GNSS/INS/laser ranging combined positioning-based hand-held receiver and measurement method

A laser ranging and combined positioning technology, applied in the field of surveying and mapping, can solve the problems of difficult to obtain, unable to work normally, and difficult to reach the coordinates of the target point for GNSS handhelds.

Inactive Publication Date: 2016-11-09
HOHAI UNIV +1
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art, provide a kind of hand-held receiver and measurement method based on GNSS/INS/laser ranging combined positioning, solve the problem that the G

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  • GNSS/INS/laser ranging combined positioning-based hand-held receiver and measurement method
  • GNSS/INS/laser ranging combined positioning-based hand-held receiver and measurement method

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Embodiment 1

[0063] Firstly, the definitions of each coordinate system designed in the present invention are clarified. The coordinate systems applied in the measurement include: carrier fixed coordinate system, navigation coordinate system, station center coordinate system, earth coordinate system, space Cartesian coordinate system,

[0064] 1) The fixed coordinate system of the handheld is based on the center of mass of the handheld as the origin, y b The axis is consistent with the laser emission axis of the handset, x b Axis Laser emission axis is vertical, take the right hand as positive, z b The axis and the first two directions satisfy the right-hand spiral theorem;

[0065] 2) The navigation coordinate system is the coordinate system used when the inertial navigation module solves the coordinates. The origin is the center of mass of the handheld, and x n The direction is east, y n Axis is north direction, z n The axis is the vertical direction;

[0066] 3) The definition of t...

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Abstract

The invention discloses a GNSS/INS/laser ranging combined positioning-based hand-held receiver and a measurement method. The hand-held receiver comprises: a shell and a range finding device arranged in the cavity of the shell, wherein the shell has a T-shaped shape and comprises a horizontal main body and a handle vertically tilting to the rear end, a sighting telescope is arranged above the main body in a parallel manner, and the range finding device comprises an inertial navigation module used for obtaining the attitude of a measurement point; a GNSS receiving module used for receiving a GNSS satellite signal; a Kalman filter used for obtaining the attitude and the coordinate information of the measurement point; a laser ranging module used for determining a distance between the measurement point and a target point; and a microprocessor used for obtaining the coordinate of the target point according to the attitude and the coordinate of the measurement point and the distance between the measurement point and the target point. The hand-held receiver and the measurement method allow the coordinate information of the target point to be obtained only through one-shot measurement, so the field working difficulty is reduced; and when the satellite signal is weak or cannot be received, the coordinate of the measurement point can be obtained through the inertial navigation, so the working efficiency is improved.

Description

technical field [0001] The invention relates to a hand-held receiver based on GNSS / INS / laser ranging combined positioning for portable and fast acquisition of target coordinate information in the field, and also relates to a measurement method of the hand-held receiver, which belongs to the technical field of surveying and mapping. Background technique [0002] In the actual field survey of ground objects and landforms, the measurement environment is complex and changeable, and the specific problems encountered are difficult to predict. Therefore, it is required that the surveying and mapping instruments must be portable, good anti-interference, and Strong ability to deal with various complex environments. At present, when working in the field, GNSS handheld receivers ("GNSS handheld receivers" for short) are widely used. GNSS handheld receivers are also easy to carry while ensuring better positioning accuracy. However, in the actual field measurement, when the surveyed tar...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S19/48G01S19/49
CPCG01C21/165G01S19/48G01S19/49
Inventor 吴志露刘焱雄何秀凤肖儒雅陈运
Owner HOHAI UNIV
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