CN113819927B - 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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- CN113819927B CN113819927B CN202111208147.6A CN202111208147A CN113819927B CN 113819927 B CN113819927 B CN 113819927B CN 202111208147 A CN202111208147 A CN 202111208147A CN 113819927 B CN113819927 B CN 113819927B
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- 238000005259 measurement Methods 0.000 title claims abstract description 115
- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 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
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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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
-
- 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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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Manufacturing & Machinery (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
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 inertial 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 mounted 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 posture according to the posture data; the detector is used for acquiring the included angle between the top center of the GNSS receiver and the connecting line of the lower end point of the centering rod and the Z axis of the inertial measurement unit under the target posture so as to acquire the measurement error of the inclination measurement system. The invention can acquire 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 present invention relates to a detection system and an error detection method for an inclination measurement system.
Background
In recent years, tilt measurement based on an inertial measurement unit has been increasingly popularized and applied. Through the built-in inertial measurement unit of the GNSS receiver, the attitude data of the GNSS receiver is output in real time, the direction angle, the inclined angle and the inclined direction angle of the centering rod in the inclined state are calculated, and the acquired coordinates of the phase center of the antenna of the GNSS receiver are combined, so that the coordinates of the ground point at the bottom of the inclined centering rod can be calculated.
In this inclination measurement system, there may be a series of errors that affect the calculation of the final ground point coordinates. The errors include 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 is complicated in error detection, and excessive detection steps are easy to cause detection errors.
Disclosure of Invention
The invention aims to overcome the defects that in the prior art, the error detection of an inclination measurement system is complicated and complicated, and the detection error is easily caused by excessive detection steps, 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 in an allowable range, so that the measurement accuracy is improved.
The invention solves the technical problems by the following technical scheme:
a detection system for a tilt measurement system, the tilt measurement system comprising a GNSS receiver, a centering rod, a fixture, 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 using the inertial measurement unit after being mounted 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 posture according to the posture 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 posture so as to acquire a measurement error of the inclination measurement system.
The top center of a GNSS receiver may be approximated as the receiver antenna phase center position, and ideally the line connecting the receiver upper center point and the centering stem base point should be parallel to the gravity plumb line without error.
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 be in a horizontal state according to the attitude data;
the detector is used for acquiring the top center of the GNSS receiver and the included angle between the connecting line of 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 used for initializing 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;
the operation module is used for acquiring the 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 used for measuring a first deflection angle of the top center and the lower end point at a first place after the centering rod and the GNSS receiver are fixed by the fixing device, the total station is also used for measuring a second deflection angle of the top center and the lower end point at a second place after the centering rod and the GNSS receiver are fixed by the fixing device, and the operation module is used for acquiring the 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 at the first place and the second place and the GNSS receiver.
Preferably, the inclination measurement system further comprises a laser range finder, the laser range finder faces to be 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 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 to-be-measured point;
the total station is used for measuring the deflection angles of the top center and the lower end point on the to-be-measured point;
the operation module is used for acquiring the distance between the lower endpoint and the point to be detected 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 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 obtaining a measurement error of the inclination measurement system according to the included angle between the vector and the 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, wherein the GNSS receiver comprises an inertial measurement unit, and the error detection method comprises the following steps:
the centering rod supports the GNSS receiver;
the GNSS receiver acquires attitude data of the GNSS receiver by using the inertial measurement unit after being mounted 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 posture according to the posture data;
the detector acquires 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 Z axis of the inertial measurement unit under the target attitude 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 error detection method includes:
the inertial measurement unit is initialized before acquiring the attitude data;
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 gesture data, wherein the adjusting of the inertial measurement unit in the GNSS receiver to be in the horizontal state according to the gesture data comprises the adjustment of the pitch angle and the roll angle of the GNSS receiver to be zero;
the detector acquires the top center of the GNSS receiver and the included angle between the connecting line of 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 detector comprises a total station and an operation module, and the error detection method comprises the following steps:
the total station measures 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 the 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 the top center and the lower end point 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 place after the centering rod and the GNSS receiver are fixed by the fixing device;
the operation module obtains 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 conforming to the common knowledge in the field, the above preferred conditions can be arbitrarily combined to obtain the preferred examples of the invention.
The invention has the positive progress effects that:
the invention can acquire 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 means of 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 an inclination measurement system.
The inclination measurement system comprises a GNSS receiver 11, a centering rod 12. The detection system comprises a fixture 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 using the inertial measurement unit after being mounted 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 posture according to the posture 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 posture so as to acquire a measurement error of the inclination measurement system.
For convenience of measurement and operation, the target posture in this embodiment is the vertical state of the centering rod.
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 top center of the GNSS receiver and the included angle between the connecting line of 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 used for initializing before acquiring the attitude data.
The whole system of the receiver and the centering rod is adjusted to enable the pitch angle and the roll angle in the output attitude angle to approach 0, and the inertial measurement unit is considered to be in an attitude with a Z axis parallel to the plumb line of the gravity.
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;
the operation module is used for acquiring the 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.
Specifically, the total station is used 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.
The total station is also used for measuring a second deflection angle of the top center and the lower end point at a second place after the centering rod and the GNSS receiver are fixed by the fixing device, and the operation module is used for acquiring the 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 at the first place and the second place and the GNSS receiver.
