CN114910933A - RTK receiver system with vision measurement function, board card and measurement method - Google Patents
RTK receiver system with vision measurement function, board card and measurement method Download PDFInfo
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- 238000005259 measurement Methods 0.000 title claims abstract description 52
- 238000000691 measurement method Methods 0.000 title claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 12
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000011514 reflex Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
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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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
- G01C15/06—Surveyors' staffs; Movable markers
- G01C15/08—Plumbing or registering staffs or markers over ground marks
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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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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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)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
The invention discloses an RTK receiver system with a vision measurement function, a board card and a measurement method, wherein the RTK receiver system comprises an RTK receiving board card, a camera unit, a supporting device, a vision acquisition unit and an inertia measurement unit, the supporting device is used for supporting an RTK receiver, a camera of the camera unit and the RTK receiving board card are fixed in a position relation under a use state, and the camera unit is used for shooting a target point image of a target point; the RTK receiving board card is used for acquiring the position information of the RTK receiving board card; the inertia measurement unit is used for acquiring the attitude information of the RTK receiving board card and the camera unit; the visual acquisition unit acquires the image position of a target point; and the RTK receiving board card acquires a position coordinate. The invention can realize remote visual distance 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 an RTK receiver system with a vision measurement function, a board card and a measurement method.
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 engineering actually needs to measure the coordinate value of the pole tip, 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 an RTK receiver system with a vision measurement function, a board card and a measurement method, which can realize remote vision 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.
The invention solves the technical problems through the following technical scheme:
an RTK receiver system for an RTK receiver, the RTK receiver system comprising an RTK receiving board card, a camera unit, a support device, a vision acquisition unit and an inertial measurement unit, the support device being configured to support the RTK receiver system, a camera of the camera unit being fixed in a positional relationship with the RTK receiving board card in a use state,
the camera unit is used for shooting a target point at least three measuring points to acquire a target point image;
the RTK receiving board card is used for acquiring the position information of the RTK receiving board card when shooting a target point image;
the inertia measurement unit is used for acquiring the attitude information of the RTK receiving board card and the camera unit when shooting the target point image;
the visual acquisition unit is used for acquiring the image position of a target point in each target point image;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the position information, the image position, the attitude information and the position relation of all the measuring points.
Preferably, the first and second air flow paths are arranged in parallel,
the camera unit is used for shooting target point images of the target point at least three measuring points,
for a measuring point, the RTK receiving board card is used for acquiring the coordinate of the camera unit at the measuring point according to the position relation, the attitude information of the camera unit and the position information of the RTK receiving board card;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the camera units at all the measuring points, the attitude information of the camera units at all the measuring points and all the image positions.
Preferably, the vision acquisition unit is used for acquiring the image position of a target point in an initial target point image;
the vision acquisition unit is also used for identifying characteristic points in the area where the image position is located;
the visual acquisition unit is also used for identifying the image points corresponding to the characteristic points in all the target point images except the initial target point image as the image positions of the target points in the target point image.
Preferably, the first and second air flow paths are arranged in parallel,
the vision acquisition unit is also used for judging whether the characteristic points are on the ground or not, and if so, acquiring the rotation compensation quantity of the target point images except the initial target point image according to the attitude information and the position information of the camera unit;
the vision acquisition unit is further used for identifying the image point corresponding to the characteristic point in the rotating image as the image position of the target point in the target point image, and the rotating image is an image obtained after the target point image except the initial target point image is rotated by the rotation compensation amount.
Preferably, the first and second liquid crystal films are made of a polymer,
the RTK receiving board card is used for acquiring the coordinates of the photographing center of the camera unit, the image principal point coordinates and the image position coordinates according to the camera parameters of the camera unit, the coordinates of the camera unit and the image position;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the camera unit photographing centers of all the measuring points, the image main point coordinates and the image position coordinates.
Preferably, the RTK receiver system includes an RTK receiver and the camera unit, the RTK receiver includes a processing module and a housing, the processing module includes an RTK receiving board, a vision collecting unit and an inertia measuring unit, the processing module is configured to obtain the position coordinates of the target point according to the position information, the image position, the posture information and the position relationship of all the measuring points, the processing module and the camera unit are both disposed in the housing, the camera of the camera unit is disposed on the outer surface of the housing, and the shooting direction of the camera is perpendicular to the axis of the centering rod connected to the RTK receiver.
