CN112964252A - Positioning method and system based on inertial measurement unit and RTK receiver - Google Patents
Positioning method and system based on inertial measurement unit and RTK receiver Download PDFInfo
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- CN112964252A CN112964252A CN202110331594.4A CN202110331594A CN112964252A CN 112964252 A CN112964252 A CN 112964252A CN 202110331594 A CN202110331594 A CN 202110331594A CN 112964252 A CN112964252 A CN 112964252A
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- range finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a positioning method and system based on an inertial measurement unit and an RTK receiver, wherein the measurement system comprises a laser range finder, the RTK receiver, a supporting device and a processing module, the supporting device is used for supporting the RTK receiver, the processing module is used for acquiring the relative position relationship between the laser range finder and the RTK receiver, the RTK receiver comprises the inertial measurement unit, and the positioning method comprises the following steps: the RTK receiver collects positioning information of a current position, wherein the positioning information comprises a positioning coordinate and attitude information of the RTK receiver, which is obtained by an inertial measurement unit; acquiring the length distance from the laser range finder to a position to be measured through the laser range finder; and acquiring the position coordinate of the position to be measured according to the relative position relation, the positioning information and the length distance. The invention can realize remote measurement, is convenient for users to use, improves the working efficiency, reduces the labor intensity, and avoids the measurement error caused by artificial measurement of the holding rod, thereby improving the measurement precision.
Description
Technical Field
The invention relates to a positioning method and system based on an inertial measurement unit and an RTK receiver.
Background
An RTK (Real-time kinematic) carrier phase differential technology is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and the carrier phase acquired by a reference station is sent to a user receiver for difference solving. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements all need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the method is a major milestone applied to GPS, the appearance of the method is project lofting and terrain mapping, various control measurements bring new measurement principles and methods, and the operation efficiency is greatly improved.
Because of the limitation of the measurement technical principle and instrument structure of the GNSS (global navigation satellite system), the current GNSS receiver can only directly obtain the coordinates of the antenna phase center of the receiver, and the coordinate value of the pole tip of the pole needs to be measured in the actual project, so the measured coordinates need to be converted into the coordinates of the point to be measured in the form of centering and accurately measuring the pole height.
The existing RTK receiver has the defects of single function, complex operation and inconvenient use.
Disclosure of Invention
The invention aims to overcome the defects of single function, complex operation and inconvenience in use of an RTK receiver in the prior art, and provides a positioning method and a positioning system based on an inertial measurement unit, which can realize remote measurement, facilitate the use of a user to improve the operation efficiency, reduce the labor intensity and eliminate the measurement error caused by artificial measurement of a support rod, thereby improving the measurement accuracy, and the RTK receiver.
The invention solves the technical problems through the following technical scheme:
a positioning method based on an inertial measurement unit for a measurement system, wherein the measurement system includes a laser range finder, an RTK receiver, a supporting device for supporting the RTK receiver, and a processing module for acquiring a relative positional relationship between the laser range finder and the RTK receiver, the RTK receiver includes an inertial measurement unit, the positioning method includes:
the RTK receiver acquires positioning information of a current position, wherein the positioning information comprises a positioning coordinate and attitude information of the RTK receiver acquired by an inertial measurement unit;
acquiring the length distance from the laser range finder to a position to be measured through the laser range finder;
and the processing module acquires the position coordinate of the position to be measured according to the relative position relation, the positioning information and the length distance.
Preferably, the measuring system includes a fixing clamp, the supporting device is a supporting rod, the RTK receiver is disposed at the top end of the supporting rod, the laser range finder is fixed on a target point of the supporting rod below the RTK receiver through the fixing clamp, the relative position relationship includes a distance from the target point to the bottom end of the supporting rod, an included angle between the orientation of the laser range finder and the orientation of the RTK receiver, and a state relationship between the laser range finder and the supporting rod, and the position coordinate of the position to be measured is obtained according to the relative position relationship, the positioning information, and the length distance, including:
acquiring the coordinates of the bottom end of the supporting rod according to the positioning information and the length of the supporting rod;
acquiring the coordinates of the laser range finder according to the relative position relation and the coordinates of the bottom end of the supporting rod;
and acquiring the position coordinate of the position to be measured according to the coordinate of the laser range finder, the relative position relation and the length distance.
