewer subsystems of computer system 1000
It can be suitably used for inventing.As detailed above, RTK inclination measurement essence can be executed by being suitable for the invention computer system 1000
Spend the specified operation of detection method.Computer system 1000 runs software in computer-readable medium by processor 1010
The form of instruction executes these operations.These software instructions can from storage equipment 1070 or pass through lan interfaces 1100
It is read into memory 1020 from another equipment.The software instruction being stored in memory 1020 executes processor 1010
The RTK inclination measurement accuracy checking method stated.In addition, also can be same by hardware circuit or hardware circuit combination software instruction
Realize the present invention.Therefore, realize that the present invention is not limited to the combinations of any specific hardware circuit and software.
RTK inclination measurement precision detection system of the invention and RTK inclination measurement accuracy checking method of the invention are one by one
It is corresponding, it is suitable in the technical characteristic and its advantages of the embodiment elaboration of above-mentioned RTK inclination measurement accuracy checking method
In the embodiment of RTK inclination measurement precision detection system.
Based on example as described above, a kind of computer equipment is also provided in one embodiment, the computer equipment packet
The computer program that includes memory, processor and storage on a memory and can run on a processor, wherein processor executes
It realizes when described program such as any one RTK inclination measurement accuracy checking method in the various embodiments described above.
Above-mentioned computer equipment realizes high-acruracy survey target by the computer program run on the processor
The reduction of point estimation coordinate procurement cost.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, it is non-volatile computer-readable that the program can be stored in one
It takes in storage medium, in the embodiment of the present invention, which be can be stored in the storage medium of computer system, and by the calculating
At least one processor in machine system executes, and includes the embodiment such as above-mentioned RTK inclination measurement accuracy checking method with realization
Process.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM)
Or random access memory (Random Access Memory, RAM) etc..
Accordingly, a kind of computer storage medium is also provided in one embodiment, is stored thereon with computer program,
In, it realizes when which is executed by processor such as any one RTK inclination measurement accuracy checking method in the various embodiments described above.
Above-mentioned computer storage medium can guarantee high-precision RTK inclination measurement by the computer program that it is stored
On the basis of data extract stability, the cost for obtaining high-acruracy survey target point estimation coordinate is reduced.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of RTK inclination measurement accuracy checking method characterized by comprising
It obtains and carries out RTK inclination measurement RTK inclination measurement data obtained for measuring target point；
It is constructed according to the RTK inclination measurement data apart from resection adjustment Models, according to described apart from resection adjustment
Model determines design matrix, prior variance battle array and observation-calculated value vector；Wherein, described apart from resection adjustment Models
For the model for characterizing the geodetic coordinates coordinate sequence residual error data and variance data；
The position precision that measuring target point is calculated according to the prior variance battle array and observation-calculated value vector, sets according to described
Matrix computational geometry dilution of precision is counted, the measuring target point estimation is detected according to the position precision and geometric dilution of precision and is sat
Target precision.
2. RTK inclination measurement accuracy checking method according to claim 1, which is characterized in that described according to the position
The process that precision and geometric dilution of precision detect the precision of measuring target point estimation coordinate includes:
If the geometric dilution of precision is less than the first geometric accuracy threshold value, and the position precision is less than position precision threshold value, then
Determine that the precision of the measuring target point estimation coordinate reaches established standards；
If the geometric dilution of precision is less than the first geometric accuracy threshold value, and the position precision is greater than or equal to position precision threshold
Value then determines that the precision of the measuring target point estimation coordinate does not reach established standards；
If the geometric dilution of precision is greater than the first geometric accuracy threshold value and less than the second geometric accuracy threshold value, and the position is smart
Degree is less than position precision threshold value, then determines that the precision of the measuring target point estimation coordinate reaches established standards.
3. RTK inclination measurement accuracy checking method according to claim 1, which is characterized in that described according to the position
Precision and geometric dilution of precision detect after the process of the precision of the measuring target point estimation coordinate, further includes:
If the geometric dilution of precision is greater than or equal to the second geometric accuracy threshold value, returns to execution and obtain for measuring target point
Carry out the process of RTK inclination measurement RTK inclination measurement data obtained.
4. RTK inclination measurement accuracy checking method according to claim 1, which is characterized in that described according to the position
Precision and geometric dilution of precision detect after the process of the precision of the measuring target point estimation coordinate, further includes:
If the geometric dilution of precision is greater than the first geometric accuracy threshold value and less than the second geometric accuracy threshold value, and the position is smart
It spends and is greater than or equal to position precision threshold value, then it is obtained for measuring target point progress RTK inclination measurement to return to execution acquisition
The process of RTK inclination measurement data.
5. RTK inclination measurement accuracy checking method according to claim 1, which is characterized in that the RTK inclination measurement number
According to including receiver antenna phase center geodetic coordinates sequence；
It is described to construct process apart from resection adjustment Models according to the RTK inclination measurement data and include:
The receiver antenna phase center geodetic coordinates sequence is converted into ENU coordinate sequence；
According to the ENU coordinate sequence construct the measuring target point apart from observational equation, according to described apart from observational equation
Determine the prior variance battle array of the measuring target point；
Error observational equation is converted to apart from observational equation by described, design matrix is extracted from the error observational equation, is seen
Measured value-calculated value vector；
According to the prior variance battle array, design matrix and observation-calculated value vector building apart from resection adjustment Models.
6. RTK inclination measurement accuracy checking method according to claim 5, which is characterized in that according to described apart from rear
Intersection adjustment Models determine design matrix and observation-calculated value vector process includes:
It solves the error observational equation and obtains the coordinate corrective value of measuring target point；
According to the coordinate corrective value update the design matrix apart from resection adjustment Models and observation-calculated value to
Amount.
7. RTK inclination measurement accuracy checking method according to any one of claims 1 to 6, which is characterized in that the basis
The process of the design matrix computational geometry dilution of precision includes:
According to the design matrix computational geometry matrix, the inverse square that inversion operation determines geometric matrix is carried out to the geometric matrix
Battle array；
According to the diagonal element computational geometry dilution of precision of the inverse matrix.
8. a kind of RTK inclination measurement precision detection system characterized by comprising
Module is obtained, carries out RTK inclination measurement RTK inclination measurement data obtained for measuring target point for obtaining；
Module is constructed, for constructing according to the RTK inclination measurement data apart from resection adjustment Models, according to the distance
Resection adjustment Models determine design matrix, prior variance battle array and observation-calculated value vector；Wherein, described apart from rear
Intersecting adjustment Models is the model for characterizing the geodetic coordinates coordinate sequence residual error data and variance data；
Computing module, for calculating the position essence of measuring target point according to the prior variance battle array and observation-calculated value vector
Degree detects the survey according to the position precision and geometric dilution of precision according to the design matrix computational geometry dilution of precision
Measure the precision of target point estimation coordinate.
9. a kind of computer equipment, including memory, processor and it is stored on the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
RTK inclination measurement accuracy checking method described in 7 any one.
10. a kind of computer storage medium, is stored thereon with computer program, which is characterized in that the program is executed by processor
Shi Shixian RTK inclination measurement accuracy checking method as claimed in any one of claims 1 to 7.
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