Preferably, the support means is a centering rod,
the camera unit is used for shooting target point images of the target point at least three measuring points,
for a measuring point, the RTK receiving board card is used for acquiring the bottom end coordinate of the centering rod of the measuring point according to the length of the centering rod, the attitude information of the RTK receiving board card and the position information of the RTK receiving board card;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the bottom ends of the centering rods of all the measuring points, all the image positions, the attitude information and the position relation.
Preferably, the RTK receiver system further includes a carrier and a target, the supporting device is used for being fixed on the carrier and supporting the RTK receiving board card, and the target is disposed outside an area to be measured;
the RTK receiving board card is used for measuring the position of the target to acquire the measurement position coordinate of the target;
the camera unit is used for recording videos when the carrier runs in the area to be detected, and a timeline is arranged in the video images;
the RTK receiving board card is used for acquiring the position information of the RTK receiving board card during video recording and corresponding the position information with the timeline;
the inertia measurement unit is used for acquiring the attitude information of the RTK receiving board card and the camera unit when shooting the target point image and corresponding the attitude information to the timeline;
the RTK receiving board card is also used for acquiring the bottom end coordinate of the centering rod of the measuring point according to the length of the centering rod, the attitude information of the RTK receiving board card and the position information of the RTK receiving board card, and enabling the bottom end coordinate of the centering rod to correspond to the time line;
the RTK receiving board card is also used for acquiring coordinates of the bottom end of the centering rod at a plurality of preset moments on the time line;
the RTK receiving board card is also used for identifying an image frame with the target image in the video and acquiring the calculation position coordinate of the target according to the image position of the target in the image frame, the attitude information and the position information of the image frame at the time corresponding to the timeline;
the RTK receiving board card is also used for calculating whether the difference value of the measured position coordinate and the calculated position coordinate is greater than a preset value, and if so, searching the coordinate of the bottom end of the centering rod at the nearest preset moment of the image frame on the time line;
the RTK receiver system is used for acquiring the calibration coordinate of the bottom end of the centering rod at the nearest preset time by utilizing the position information acquired by the RTK receiving board card, the target picture information acquired by the camera unit and the distance between the bottom end coordinate of the centering rod and the measured position coordinate;
and the RTK receiver system is also used for measuring the earth volume of the area to be measured according to the coordinates of the bottom end of the centering rod at all preset moments, the height from the position of the carrier at the bottom end of the centering rod to the ground and the height of the centering rod, wherein if the coordinates of the bottom end of the centering rod at the preset moments have calibration coordinates, the calculation of the earth volume measurement is carried out by using the calibration coordinates.
The present invention also provides a vision measuring method for remote positioning using the RTK receiver system as described above.
The invention also provides an RTK receiving board card, and the RTK receiving board card is used for the RTK receiver system.
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 vision 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 an RTK receiver system according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of a vision measuring method according to embodiment 1 of the present invention.
Fig. 3 is another flowchart of the vision measuring 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 invention thereto.
Example 1
Referring to fig. 1, the present embodiment provides an RTK receiver system including an RTK receiver 11, a camera unit, a support 12, a vision acquisition unit, and an inertial measurement unit.
The embodiment provides an RTK receiving board, and the RTK receiver 11 includes the RTK receiving board.
In other embodiments, the RTK receiving board card is transmitted to a separate computing device, and the computing device may be a mobile phone or a tablet computer.
The inertial measurement unit comprises a triaxial accelerometer and a triaxial gyroscope in the embodiment and is used for acquiring the gesture of the RTK receiver, when the RTK receiver, the supporting device and the camera unit are installed into a whole, the gesture of the RTK receiver, the supporting device and the camera unit can be acquired simultaneously, and the camera unit can be an independent single lens reflex camera and also can be an integrated camera module installed in the RTK receiver.
The supporting device is used for supporting the RTK receiver system, and the camera of the camera unit and the RTK receiving plate are fixed in the position relation under the use state.
