CN113819927A - Detection system and error detection method for inclination measurement system - Google Patents
Detection system and error detection method for inclination measurement system Download PDFInfo
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- CN113819927A CN113819927A CN202111208147.6A CN202111208147A CN113819927A CN 113819927 A CN113819927 A CN 113819927A CN 202111208147 A CN202111208147 A CN 202111208147A CN 113819927 A CN113819927 A CN 113819927A
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- 238000001514 detection method Methods 0.000 title claims abstract description 42
- 238000007689 inspection Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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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Abstract
The invention discloses a detection system and an error detection method for an inclination measurement system, wherein the inclination measurement system comprises a GNSS receiver and a centering rod, the detection system comprises a fixing device and a detector, the GNSS receiver comprises an inertia measurement unit, and the centering rod is used for supporting the GNSS receiver; the GNSS receiver is used for acquiring attitude data of the GNSS receiver by using the inertial measurement unit after being installed on the centering rod; the fixing device is used for fixing the centering rod and the GNSS receiver when the GNSS receiver is adjusted to the target attitude according to the attitude data; the detector is used for acquiring an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and a Z axis of the inertial measurement unit under the target attitude so as to acquire a measurement error of the inclination measurement system. The invention can obtain the error of the inclination measurement system, and calibrate and compensate the instrument by judging whether the error is in the allowable range, thereby improving the measurement precision.
Description
Technical Field
The invention relates to a detection system and an error detection method for a tilt measurement system.
Background
In recent years, tilt measurement based on an inertial measurement unit is gradually popularized and applied. Through an inertia measurement unit built in the GNSS receiver, attitude data of the GNSS receiver is output in real time, and then a direction angle, an inclination angle and an inclination direction angle of the centering rod in an inclined state are calculated.
In this tilt measurement system, there may be a series of errors that affect the calculation of the final ground point coordinates. The errors comprise RTK positioning errors, inertial measurement unit installation errors, centering rod and receiver connection errors, centering rod errors and the like.
The existing inclination measurement system has complicated error detection, and excessive detection steps easily cause detection errors.
Disclosure of Invention
The invention aims to overcome the defects that the error detection of the inclination measurement system is complicated and the detection error is easily caused by excessive detection steps in the prior art, and provides a detection system and an error detection method for the inclination measurement system, which can acquire the error of the inclination measurement system, calibrate and compensate an instrument by judging whether the error is within an allowable range, and improve the measurement precision.
The invention solves the technical problems through the following technical scheme:
a detection system for an inclination measurement system comprising a GNSS receiver, a centring rod, a fixing device and a detector, the GNSS receiver comprising an inertial measurement unit,
the centering rod is used for supporting the GNSS receiver;
the GNSS receiver is used for acquiring attitude data of the GNSS receiver by utilizing the inertial measurement unit after being installed on the centering rod;
the fixing device is used for fixing the centering rod and the GNSS receiver when the GNSS receiver is adjusted to the target attitude according to the attitude data;
the detector is used for acquiring an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the Z axis of the inertial measurement unit under the target attitude so as to acquire a measurement error of the inclination measurement system.
The top center of the GNSS receiver can be approximately regarded as the position of the antenna phase center of the receiver, and theoretically, under the condition of no error, the connecting line of the upper center point of the receiver and the bottom point of the centering rod should be parallel to the gravity plumb line.
Preferably, the fixing device is used for fixing the centering rod and the GNSS receiver when the inertial measurement unit in the GNSS receiver is adjusted to a horizontal state according to the attitude data;
the detector is used for acquiring the included angle between the connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the plumb line so as to acquire the measurement error of the inclination measurement system.
Preferably, the attitude data includes a heading angle, a pitch angle, and a roll angle of the GNSS receiver, and the adjusting the inertial measurement unit in the GNSS receiver to a horizontal state according to the attitude data includes adjusting the pitch angle and the roll angle of the GNSS receiver to zero, and the inertial measurement unit is configured to initialize before acquiring the attitude data.