Preferably, the fixing clamp comprises a first clamping portion and a second clamping portion, the first clamping portion is used for clamping the supporting rod, the second clamping portion is used for clamping the laser range finder, the first clamping portion is connected with the second clamping portion through a rotating shaft, and the axis of the rotating shaft is perpendicular to the supporting rod.
Preferably, the support rod is provided with a first limiting part at a position where the RTK receiver is connected, the first clamping portion is provided with a second limiting part at a position where the support rod is connected, and when the RTK receiver and the first clamping portion are limited by the first limiting part and the second limiting part, respectively, an included angle between the orientation of the laser range finder and the orientation of the RTK receiver is zero.
Preferably, the positioning method comprises:
acquiring, by the RTK receiver, positioning coordinates of a calibration position;
acquiring a calibration distance from a laser range finder to a calibration position through the laser range finder, and acquiring calibration information when the laser range finder measures the calibration distance through the RTK receiver, wherein the calibration information comprises a positioning coordinate and attitude information of the RTK receiver acquired by an inertia measurement unit;
acquiring the positioning coordinate of the laser range finder according to the calibration information and the position of the laser range finder on the supporting rod;
and the processing module acquires the relative position relation between the laser range finder and the RTK receiver according to the positioning coordinate of the laser range finder, the calibration distance, the positioning coordinate of the calibration position and the calibration information.
Preferably, the fixing clamp is used for controlling the roll angle of the laser range finder to be consistent with the roll angle of the RTK receiver.
Preferably, the laser range finder is fixed to the top end or the front face of the RTK receiver through a cradle head, the cradle head is fixed in the horizontal direction, the rotation range in the vertical direction is 180 degrees, the orientation of the laser range finder is the same as that of the RTK receiver, and the relative position relationship is the relative position relationship between the laser range finder and the receiving antenna of the RTK receiver.
Preferably, the processing module is disposed within the RTK receiver.
The invention also provides a positioning system based on the inertial measurement unit, which is characterized by comprising a laser range finder, an RTK receiver, a supporting device and a processing module, wherein the positioning system is used for realizing the positioning method.
The invention also provides an RTK receiver based on an inertial measurement unit, characterized in that it is used in a measurement system as described above.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the invention can realize remote measurement, is convenient for users to use, improves the working efficiency, reduces the labor intensity, and avoids the measurement error caused by artificial measurement of the holding rod, thereby improving the measurement precision.
Drawings
Fig. 1 is a schematic structural diagram of a measurement system according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural view of a fixing jig according to embodiment 1 of the present invention.
Fig. 3 is a flowchart of a positioning method according to embodiment 1 of the present invention.
Fig. 4 is another flowchart of the positioning method according to embodiment 1 of the present invention.
Fig. 5 is another flowchart of the positioning method according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1 and 2, the present embodiment provides a measurement system including a laser range finder 13, an RTK receiver 11, a support device 12, and a processing module.
The processing module can be a PC terminal, a tablet, a mobile phone or a server.
In this embodiment, the processing module is integrated in the RTK receiver.
The supporting device is used for supporting the RTK receiver, and the processing module is used for acquiring the relative position relation between the laser range finder and the RTK receiver.
The relative position relation comprises the distance between the laser range finder and the RTK receiver and the included angle of the posture of the RTK receiver.
The RTK receiver includes an inertial measurement unit (IMU unit) that can acquire attitude information of the RTK receiver, thereby acquiring an attitude of a support device.
The RTK receiver is used for acquiring positioning information of a current position, and the positioning information comprises a positioning coordinate and attitude information of the RTK receiver acquired by the inertial measurement unit;
the laser range finder is used for acquiring the length distance from the laser range finder to the position to be measured 14;
and the processing module is used for acquiring the position coordinate of the position to be measured according to the relative position relation, the positioning information and the length distance.
Further, the measuring system comprises a fixing clamp, and the supporting device is a supporting rod.
The support rod is also called a centering rod.
The RTK receiver is arranged at the top end of the supporting rod.
The laser range finder is fixed on a target point of a support rod below the RTK receiver through the fixing clamp.