The camera unit is used for shooting a target point 14 at least two measuring points 13 to obtain a target point image;
the RTK receiving board card is used for acquiring the position information of the RTK receiving board card when shooting a target point image;
the inertia measurement unit is used for acquiring the attitude information of the RTK receiving board card and the camera unit when shooting the target point image;
the visual acquisition unit is used for acquiring the image position of a target point in each target point image; the image position can be obtained by clicking a pixel point in the image by a user touch or clicking a mouse.
The RTK receiving board card is further used for acquiring the position coordinates of the target point according to the position information, the image position, the attitude information and the position relation of all the measuring points.
In the algorithm, a epipolar geometry technology can be utilized, the distance measurement is carried out through a camera image, and then a trigonometric function is solved according to the distance to obtain the position coordinates of the target point.
Further, the camera unit is used for shooting target point images of the target point at least three measuring points.
For a measuring point, the RTK receiving board card is used for acquiring the coordinate of the camera unit at the measuring point according to the position relation, the attitude information of the camera unit and the position information of the RTK receiving board card;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the camera units at all the measuring points, the attitude information of the camera units at all the measuring points and all the image positions.
Specifically, in order to facilitate user operation and omit an error of selecting points for multiple times, the present embodiment further provides a technique for automatically selecting a target point.
The vision acquisition unit is used for acquiring the image position of a target point in an initial target point image;
the vision acquisition unit is also used for identifying characteristic points in the area where the image position is located;
the visual acquisition unit is also used for identifying the image points corresponding to the characteristic points in all the target point images except the initial target point image as the image positions of the target points in the target point image.
To improve the accuracy of the point selection:
the vision acquisition unit is also used for judging whether the characteristic points are on the ground or not, and if so, acquiring the rotation compensation quantity of the target point images except the initial target point image according to the attitude information and the position information of the camera unit;
the vision acquisition unit is further used for identifying the image point corresponding to the characteristic point in the rotating image as the image position of the target point in the target point image, and the rotating image is an image obtained after the target point image except the initial target point image is rotated by the rotation compensation amount.
Specifically, the RTK receiving board is configured to obtain coordinates of a camera center of the camera unit, coordinates of a principal point of an image, and coordinates of an image position according to a camera parameter of the camera unit, the coordinates of the camera unit, and the image position;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the camera unit photographing centers of all the measuring points, the image main point coordinates and the image position coordinates.
Further, the RTK receiver system includes an RTK receiver and the camera unit, the RTK receiver includes a processing module and a housing, and the processing module includes an RTK receiving board card, a vision acquisition unit and an inertia measurement unit.
In this embodiment, the RTK receiver system includes an RTK receiver and the camera unit is included in the RTK receiver, and in other embodiments, the RTK receiver system includes an RTK receiver and a separate camera unit, such as a single lens reflex.
The processing module is used for acquiring the position coordinates of the target point according to the position information, the image position, the attitude information and the position relation of all the measuring points.
The processing module and the camera unit are arranged in the shell, a camera of the camera unit is arranged on the outer surface of the shell, and the shooting direction of the camera is perpendicular to the axis of a centering rod connected with the RTK receiver.
Referring to fig. 2, with the RTK receiver system, the present embodiment further provides a vision measuring method, including:
101, acquiring position information of an RTK receiving board card when the RTK receiving board card shoots a target point image;
102, acquiring attitude information of an RTK receiving board card and a camera unit when the inertial measurement unit shoots a target point image;
103, the vision acquisition unit acquires the image position of a target point in each target point image;
and 104, acquiring the position coordinates of the target point by the RTK receiving board card according to the position information, the image position, the attitude information and the position relation of all the measuring points.
Specifically, step 100 is to take target point images of the target point at least three measuring points by the camera unit,
step 104 specifically includes:
for a measuring point, the RTK receiving board card acquires the coordinate of the camera unit at the measuring point according to the position relation, the attitude information of the camera unit and the position information of the RTK receiving board card;
and the RTK receiving board card acquires the position coordinates of the target point according to the coordinates of the camera units at all the measuring points, the attitude information of the camera units at all the measuring points and all the image positions.
