CN105403900B - A kind of fast automatic measurement method - Google Patents
A kind of fast automatic measurement method Download PDFInfo
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- CN105403900B CN105403900B CN201510791003.6A CN201510791003A CN105403900B CN 105403900 B CN105403900 B CN 105403900B CN 201510791003 A CN201510791003 A CN 201510791003A CN 105403900 B CN105403900 B CN 105403900B
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- current location
- angular speed
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- 238000000691 measurement method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 24
- 230000005484 gravity Effects 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gyroscopes (AREA)
Abstract
The present invention relates to a kind of fast automatic measurement methods, are applied to GNSS measuring device, include the following steps: to detect whether GNSS measuring device is in heeling condition by gravity accelerometer, if so, stopping measurement, otherwise, continue to measure；The angular speed that GNSS measuring device is detected by gyroscope, judges whether the angular speed is greater than angular speed preset value, if so, stopping measurement, otherwise, continues to measure.Measuring speed of the present invention is fast, and can be avoided and lead to the problem of a large amount of Null Spots.
Description
Technical field
The present invention relates to global navigation satellite technical field of mapping more particularly to it is a kind of RTK fields of measurement quickly from
Dynamic measurement method.
Background technique
RTK is a kind of common GNSS measurement method, and RTK technology is the real time kinematic survey system of carrier phase observation,
RTK is fixed in alignment rods when measuring firstly the need of by measuring instrument, and alignment rods are then registered to level on tested point, with
Guarantee precision.In hundreds of daily measurements, survey crew needs to spend the alignment of a large amount of experience concern physics bubble, especially
It needs high efficiency to carry out automatic measurement in quick topographic survey.Current measurement method is surveyor in Survey Software
It is upper that automatic measurement is carried out by setting installation fixed time interval and fixed range, although this method can accelerate acquisition
Speed, but a large amount of Null Spot can be generated, great inconvenience is brought to the data processing in later period.
Summary of the invention
In view of the above technical problems, it is an object of the invention to improve a kind of fast automatic measurement method, measuring speed
Fastly, and it can be avoided and lead to the problem of a large amount of Null Spots.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of fast automatic measurement method is applied to GNSS measuring device, includes the following steps:
Detect whether GNSS measuring device is in heeling condition by gravity accelerometer, if so, stop measurement,
Otherwise, continue to measure；
The angular speed that GNSS measuring device is detected by gyroscope judges whether the angular speed is default greater than angular speed
Otherwise value, continues to measure if so, stopping measurement.
Preferably, further include that steps are as follows:
The current location for obtaining GNSS measuring device by GNSS locating module at interval of preset time, measures according to GNSS
The movement velocity of GNSS measuring device is calculated in the current location of device, judges whether the movement velocity is default greater than speed
Value, if so, stopping measurement；Otherwise, continue to measure.
Preferably, described " current location of GNSS measuring device is obtained by GNSS locating module at interval of preset time,
The movement velocity of GNSS measuring device is calculated according to the current location of GNSS measuring device " specifically include following sub-step:
Current location and the storage of GNSS measuring device are obtained by GNSS locating module at interval of preset time；
The move distance of GNSS measuring device is calculated according to the current location of GNSS measuring device and last position；
The movement velocity of GNSS measuring device is calculated according to move distance and the preset time.
Preferably, described " detecting whether GNSS measuring device is in heeling condition by gravity accelerometer " is specific
Including following sub-step:
The pitch angle and roll angle of GNSS measuring device are detected by acceleration of gravity；
When judging that pitch angle and roll angle are all larger than preset value, then GNSS measuring device is in heeling condition.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is defeated using the movement font of GNSS measuring device as controlling by gravity accelerometer and gyroscope
Enter, the posture of real-time perception GNSS measuring device estimates the movement of user, when GNSS measuring device heeling condition and
Then GNSS measuring device automatically begins to acquire when motion state meets preset range, can achieve the purpose that fast automatic measurement,
And substantially reduce Null Spot.
Detailed description of the invention
Fig. 1 is a kind of work flow diagram of fast automatic measurement method of the invention.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention:
Referring to Fig. 1, the invention discloses a kind of fast automatic measurement methods, are applied to GNSS measuring device, which surveys
It measures device to be applied in RTK measurement, increases fast automatic measurement method of the invention in RTK measurement, mainly solve normal at present
A large amount of Null Spots are led to the problem of in the automatic measurement of rule, help GNSS measuring device failure fast automatic measurement, and reduce
Null Spot.
Realize that a kind of fast automatic measurement method of the invention includes gravity accelerometer, gyroscope, it is preferred that
It further include having GNSS locating module.These devices can be integrated in GNSS measuring device, in measuring device, such as there are also with
Memory, processor that these devices are used cooperatively etc..