The relative position relation comprises the distance from a target point to the bottom end of the supporting rod, the included angle between the orientation of the laser range finder and the orientation of the RTK receiver and the state relation between the laser range finder and the supporting rod.
The processing module is used for acquiring the coordinates of the bottom end of the supporting rod according to the positioning information and the length of the supporting rod;
the processing module is used for acquiring the coordinates of the laser range finder according to the relative position relation and the coordinates of the bottom end of the supporting rod;
and the processing module is used for acquiring the position coordinate of the position to be measured according to the coordinate of the laser range finder, the relative position relation and the length distance.
Further, the fixing clamp comprises a first clamping part 21 and a second clamping part 22, the first clamping part is used for clamping the supporting rod, the second clamping part is used for clamping the laser range finder, the first clamping part is connected with the second clamping part through a rotating shaft 23, and the axis of the rotating shaft is perpendicular to the supporting rod.
Preferably, the bracing piece with RTK receiver hookup location is equipped with first locating part, first clamping part with bracing piece hookup location is equipped with the second locating part, the RTK receiver with when first clamping part is spacing by first locating part and second locating part respectively, the contained angle of laser range finder orientation and RTK receiver orientation is zero.
In order to improve the accuracy of the remote measurement, the RTK receiver is further configured to acquire positioning coordinates of the calibration position by the RTK receiver;
the laser range finder is used for acquiring the calibration distance from the laser range finder to a calibration position, the RTK receiver is used for acquiring calibration information when the laser range finder measures the calibration distance, and the calibration information comprises positioning coordinates and attitude information of the RTK receiver acquired by the inertia measurement unit;
the processing module is used for acquiring the positioning coordinate of the laser range finder according to the calibration information and the position of the laser range finder on the supporting rod;
the processing module is used for acquiring the relative position relation between the laser range finder and the RTK receiver according to the positioning coordinate of the laser range finder, the calibration distance, the positioning coordinate of the calibration position and the calibration information.
The fixing clamp is used for controlling the roll angle of the laser range finder to be consistent with the roll angle of the RTK receiver.
The laser range finder is fixed to the top end or the front face of the RTK receiver through a holder, the holder is fixed in the horizontal direction, the rotating range in the vertical direction is 180 degrees, the orientation of the laser range finder is consistent with that of the RTK receiver, and the relative position relationship is the relative position relationship between the laser range finder and the RTK receiver receiving antenna.
Referring to fig. 3, with the positioning system and the RTK receiver, the present embodiment further provides a positioning method, including:
and 102, the processing module acquires the position coordinate of the position to be measured according to the relative position relationship, the positioning information and the length distance.
Referring to fig. 4, specifically, step 102 includes:
and 1023, acquiring the position coordinate of the position to be measured according to the coordinate of the laser range finder, the relative position relation and the length distance.
Because the accurate coordinate of the bottom of the support rod is given by the high-precision inclination measurement type receiver, the coordinate value of the center of the range finder can be easily calculated by measuring the length parameter of the range finder fixing clamp and the parameter of the centering rod.
Because the attitude data of the receiver is given by the IMU module of the high-precision inclination measurement type receiver, the attitude of the distance meter only has the difference of the pitch angle of the distance meter compared with the receiver (the roll angle is strictly controlled by the clamp to be consistent with the receiver, and the orientation angle can also be set to be consistent with the receiver).
And establishing a coordinate system with the distance measuring instrument as an origin through the six parameters (three translation parameters and three rotation parameters). When the distance meter is aligned with the point to be measured, the coordinates of the point to be measured on a coordinate system with the distance meter as the origin (in fact, the point to be measured is only on the longitudinal plane of the coordinate system) can be calculated through the distance reading and the pitch angle reading of the distance meter, and then the position of the point to be measured on the ground coordinate system can be obtained.
Referring to fig. 5, in order to improve the accuracy of the remote measurement, step 100 includes:
A fixed difference from the receiver orientation angle is given by a measurement of a known point.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. An inertial measurement unit-based positioning method for a measurement system, the measurement system including a laser rangefinder, an RTK receiver, a support device for supporting the RTK receiver, and a processing module for acquiring a relative positional relationship of the laser rangefinder and the RTK receiver, the RTK receiver including an inertial measurement unit, the positioning method comprising:
the RTK receiver acquires positioning information of a current position, wherein the positioning information comprises a positioning coordinate and attitude information of the RTK receiver acquired by an inertial measurement unit;
acquiring the length distance from the laser range finder to a position to be measured through the laser range finder;
and the processing module acquires the position coordinate of the position to be measured according to the relative position relation, the positioning information and the length distance.