Referring to fig. 3, further, step 103 includes:
and 1033, the vision acquisition unit identifies the image point corresponding to the feature point in all the target point images except the initial target point image as the image position of the target point in the target point image.
The vision measurement method includes:
the vision acquisition unit also judges whether the feature point is a feature point on the ground or not, and if so, obtains the rotation compensation quantity of the target point image except the initial target point image according to the attitude information and the position information of the camera unit;
and the visual acquisition unit identifies the image point corresponding to the characteristic point in a rotating image as the image position of a target point in a target point image, and the rotating image is an image obtained after the target point image except the initial target point image is rotated by a rotation compensation amount.
Step 104 specifically includes:
the RTK receiving board card acquires the coordinates of the photographing center of the camera unit, the image principal point coordinates and the image position coordinates according to the camera parameters of the camera unit, the coordinates of the camera unit and the image position;
and the RTK receiving board card acquires the position coordinates of the target point according to the coordinates of the camera unit photographing centers of all the measuring points, the image main point coordinates and the image position coordinates.
Further, the RTK receiver system includes an RTK receiver and the camera unit, the RTK receiver includes a processing module and a housing, and the processing module includes an RTK receiving board card, a vision acquisition unit and an inertia measurement unit.
The vision measuring method comprises the following steps: and the processing module acquires the position coordinates of the target point according to the position information, the image position, the attitude information and the position relation of all the measuring points.
The processing module and the camera unit are arranged in the shell, a camera of the camera unit is arranged on the outer surface of the shell, and the shooting direction of the camera is perpendicular to the axis of a centering rod connected with the RTK receiver.
Example 2
This embodiment is substantially the same as embodiment 1 except that:
the supporting device is a centering rod.
The camera unit is used for shooting target point images of the target point at least three measuring points,
for one measuring point, the RTK receiving board card is used for acquiring the bottom end coordinate of the centering rod of the measuring point according to the length of the centering rod, the attitude information of the RTK receiving board card and the position information of the RTK receiving board card;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the bottom ends of the centering rods of all the measuring points, all the image positions, the attitude information and the position relation.
The RTK receiver system of the application can also be used for high-precision earthwork measurement.
The RTK receiver system further comprises a carrier and a target, the supporting device is used for being fixed on the carrier and supporting the RTK receiving board card, and the target is arranged outside an area to be detected;
the RTK receiving board card is used for measuring the position of the target to acquire the measurement position coordinate of the target;
the camera unit is used for recording videos when the carrier runs in the area to be detected, and a timeline is arranged in the video images;
the RTK receiving board card is used for acquiring the position information of the RTK receiving board card during video recording and corresponding the position information with the timeline;
the inertia measurement unit is used for acquiring the attitude information of the RTK receiving board card and the camera unit when shooting the target point image and corresponding the attitude information to the timeline;
the RTK receiving board card is also used for acquiring the bottom end coordinate of the centering rod of the measuring point according to the length of the centering rod, the attitude information of the RTK receiving board card and the position information of the RTK receiving board card, and enabling the bottom end coordinate of the centering rod to correspond to the time line;
the RTK receiving board card is also used for acquiring coordinates of the bottom end of the centering rod at a plurality of preset moments on the time line;
the RTK receiving board card is also used for identifying an image frame with the target image in the video and acquiring the calculation position coordinate of the target according to the image position of the target in the image frame, the attitude information and the position information of the image frame at the time corresponding to the timeline;
the RTK receiving board card is also used for calculating whether the difference value of the measured position coordinate and the calculated position coordinate is greater than a preset value, and if so, searching the coordinate of the bottom end of the centering rod at the nearest preset moment of the image frame on the time line;
the RTK receiver system is used for acquiring the calibration coordinate of the bottom end of the centering rod at the nearest preset time by utilizing the position information acquired by the RTK receiving board card, the target picture information acquired by the camera unit and the distance between the bottom end coordinate of the centering rod and the measured position coordinate;
and the RTK receiver system is also used for measuring the earth volume of the area to be measured according to the coordinates of the bottom end of the centering rod at all preset moments, the height from the position of the carrier at the bottom end of the centering rod to the ground and the height of the centering rod, wherein if the coordinates of the bottom end of the centering rod at the preset moments have calibration coordinates, the calculation of the earth volume measurement is carried out by using the calibration coordinates.