Preferably, the detector comprises a total station and an operation module,
the total station is used for measuring deflection angles of the top center and the lower end point after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module is used for acquiring an included angle between the connecting line and the plumb line according to the deflection angle and the position relation between the total station and the GNSS receiver.
Preferably, the total station is configured to measure a first deflection angle of the top center and the lower end point at a first location after the centering rod and the GNSS receiver are fixed by the fixing device, and is further configured to measure a second deflection angle of the top center and the lower end point at a second location after the centering rod and the GNSS receiver are fixed by the fixing device, and the operation module is configured to obtain an included angle between the connection line and the plumb line according to the first deflection angle, the second deflection angle, and position data, where the position data includes a positional relationship between the total station and the GNSS receiver at the first location and the second location.
Preferably, the inclination measuring system further comprises a laser range finder, the orientation of the laser range finder is perpendicular to the axial direction of the centering rod, the detector comprises a total station and an operation module, the laser range finder is used for measuring the upward ground distance of the laser range finder after the centering rod and the GNSS receiver are fixed by the fixing device, and the ground position measured by the laser range finder is a point to be measured;
the total station is used for measuring deflection angles of the top center and the lower end point on the point to be measured;
the operation module is used for acquiring the distance between the lower end point and the point to be measured according to the ground distance and the position of the laser range finder on the centering rod;
the operation module is further used for obtaining a vector of a connecting line of the top center and the lower end point according to the distance between the lower end point and the point to be measured, the height from the total station to the point to be measured and the deflection angle, and obtaining a measurement error of the inclination measurement system according to an included angle between the vector and a Z axis of the inertial measurement unit under the target posture.
The invention also provides an error detection method for an inclination measurement system, which is characterized in that the inclination measurement system comprises a GNSS receiver, a centering rod, a fixing device and a detector, the GNSS receiver comprises an inertia measurement unit, and the error detection method comprises the following steps:
the centering rod supports the GNSS receiver;
after the GNSS receiver is installed on the centering rod, the inertial measurement unit is utilized to acquire attitude data of the GNSS receiver;
the fixing device fixes the centering rod and the GNSS receiver when the GNSS receiver is adjusted to the target attitude according to the attitude data;
the detector acquires an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and a Z axis of the inertial measurement unit under the target attitude so as to acquire a measurement error of the inclination measurement system.
Preferably, the attitude data includes a heading angle, a pitch angle and a roll angle of the GNSS receiver, and the error detection method includes:
the inertial measurement unit is initialized before acquiring the attitude data;
the fixing device fixes the centering rod and the GNSS receiver when adjusting the inertial measurement unit in the GNSS receiver to a horizontal state according to the attitude data, wherein the adjusting the inertial measurement unit in the GNSS receiver to the horizontal state according to the attitude data comprises adjusting a pitch angle and a roll angle of the GNSS receiver to zero;
the detector acquires an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the plumb line so as to acquire a measurement error of the inclination measurement system.
Preferably, the detecting apparatus includes a total station and an operation module, and the error detecting method includes:
the total station measures the deflection angles of the top center and the lower end point after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module acquires an included angle between the connecting line and the plumb line according to the deflection angle and the position relation between the total station and the GNSS receiver.
Preferably, the error detection method includes:
the total station measures a first deflection angle of a top center and a lower endpoint at a first place after the centering rod and the GNSS receiver are fixed by the fixing device;
the total station measures a second deflection angle of the top center and the lower endpoint at a second location after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module acquires an included angle between the connecting line and the plumb line according to the first deflection angle, the second deflection angle and position data, wherein the position data comprises the position relation between the total station of the first place and the second place and the GNSS receiver.
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 obtain the error of the inclination measurement system, and calibrate and compensate the instrument by judging whether the error is in the allowable range, 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 flowchart of an error detection method according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural diagram of a measurement system according to embodiment 2 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, the present embodiment provides a detection system for a tilt measurement system.
The inclination measurement system comprises a GNSS receiver 11, a centering rod 12. The detection system comprises a fixing device 21 and a detector 22, and the GNSS receiver comprises an inertial measurement unit.
