A pos error compensation method in mobile measurement system based on reference plane

Abstract

The invention discloses a POS error compensation method in a mobile measurement system based on a reference plane. The POS error compensation method in the mobile measurement system based on the reference plane comprises the following steps that s1, three-dimensional coordinates of points on the reference plane are obtained by using a surveying and mapping method combined with a GNSS (Global Navigation Satellite System) control network by taking an existing plane feature (a building plane and the like) or an artificially arranged plane as the reference plane, the parameters of the reference plane are obtained, on this basis, an adjustment model is established according to a known reference plane equation and point cloud positioning equation, and POS errors of the mobile measurement systemwhen the mobile measurement system passes through a shielding area are solved; and s2, the solved POS errors are only errors of certain discrete moments, in order to compensate the POS information ofthe whole shielded period by using the POS errors, the characteristics of the POS errors further need to be analyzed, the correlation between the POS errors and time is obtained, and a quasi-linear orquasi-gaussian model is established to compensate the POS errors into the POS information. The POS error compensation method in the mobile measurement system based on the reference plane compensatesthe POS error information when GNSS satellite signals lose lock, and further improves the point cloud achievement index of the mobile measurement system.

Description

technical field [0001] The invention relates to a POS error compensation method in a reference plane-based mobile measurement system. Background technique [0002] Currently, the most commonly used POS system in mobile measurement systems is the integrated navigation technology of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS). The INS navigation system can perform independent, concealed, and continuous three-dimensional positioning and orientation in any medium environment. However, due to the influence of inertial device errors, initial alignment accuracy, and dynamic characteristics of the carrier, navigation errors accumulate over time. The GNSS satellite navigation system has the advantages of high positioning accuracy, short observation time, and all-weather operation, and can continuously correct errors for the INS navigation system. The advantages of the two complement each other to provide high-precision positioning and attitude info...

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Problems solved by technology

However, on the one hand, the initial value of the scale factor of the odometer is not clear due to the influence of temperature, tire pressure, etc.; on the other hand, the error accumulates linearly with the driving distance, and the error is greatly affected by the vehicle speed.

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