With the RTK receiver system, the present embodiment further provides a vision measurement method, including:
the camera unit is used for shooting target point images of the target point at least three measuring points,
for a measuring point, the RTK receiving board card is used for acquiring the bottom end coordinate of the centering rod of the measuring point according to the length of the centering rod, the attitude information of the RTK receiving board card and the position information of the RTK receiving board card;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the bottom ends of the centering rods of all the measuring points, all the image positions, the attitude information and the position relation.
The vision measurement method further includes:
the RTK receiving board card measures the position of the target to obtain the measurement position coordinate of the target;
the camera unit records a video when the carrier runs in the area to be detected, and a time line is arranged in the video;
the RTK receiving board card acquires the position information of the RTK receiving board card when recording, and the position information corresponds to the timeline;
the inertial measurement unit acquires attitude information of the RTK receiving board card and the camera unit when shooting a target point image, and corresponds the attitude information with the timeline;
the RTK receiving board card acquires the bottom end coordinate of the centering rod of the measuring point according to the length of the centering rod, the attitude information of the RTK receiving board card and the position information of the RTK receiving board card, and the bottom end coordinate of the centering rod corresponds to the time line;
the RTK receiving board card acquires coordinates of the bottom ends of the centering rods at a plurality of preset moments on a time line;
the RTK receiving board card identifies an image frame with the target image in the video, and acquires a calculated position coordinate of the target according to the image position of the target in the image frame, the attitude information and the position information of the image frame at the time corresponding to the timeline;
whether the difference value between the calculated position coordinate and the measured position coordinate of the RTK receiving board card is larger than a preset value or not is judged, and if yes, the coordinates of the bottom end of the centering rod at the nearest preset moment of the image frame on the time line are searched;
the RTK receiver system obtains the calibration coordinate of the bottom end of the centering rod at the nearest preset time by utilizing the position information obtained by the RTK receiving board card, the target picture information obtained by the camera unit and the distance between the bottom end coordinate of the centering rod and the measurement position coordinate;
and the RTK receiver system performs the earth volume measurement of the area to be measured according to the coordinates of the bottom end of the centering rod at all preset moments, the height from the position of the carrier at the bottom end of the centering rod to the ground and the height of the centering rod, wherein if the coordinates of the bottom end of the centering rod at the preset moments have calibration coordinates, the calculation of the earth volume measurement is performed by using the calibration coordinates.
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 RTK receiver system with a vision measurement function is characterized in that the RTK receiver system comprises an RTK receiving board card, a camera unit, a supporting device, a vision acquisition unit and an inertia measurement unit, wherein the supporting device is used for supporting the RTK receiver system, a camera of the camera unit and the RTK receiving board card are fixed in a position relation under a use state,
the camera unit is used for shooting a target point at least three measuring points to acquire a target point image;
the RTK receiving board card is used for acquiring the position information of the RTK receiving board card when shooting a target point image;
the inertia measurement unit is used for acquiring the attitude information of the RTK receiving board card and the camera unit when shooting the target point image;
the visual acquisition unit is used for acquiring the image position of a target point in each target point image;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the position information, the image position, the attitude information and the position relation of all the measuring points.
2. The RTK receiver system of claim 1,
the camera unit is used for shooting target point images of the target point at least three measuring points,
for a measuring point, the RTK receiving board card is used for acquiring the coordinate of the camera unit at the measuring point according to the position relation, the attitude information of the camera unit and the position information of the RTK receiving board card;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the camera units at all the measuring points, the attitude information of the camera units at all the measuring points and all the image positions.
3. The RTK receiver system of claim 2, wherein the vision acquisition unit is configured to acquire an image position of a target point in an initial target point image;
the vision acquisition unit is also used for identifying characteristic points in the area where the image position is located;
the visual acquisition unit is also used for identifying the image points corresponding to the characteristic points in all the target point images except the initial target point image as the image positions of the target points in the target point image.