In concrete application, include the following steps:
Detect whether GNSS measuring device is in heeling condition by gravity accelerometer, if so, stop measurement,
Otherwise, continue to measure；
Specifically, S1: detecting the pitch angle and roll angle of GNSS measuring device by acceleration of gravity；
S2: judging whether pitch angle and roll angle are all larger than preset value, if so, GNSS measuring device is in skewed
State stops measurement, and otherwise, GNSS measuring device is not in heeling condition, continues to measure.
Would know that by the principle that acceleration of gravity obtains pitch angle and roll angle by the prior art, when GNSS measuring device with
When ground is vertical, illustrate that GNSS measuring device is not in heeling condition, the angle of pitch angle and roll angle is 0 degree at this time, when bowing
The elevation angle and roll angle are greater than 0 degree and when less than 90 degree, illustrate that GNSS measuring device is in heeling condition, when pitch angle and roll angle
When equal to 90 degree, illustrate that GNSS measuring device is in horizontality.
S3: detecting the angular speed of GNSS measuring device by gyroscope,
S4: judging whether the angular speed is greater than angular speed preset value, if so, stopping measurement, otherwise, continues to measure.
By detecting the angular speed of GNSS measuring device so as to detecting whether GNSS measuring device is kept in motion.Step S1
There might not be sequencing in practical application between step S3, it may be simultaneously, it is also possible to first carry out S3.
Gravity accelerometer and gyroscope belong to MEMS sensor, for measuring athletic posture.When user is mobile
It can be assumed that user is in traveling or static rest when either GNSS measuring device being tilted, it can be automatically stopped adopt at this time
Collection gets off when user is static and just automatically begins to acquire by the limit difference range that measuring staff is registered to setting, and then voice prompting is used
Family acquisition state, to achieve the purpose that fast automatic measurement.In this above-mentioned two step, detection data can be sent to processor
Middle carry out relevant treatment.Above-mentioned two step operation is equivalent to two Rule of judgment, as long as meeting one of them, stops surveying
Amount, no matter detecting whether GNSS measuring device is kept in motion, as long as detecting that GNSS measuring device is in skewed
State all stops measurement acquisition, another situation, no matter detecting whether GNSS measuring device is in heeling condition, as long as detection
It is kept in motion to GNSS measuring device, that is to say, that as long as the angular speed of GNSS measuring device is greater than angular speed preset value,
With regard to stopping measuring.
But in practice, the motion state of GNSS measuring device detected by gyroscope can be to acceleration of gravity
Sensor plays certain booster action.Such as GNSS measuring device, when being likely to be at a kind of dither state, at this time gravity accelerates
The heeling condition of GNSS measuring device detected by degree sensor does not stop then measuring.According to being described above, this heeling condition
Roll angle and pitch angle be necessarily also disposed on lower than preset value, angular speed is also less than preset value, be not achieved stopping measurement
Standard.
Stop when surveyor marches to tested point, its inclination limit difference can be judged automatically whether when the inclination for reaching setting
It is poor to limit, and just starts automatic collection when meeting acquisition and requiring, while carrying out " observation has stored " voice broadcast, is not necessarily to surveyor
Any intervention.Then after measuring staff need to be only tilted more than 5 degree and be moved to next tested point by surveyor, alignment rods are adjusted to
Limiting can automatically begin to measure next time in poor range.Above-mentioned 5 degree are one of presupposed solution, and it is specific not limit this
Numerical value.
Further include that steps are as follows in the case where preferably including GNSS locating module: passing through GNSS at interval of preset time
Locating module obtains the current location of GNSS measuring device, and GNSS measurement is calculated according to the current location of GNSS measuring device
The movement velocity of device, judges whether the movement velocity is greater than speed preset value, if so, stopping measurement；Otherwise, continue to survey
Amount.
Specifically, obtaining the current location of GNSS measuring device by GNSS locating module at interval of preset time and depositing
Storage, related data can store in memory, are calculated according to the current location of GNSS measuring device and last position
The move distance of GNSS measuring device；The movement of GNSS measuring device is calculated according to move distance and the preset time
Speed.Certainly another kind realization technology can not set preset time, and GNSS locating module constantly obtains GNSS measuring device
Current location can be learnt at a distance from the measuring device last time position GNSS and current location by the comparison with a upper position
Difference can learn the time moved between these two positions according to satellite-signal, so as to which movement velocity is calculated.
It will be apparent to those skilled in the art that can make various other according to the above description of the technical scheme and ideas
Corresponding change and deformation, and all these changes and deformation all should belong to the protection scope of the claims in the present invention
Within.
