Method for determining coordinates of tip of bucket through using GNSS and tilt sensor

Abstract

The invention provides a method for determining the coordinates of the tip of a bucket through using a GNSS and a tilt sensor. The method comprises the following steps that: step (1) main antenna GNSSgeodetic latitude and longitude coordinates and a geodetic azimuth are acquired; step (2) the geodetic latitude and longitude coordinates are converted into engineering coordinates, and the geodeticazimuth is converted into an engineering coordinate azimuth; step (3) a vehicle body coordinate system-to-engineering coordinate system transition matrix is calculated according to the numerical values of vehicle body sensors and the coordinate azimuth; step (4) the vehicle body coordinate system coordinates of the tip of the bucket are calculated according to the numerical values of the sensors on an upper arm, a forearm and a rocker and a mechanical model; and step (5) the engineering coordinates of the tip of the bucket are calculated according to the transition matrix and the vehicle bodycoordinate system coordinates. According to the method of the invention, high-accuracy Beidou navigation and positioning technologies are adopted; a GNSS coordinate-to-engineering coordinate transformation algorithm is adopted to convert the GNSS coordinates (B, L, H) into the engineering coordinates (N, E, H), so that the engineering coordinates of a GNSS antenna can be obtained in real time.

Description

technical field [0001] The invention relates to the field of Beidou digital construction, in particular to a method for determining the coordinates of a bucket tip by using GNSS and an inclination sensor. Background technique [0002] In recent years, the country's basic design and construction has developed rapidly, and the domestic construction field has higher and higher requirements for construction quality and precision. At the same time, the country advocates energy conservation and environmental protection, which poses new challenges to the traditional construction field. [0003] At present, when domestic excavators are used for fine construction, at least one surveyor and excavator operator are generally required to carry out joint operations. If high-precision high-ring operations are carried out on the proving ground, there may even be 3 to 4 surveyors and one operator. Joint excavator operators work together. At the same time, the traditional operation method ha...

AI Technical Summary

Problems solved by technology

[0004] The construction efficiency is low, and the excavation construction and surveyor construction inspection cannot be carried out simultaneously

[0005] The samples for construction inspection are relatively small and cannot cover the entire operation process

[0006] The real-time performance is not enough, the surveyor will interrupt the construction process during the inspection, and cannot carry out the quality inspection of the operation in real time

[0007] It is not possible to work 24 hours a day. At night, if the lighting conditions are insufficient, the construction inspection cannot be carried out. At the same time, the operator of the excavator cannot clearly see the work surface at night.

[0008] There are construction safety hazards. When the excavator operator misuses, it may hurt the surveyors near the excavator.

[0009] Due to the low observability of the environment under the river surface or the high difficulty of observation, the traditional river construction cannot effectively control the quality of the river construction

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