4. The RTK receiver system of claim 3,
the vision acquisition unit is also used for judging whether the characteristic points are on the ground or not, and if so, acquiring the rotation compensation quantity of the target point images except the initial target point image according to the attitude information and the position information of the camera unit;
the vision acquisition unit is further used for identifying the image point corresponding to the characteristic point in the rotating image as the image position of the target point in the target point image, and the rotating image is an image obtained after the target point image except the initial target point image is rotated by the rotation compensation amount.
5. The RTK receiver system of claim 2,
the RTK receiving board card is used for acquiring the coordinates of the camera unit photographing center, the image main point coordinates and the image position coordinates according to the camera parameters of the camera unit, the coordinates of the camera unit and the image position;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the camera unit photographing centers of all the measuring points, the image main point coordinates and the image position coordinates.
6. The RTK receiver system according to claim 1, wherein the RTK receiver system includes an RTK receiver and the camera unit, the RTK receiver includes a processing module and a housing, the processing module includes an RTK receiving board, a vision acquisition unit and an inertial measurement unit, the processing module is configured to acquire position coordinates of a target point according to position information, image positions, attitude information of all measurement points and the position relationship, the processing module and the camera unit are disposed in the housing, a camera of the camera unit is disposed on an outer surface of the housing, and a shooting direction of the camera is perpendicular to an axis of a centering rod connected to the RTK receiver.
7. The RTK receiver system of claim 1, wherein the support device is a centering rod,
the camera unit is used for shooting target point images of the target point at least three measuring points,
for a measuring point, the RTK receiving board card is used for acquiring the bottom end coordinate of the centering rod of the measuring point according to the length of the centering rod, the attitude information of the RTK receiving board card and the position information of the RTK receiving board card;
the RTK receiving board card is further used for acquiring the position coordinates of the target point according to the coordinates of the bottom ends of the centering rods of all the measuring points, all the image positions, the attitude information and the position relation.
8. The RTK receiver system of claim 7, further comprising a carrier and a target, wherein the support device is configured to be fixed to the carrier and to support the RTK receiving board, and the target is located outside an area to be measured;
the RTK receiving board card is used for measuring the position of the target to acquire the measurement position coordinate of the target;
the camera unit is used for recording videos when the carrier runs in the area to be detected, and a timeline is arranged in the video images;
the RTK receiving board card is used for acquiring the position information of the RTK receiving board card during video recording and corresponding the position information with the timeline;
the inertia measurement unit is used for acquiring the attitude information of the RTK receiving board card and the camera unit when shooting the target point image and corresponding the attitude information to the timeline;
the RTK receiving board card is also used for acquiring the bottom end coordinate of the centering rod of the measuring point according to the length of the centering rod, the attitude information of the RTK receiving board card and the position information of the RTK receiving board card, and enabling the bottom end coordinate of the centering rod to correspond to the time line;
the RTK receiving board card is also used for acquiring coordinates of the bottom end of the centering rod at a plurality of preset moments on the time line;
the RTK receiving board card is also used for identifying an image frame with the target image in the video and acquiring the calculation position coordinate of the target according to the image position of the target in the image frame, the attitude information and the position information of the image frame at the time corresponding to the timeline;
the RTK receiving board card is also used for calculating whether the difference value of the measured position coordinate and the calculated position coordinate is greater than a preset value, and if so, searching the coordinate of the bottom end of the centering rod at the nearest preset moment of the image frame on the time line;
the RTK receiver system is used for acquiring the calibration coordinate of the bottom end of the centering rod at the nearest preset time by utilizing the position information acquired by the RTK receiving board card, the target picture information acquired by the camera unit and the distance between the bottom end coordinate of the centering rod and the measured position coordinate;
and the RTK receiver system is also used for measuring the earth volume of the area to be measured according to the coordinates of the bottom end of the centering rod at all preset moments, the height from the position of the carrier at the bottom end of the centering rod to the ground and the height of the centering rod, wherein if the coordinates of the bottom end of the centering rod at the preset moments have calibration coordinates, the calculation of the earth volume measurement is carried out by using the calibration coordinates.
9. A vision measurement method, characterized in that it utilizes the RTK receiver system according to any of claims 1 to 8 for remote positioning.
10. An RTK receiver board, wherein the RTK receiver is used in the RTK receiver system according to any one of claims 1 to 8.
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