2. The positioning method according to claim 1, wherein the measuring system includes a fixing jig, the supporting device is a supporting rod, the RTK receiver is disposed at a top end of the supporting rod, the laser range finder is fixed on a target point of the supporting rod below the RTK receiver by the fixing jig, the relative positional relationship includes a distance from the target point to the bottom end of the supporting rod, an angle between a direction of the laser range finder and a direction of the RTK receiver, and a positional relationship between the laser range finder and the supporting rod, and the obtaining the position coordinate of the position to be measured based on the relative positional relationship, the positioning information, and the length distance includes:
acquiring the coordinates of the bottom end of the supporting rod according to the positioning information and the length of the supporting rod;
acquiring the coordinates of the laser range finder according to the relative position relation and the coordinates of the bottom end of the supporting rod;
and acquiring the position coordinate of the position to be measured according to the coordinate of the laser range finder, the relative position relation and the length distance.
3. The positioning method according to claim 2, wherein the fixing jig comprises a first holding portion and a second holding portion, the first holding portion is used for holding the support rod, the second holding portion is used for holding the laser range finder, the first holding portion and the second holding portion are connected through a rotating shaft, and the axis of the rotating shaft is perpendicular to the support rod.
4. The positioning method according to claim 3, wherein a first limiting member is disposed at a position where the support rod is connected to the RTK receiver, a second limiting member is disposed at a position where the first clamping portion is connected to the support rod, and an included angle between an orientation of the laser range finder and an orientation of the RTK receiver is zero when the RTK receiver and the first clamping portion are limited by the first limiting member and the second limiting member, respectively.
5. The positioning method according to claim 2, characterized in that the positioning method comprises:
acquiring, by the RTK receiver, positioning coordinates of a calibration position;
acquiring a calibration distance from a laser range finder to a calibration position through the laser range finder, and acquiring calibration information when the laser range finder measures the calibration distance through the RTK receiver, wherein the calibration information comprises a positioning coordinate and attitude information of the RTK receiver acquired by an inertia measurement unit;
acquiring the positioning coordinate of the laser range finder according to the calibration information and the position of the laser range finder on the supporting rod;
and the processing module acquires the relative position relation between the laser range finder and the RTK receiver according to the positioning coordinate of the laser range finder, the calibration distance, the positioning coordinate of the calibration position and the calibration information.
6. The positioning method of claim 5, wherein the fixture is used to control the roll angle of the laser rangefinder to be consistent with the roll angle of the RTK receiver.
7. The positioning method according to claim 1, wherein the laser range finder is fixed to a top end or a front surface of the RTK receiver by a pan-tilt, the pan-tilt is fixed horizontally, a rotation range in a vertical direction is 180 degrees, an orientation of the laser range finder coincides with an orientation of the RTK receiver, and the relative positional relationship is a relative positional relationship between the laser range finder and a receiving antenna of the RTK receiver.
8. The positioning method of claim 1, wherein the processing module is located within the RTK receiver.
9. An inertial measurement unit based positioning system, characterized in that it comprises a laser range finder, an RTK receiver, a support device and a processing module, said positioning system being adapted to implement the positioning method according to any one of claims 1 to 8.
10. An RTK receiver based on an inertial measurement unit, characterized in that it is used in a measurement system according to claim 9.
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| CN115096269A (en) * | 2022-07-06 | 2022-09-23 | 上海井融网络科技有限公司 | Photogrammetry method, photogrammetry system and GNSS receiver |
| CN115096269B (en) * | 2022-07-06 | 2023-10-31 | 苏州天硕导航科技有限责任公司 | Photogrammetry method, photogrammetry system and GNSS receiver |
| CN117233780A (en) * | 2023-09-05 | 2023-12-15 | 上海司南卫星导航技术股份有限公司 | Control method of measurement system, measurement system and computer readable medium |
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