Claims (3)
1. a kind of fast automatic measurement method, which is characterized in that be applied to GNSS measuring device, include the following steps:
Detect whether GNSS measuring device is in heeling condition by gravity accelerometer, if so, stop measurement, it is no
Then, continue to measure；
The angular speed that GNSS measuring device is detected by gyroscope, judges whether the angular speed is greater than angular speed preset value, if
It is then to stop measuring, otherwise, continues to measure；
" the detecting whether GNSS measuring device is in heeling condition by gravity accelerometer " specifically includes following son
Step:
The pitch angle and roll angle of GNSS measuring device are detected by acceleration of gravity；
When judging that pitch angle and roll angle are all larger than preset value, then GNSS measuring device is in heeling condition；
The pitch angle and roll angle of GNSS measuring device when the preset value is set above dither state.
2. fast automatic measurement method as described in claim 1, which is characterized in that further include that steps are as follows:
The current location for obtaining GNSS measuring device by GNSS locating module at interval of preset time, according to GNSS measuring device
Current location the movement velocity of GNSS measuring device is calculated, judge whether the movement velocity is greater than speed preset value,
If so, stopping measurement；Otherwise, continue to measure.
3. fast automatic measurement method as claimed in claim 2, which is characterized in that described " to pass through at interval of preset time
GNSS locating module obtains the current location of GNSS measuring device, and GNSS is calculated according to the current location of GNSS measuring device
The movement velocity of measuring device " specifically includes following sub-step:
Current location and the storage of GNSS measuring device are obtained by GNSS locating module at interval of preset time；
The move distance of GNSS measuring device is calculated according to the current location of GNSS measuring device and last position；
The movement velocity of GNSS measuring device is calculated according to move distance and the preset time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510791003.6A CN105403900B (en) | 2015-11-17 | 2015-11-17 | A kind of fast automatic measurement method |
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| CN201510791003.6A CN105403900B (en) | 2015-11-17 | 2015-11-17 | A kind of fast automatic measurement method |
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| CN105403900A CN105403900A (en) | 2016-03-16 |
| CN105403900B true CN105403900B (en) | 2019-02-01 |
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| CN108318035B (en) * | 2018-01-08 | 2020-09-08 | 山东大学 | Method for avoiding dead lock of universal joint in attitude measurement algorithm based on Euler angle |
| CN110132222B (en) * | 2019-04-23 | 2022-04-12 | 广州南方卫星导航仪器有限公司 | Automatic monitoring and alarming method for running state of reference station, electronic equipment and medium |
| CN118913319B (en) * | 2024-09-03 | 2025-08-22 | 中北大学 | Filter parameter reconstruction method, system, device and medium for airborne navigation system |
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| US8125379B2 (en) * | 2008-04-28 | 2012-02-28 | Trimble Navigation Limited | Position measurement results by a surveying device using a tilt sensor |
| CN102540200B (en) * | 2012-02-07 | 2014-02-05 | 上海伽利略导航有限公司 | Global navigation satellite system receiver and position measurement method |
| CN203422089U (en) * | 2013-07-18 | 2014-02-05 | 刘雁春 | Centering rod slope correction device for satellite positioning and measuring |
| CN104297771B (en) * | 2014-10-31 | 2017-01-11 | 广州吉欧电子科技有限公司 | GNSS device and method for precisely and quickly measuring elevation |
| CN104635247A (en) * | 2015-03-03 | 2015-05-20 | 上海华测导航技术股份有限公司 | GNSS (global navigation satellite system) automatic measuring system and GNSS automatic measuring method based on acceleration sensor |
| CN104977597A (en) * | 2015-07-16 | 2015-10-14 | 上海华测导航技术股份有限公司 | Inertial navigation-based GPS measurement system |
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Inventor after: Wang Jianglin Inventor after: Li Ning Inventor after: Wen Shusheng Inventor after: Yan Shaoxia Inventor after: Ma Chao Inventor after: Ma Yuan Inventor after: Liu Guoguang Inventor after: Zhou Guanghai Inventor after: Chen Yijun Inventor before: Li Ning Inventor before: Wen Shusheng Inventor before: Yan Shaoxia |
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Denomination of invention: Rapid automatic measurement method Effective date of registration: 20200428 Granted publication date: 20190201 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU SOUTH SATELLITE NAVIGATION INSTRUMENT Co.,Ltd. Registration number: Y2020980001886 |
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Date of cancellation: 20221228 Granted publication date: 20190201 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU SOUTH SATELLITE NAVIGATION INSTRUMENT Co.,Ltd. Registration number: Y2020980001886 |
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Effective date of registration: 20240630 Address after: 510000 Si Cheng Road, Tianhe District, Guangzhou, Guangdong Province, No. 39 Patentee after: SOUTH SURVEYING & MAPPING TECHNOLOGY CO.,LTD. Country or region after: China Address before: 510000 2, 52-54 Jianzhong Road, Tianhe District, Guangzhou, Guangdong. Patentee before: GUANGZHOU SOUTH SATELLITE NAVIGATION INSTRUMENT Co.,Ltd. Country or region before: China |
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