The centering rod is used for supporting the GNSS receiver;
the GNSS receiver is used for acquiring attitude data of the GNSS receiver by utilizing the inertial measurement unit after being installed on the centering rod;
the fixing device is used for fixing the centering rod and the GNSS receiver when the GNSS receiver is adjusted to the target attitude according to the attitude data;
the detector is used for acquiring an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the Z axis of the inertial measurement unit under the target attitude so as to acquire a measurement error of the inclination measurement system.
For convenience of measurement and operation, the target attitude is the vertical state of the centering rod in the present embodiment.
Further, the fixing device is used for fixing the centering rod and the GNSS receiver when the inertial measurement unit in the GNSS receiver is adjusted to be in a horizontal state according to the attitude data;
the detector is used for acquiring the included angle between the connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the plumb line so as to acquire the measurement error of the inclination measurement system.
Specifically, the attitude data includes a heading angle, a pitch angle, and a roll angle of the GNSS receiver, and the adjusting the inertial measurement unit in the GNSS receiver to a horizontal state according to the attitude data includes adjusting the pitch angle and the roll angle of the GNSS receiver to zero, and the inertial measurement unit is configured to initialize before acquiring the attitude data.
And adjusting the whole system of the receiver and the centering rod to enable the pitch angle and the roll angle in the output attitude angle to approach to 0, and considering that the inertial measurement unit is in an attitude with the Z axis parallel to the gravity plumb line.
Further, the detector comprises a total station and an operation module.
The total station is used for measuring deflection angles of the top center and the lower end point after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module is used for acquiring an included angle between the connecting line and the plumb line according to the deflection angle and the position relation between the total station and the GNSS receiver.
The operation module can be a tablet computer or an integrated function in the receiver.
In particular, the total station is used for measuring a first deflection angle of the top center and the lower endpoint at a first location after the centering rod and the GNSS receiver are fixed by the fixing device.
The total station is further used for measuring a second deflection angle of the top center and the lower end point at a second location after the centering rod and the GNSS receiver are fixed by the fixing device, the operation module is used for acquiring an included angle between the connecting line and the plumb line according to the first deflection angle, the second deflection angle and position data, and the position data comprises a position relation between the total station of the first location and the second location and the GNSS receiver.
Referring to fig. 2, with the above detection system, the present embodiment further provides an error detection method, including:
and 103, acquiring an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the Z axis of the inertial measurement unit under the target attitude by the detector to acquire a measurement error of the inclination measurement system.
Specifically, the attitude data includes a heading angle, a pitch angle and a roll angle of the GNSS receiver, and the step 100 and the step 101 include: the inertial measurement unit is initialized before acquiring the attitude data;
step 102 specifically comprises: the fixing device fixes the centering rod and the GNSS receiver when adjusting the inertial measurement unit in the GNSS receiver to a horizontal state according to the attitude data, wherein the adjusting the inertial measurement unit in the GNSS receiver to the horizontal state according to the attitude data comprises adjusting a pitch angle and a roll angle of the GNSS receiver to zero;
step 103 specifically comprises: the detector acquires an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the plumb line so as to acquire a measurement error of the inclination measurement system.
Further, the detecting instrument includes a total station and an operation module, and step 103 includes:
the total station measures the deflection angles of the top center and the lower end point after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module acquires an included angle between the connecting line and the plumb line according to the deflection angle and the position relation between the total station and the GNSS receiver.
Specifically, step 103 includes:
the total station measures a first deflection angle of a top center and a lower endpoint at a first place after the centering rod and the GNSS receiver are fixed by the fixing device;
the total station measures a second deflection angle of the top center and the lower endpoint at a second location after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module acquires an included angle between the connecting line and the plumb line according to the first deflection angle, the second deflection angle and position data, wherein the position data comprises the position relation between the total station of the first place and the second place and the GNSS receiver.
In this embodiment, the position relationship includes a distance between the total station and the GNSS receiver.