Referring to fig. 2, with the above detection system, this embodiment further provides an error detection method, including:
step 100, supporting the GNSS receiver by the centering rod;
step 101, acquiring attitude data of the GNSS receiver by using the inertial measurement unit after the GNSS receiver is mounted on the centering rod;
102, the fixing device fixes the centering rod and the GNSS receiver when adjusting the GNSS receiver to the target posture according to the posture data;
and 103, 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 Z axis of the inertial measurement unit under the target posture so as 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 between step 100 and step 101 includes: the inertial measurement unit is initialized before acquiring the attitude data;
step 102 specifically comprises: 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 gesture data, wherein the adjusting of the inertial measurement unit in the GNSS receiver to be in the horizontal state according to the gesture data comprises the adjustment of the pitch angle and the roll angle of the GNSS receiver to be zero;
step 103 specifically comprises: the detector acquires the top center of the GNSS receiver and the included angle between the connecting line of the lower end point of the centering rod and the plumb line so as to acquire the measurement error of the inclination measurement system.
Further, the detector includes a total station and an operation module, and step 103 includes:
the total station measures 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 the 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 the top center and the lower end point 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 place after the centering rod and the GNSS receiver are fixed by the fixing device;
the operation module obtains 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 positional 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 measurement system further includes a laser rangefinder 13, the laser rangefinder 13 faces to be perpendicular to the axial direction of the centering rod, the detector includes a total station and an operation module, the laser rangefinder is used for measuring a ground distance 14 on which the laser rangefinder faces after the centering rod and the GNSS receiver are fixed by the fixing device, and a ground position measured by the laser rangefinder 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 end point 17 on the to-be-measured point;
the operation module is used for acquiring the distance 19 between the lower endpoint 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 the connection line between the top center and the lower endpoint according to a distance 19 between the lower endpoint and the point to be measured, a height 20 between the total station and the point to be measured, and the deflection angle 18, and obtain 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 vector can have two solution values, and the minimum value of the included angle between the vector and the Z axis of the inertial measurement unit is taken as the calculated quantity, or the two solution values are verified through the top center and the point to be tested to obtain a vector result.
With the above detection system, the error detection method of the present embodiment includes:
the total station measures the deflection angles of the top center and the lower end point on the to-be-measured point;
the operation module acquires the distance between the lower endpoint and the point to be detected according to the ground distance, the gesture data and the position of the laser range finder on the centering rod;
the operation module obtains a vector of a 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 obtains 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.
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 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 principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (9)
1. A detection system for an inclination measurement system, characterized in that the inclination measurement system comprises a GNSS receiver and a centering rod, the detection system comprises a fixture and a detector, 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 using the inertial measurement unit after being mounted 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 posture according to the posture 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 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 top center of the GNSS receiver and the included angle between the connecting line of the lower end point of the centering rod and the plumb line so as to acquire the measurement error of the inclination measurement system.
2. The detection system of claim 1, wherein the attitude data includes heading, pitch and roll angles of a GNSS receiver, and wherein adjusting an inertial measurement unit within the GNSS receiver to a horizontal state based on the attitude data includes adjusting the pitch and roll angles of the GNSS receiver to zero, the inertial measurement unit being configured to initialize prior to acquiring the attitude data.
3. The detection system of claim 1, wherein the detector comprises 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;
the operation module is used for acquiring the 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.
4. The inspection system of claim 3 wherein 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 secured by the fixture, 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 secured by the fixture, the computing module being configured to obtain the angle of the link from the plumb line based on the first deflection angle, the second deflection angle, and position data, the position data including a positional relationship of the total station and the GNSS receiver at the first location and the second location.
5. The inspection system of claim 1 further comprising a laser rangefinder oriented perpendicular to the axis of the centering rod, the inspection system comprising a total station and an operation module, the laser rangefinder configured to measure a ground distance of the laser rangefinder after the centering rod and the GNSS receiver are secured by the securing device, the ground position measured by the laser rangefinder being the point to be inspected;
the total station is used for measuring the deflection angles of the top center and the lower end point on the to-be-measured point;
the operation module is used for acquiring the distance between the lower endpoint and the point to be detected 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 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 obtaining a measurement error of the inclination measurement system according to the included angle between the vector and the Z axis of the inertial measurement unit under the target posture.
6. An error detection method for detecting an inclination measurement system by a detection system, wherein the inclination measurement system comprises a GNSS receiver and a centering rod, the detection system comprises a fixture and a detector, the GNSS receiver comprises an inertial measurement unit, the error detection method comprising:
the centering rod supports the GNSS receiver;
the GNSS receiver acquires attitude data of the GNSS receiver by using the inertial measurement unit after being mounted 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 posture according to the posture data;
the detector acquires an included angle between the top center of the GNSS receiver and the connecting line of 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 error detection method further comprises the following steps:
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 acquires the top center of the GNSS receiver and the included angle between the connecting line of the lower end point of the centering rod and the plumb line so as to acquire the measurement error of the inclination measurement system.
7. The error detection method of claim 6, wherein the attitude data includes heading, pitch and roll angles of a GNSS receiver, the error detection method comprising:
the inertial measurement unit is initialized before acquiring the attitude data;
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 gesture data, wherein the adjusting of the inertial measurement unit in the GNSS receiver to be in the horizontal state according to the gesture data comprises the adjustment of the pitch angle and the roll angle of the GNSS receiver to be zero;
the detector acquires the top center of the GNSS receiver and the included angle between the connecting line of the lower end point of the centering rod and the plumb line so as to acquire the measurement error of the inclination measurement system.
8. The error detection method according to claim 7, wherein the detector includes a total station and an operation module, the error detection method comprising:
the total station measures 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 the 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.
9. The error detection method of claim 8, wherein the error detection method comprises:
the total station measures a first deflection angle of the top center and the lower end point 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 place after the centering rod and the GNSS receiver are fixed by the fixing device;
the operation module obtains 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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| CN113819927A (en) | 2021-12-21 |
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