Example 2
This embodiment is substantially the same as embodiment 1 except that:
referring to fig. 3, the inclination measuring system further includes a laser range finder 13, the orientation of the laser range finder 13 is perpendicular to the axial direction of the centering rod, the detector includes a total station and an operation module, the laser range finder is used for measuring the upward ground distance 14 of the laser range finder after the centering rod and the GNSS receiver are fixed by the fixing device, and the ground position measured by the laser range finder is a point 15 to be measured;
the total station 22 is used for measuring the deflection angle 18 of the top center 16 and the lower endpoint 17 on the point to be measured;
the operation module is used for acquiring the distance 19 between the lower end point and the point to be measured according to the ground distance 14 and the position of the laser range finder on the centering rod;
the operation module is further configured to obtain a vector of a connecting line between the top center and the lower endpoint according to the distance 19 between the lower endpoint and the point to be measured, the height 20 between the total station and the point to be measured, and the deflection angle 18, and obtain a measurement error of the tilt measurement system according to an included angle between the vector and a Z axis of the inertial measurement unit in the target attitude.
The vector can have two solution values, and the minimum value of an included angle between the vector and the Z axis of the inertia measurement unit is taken as a calculated amount, or the two solution values are verified through the top center and the point to be measured to obtain a vector result.
With the above detection system, the error detection method of the present embodiment includes:
the total station measures deflection angles of the top center and the lower end point on the point to be measured;
the operation module acquires the distance between the lower endpoint and the point to be measured according to the ground distance, the attitude data and the position of the laser range finder on the centering rod;
and the operation module acquires the vector of the connecting line of the top center and the lower endpoint according to the distance between the lower endpoint and the point to be measured, the height from the total station to the point to be measured and the deflection angle, and acquires the measurement error of the inclination measurement system according to the included angle between the vector and the Z axis of the inertia measurement unit under the target posture.
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. Detection system for an inclination measurement system, characterised in that it comprises a GNSS receiver and a centring rod, said detection system comprising fixing means and a detector, said GNSS receiver comprising an inertial measurement unit,
the centering rod is used for supporting the GNSS receiver;
the GNSS receiver is used for acquiring attitude data of the GNSS receiver by utilizing the inertial measurement unit after being installed on the centering rod;
the fixing device is used for fixing the centering rod and the GNSS receiver when the GNSS receiver is adjusted to the target attitude according to the attitude data;
the detector is used for acquiring an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the Z axis of the inertial measurement unit under the target attitude so as to acquire a measurement error of the inclination measurement system.
2. The detection system of claim 1,
the fixing device is used for fixing the centering rod and the GNSS receiver when the inertial measurement unit in the GNSS receiver is adjusted to be in a horizontal state according to the attitude data;
the detector is used for acquiring the included angle between the connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the plumb line so as to acquire the measurement error of the inclination measurement system.
3. The detection system of claim 2, wherein the attitude data includes a heading angle, a pitch angle, and a roll angle of the GNSS receiver, and wherein adjusting an inertial measurement unit within the GNSS receiver to a level state based on the attitude data includes adjusting the pitch angle and the roll angle of the GNSS receiver to zero, the inertial measurement unit being configured to initialize prior to acquiring the attitude data.
4. The inspection system of claim 2, wherein said inspection apparatus includes a total station and an arithmetic module,
the total station is used for measuring deflection angles of the top center and the lower end point after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module is used for acquiring an included angle between the connecting line and the plumb line according to the deflection angle and the position relation between the total station and the GNSS receiver.
5. The inspection system of claim 4, wherein said total station is adapted to measure a first deflection angle of the top center and the lower end point at a first location after the centering stick and the GNSS receiver are fixed by the fixture, and a second deflection angle of the top center and the lower end point at a second location after the centering stick and the GNSS receiver are fixed by the fixture, and wherein said computing module is adapted to obtain an angle between said line and the plumb line based on the first deflection angle, the second deflection angle, and position data including a positional relationship between the total station and the GNSS receiver at the first location and the second location.
6. The detection system of claim 1, further comprising a laser range finder oriented perpendicular to the axial direction of the centering rod, wherein the detection apparatus comprises a total station and an operation module, the laser range finder is used for measuring the ground distance of the laser range finder oriented upwards after the centering rod and the GNSS receiver are fixed by the fixing device, and the ground position measured by the laser range finder is the point to be measured;
the total station is used for measuring deflection angles of the top center and the lower end point on the point to be measured;
the operation module is used for acquiring the distance between the lower end point and the point to be measured according to the ground distance and the position of the laser range finder on the centering rod;
the operation module is further used for obtaining a vector of a connecting line of the top center and the lower end point according to the distance between the lower end point and the point to be measured, the height from the total station to the point to be measured and the deflection angle, and obtaining a measurement error of the inclination measurement system according to an included angle between the vector and a Z axis of the inertial measurement unit under the target posture.
7. An error detection method for detecting an inclinometer system through a detection system, wherein the inclinometer system comprises a GNSS receiver and a centering rod, the detection system comprises a fixing device and a detector, the GNSS receiver comprises an inertia measurement unit, and the error detection method comprises the following steps:
the centering rod supports the GNSS receiver;
after the GNSS receiver is installed on the centering rod, the inertial measurement unit is utilized to acquire attitude data of the GNSS receiver;
the fixing device fixes the centering rod and the GNSS receiver when the GNSS receiver is adjusted to the target attitude according to the attitude data;
the detector acquires an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and a Z axis of the inertial measurement unit under the target attitude so as to acquire a measurement error of the inclination measurement system.
8. The tilt measurement system of claim 7, wherein the attitude data includes a heading angle, a pitch angle, and a roll angle of the GNSS receiver, and the error detection method comprises:
the inertial measurement unit is initialized before acquiring the attitude data;
the fixing device fixes the centering rod and the GNSS receiver when adjusting the inertial measurement unit in the GNSS receiver to a horizontal state according to the attitude data, wherein the adjusting the inertial measurement unit in the GNSS receiver to the horizontal state according to the attitude data comprises adjusting a pitch angle and a roll angle of the GNSS receiver to zero;
the detector acquires an included angle between a connecting line of the top center of the GNSS receiver and the lower end point of the centering rod and the plumb line so as to acquire a measurement error of the inclination measurement system.
9. The tilt measurement system of claim 8, wherein the detector comprises a total station and an arithmetic module, and the error detection method comprises:
the total station measures the deflection angles of the top center and the lower end point after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module acquires an included angle between the connecting line and the plumb line according to the deflection angle and the position relation between the total station and the GNSS receiver.
10. The tilt measurement system of claim 9, wherein the error detection method comprises:
the total station measures a first deflection angle of a top center and a lower endpoint at a first place after the centering rod and the GNSS receiver are fixed by the fixing device;
the total station measures a second deflection angle of the top center and the lower endpoint at a second location after the centering rod and the GNSS receiver are fixed by the fixing device;
and the operation module acquires an included angle between the connecting line and the plumb line according to the first deflection angle, the second deflection angle and position data, wherein the position data comprises the position relation between the total station of the first place and the second place and the GNSS receiver.
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| CN109425325A (en) * | 2017-08-22 | 2019-03-05 | 杭州通泰测绘有限公司 | A kind of multi-rise building object inclination measurement method |
| CN109814133A (en) * | 2019-03-07 | 2019-05-28 | 上海华测导航技术股份有限公司 | GNSS receiver inclinometric system, method, apparatus and storage medium |
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2021
- 2021-10-18 CN CN202111208147.6A patent/CN113819927B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102207380A (en) * | 2011-06-09 | 2011-10-05 | 中国人民解放军第二炮兵工程学院 | High-precision horizontal axis tilt error compensation method |
| CN102680001A (en) * | 2012-05-16 | 2012-09-19 | 南京信息工程大学 | Inclination correction device for centering rod |
| US20180224277A1 (en) * | 2014-06-06 | 2018-08-09 | Carlson Software Inc. | Hybrid Total Station with Electronic Leveling |
| CN109425325A (en) * | 2017-08-22 | 2019-03-05 | 杭州通泰测绘有限公司 | A kind of multi-rise building object inclination measurement method |
| CN108732595A (en) * | 2018-04-12 | 2018-11-02 | 石家庄铁路职业技术学院 | A kind of RTK rover receiver of integrated inertial navigation and magnetometer |
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