Surveying and mapping instrument based on satellite positioning system and image surveying and mapping system thereof

Abstract

The invention belongs to the technical field of surveying instruments, particularly relates to a surveying instrument based on a satellite positioning system and an image surveying system thereof, and aims to solve the problems of tedious operation, insufficient precision and poor adaptability of manual leveling in the background technology. An upper butt joint piece is connected to the inner wall of the lower butt joint piece in a threaded mode, a universal adjusting assembly is arranged between the lower butt joint piece and the frame body, and the universal adjusting assembly comprises a bottom column fixedly connected to the center of the inner wall of the bottom of the frame body. The inclination angle of equipment is monitored in real time through the inclination angle sensor, a leveling instruction is generated in combination with a control panel algorithm, and the servo motor can be driven to drive the leveling assembly to dynamically adjust the level of the chassis, so that automatic leveling of the surveying instrument main body is realized, manual intervention is not needed, the surveying instrument has the characteristic of automatic operation, the operation difficulty is reduced, and the working efficiency is improved. And the operation efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surveying instruments, and particularly to a surveying instrument based on a satellite positioning system and its image surveying system. Background Art

[0002] Surveying instruments are core devices in geographic information collection, topographic surveying, and engineering exploration, and their accuracy and efficiency directly affect the quality of surveying results. With the rapid development of satellite positioning systems (such as GPS, Beidou, GLONASS, etc.), satellite positioning-based surveying technologies have become an important direction in the modern surveying field. Such surveying instruments can achieve high-precision positioning, three-dimensional modeling, and real-time data transmission by receiving satellite signals and combining modules such as inertial navigation and image acquisition, and are widely used in fields such as national land surveying, urban planning, and disaster monitoring. As a key component of the image surveying system, by integrating satellite positioning data and image information, it can further extract topographic features, generate a digital elevation model (DEM), and orthophoto maps, providing technical support for intelligent surveying.

[0003] Although existing surveying instruments already have satellite positioning functions, there are still significant deficiencies in actual applications, especially in leveling and stability control. Traditional surveying instruments mostly adopt mechanical leveling structures, relying on manual adjustment of tripod legs or rotation of leveling screws, and judging whether the device is level by observing the level bubble. This leveling method has the following problems: Complicated operation: Users need to repeatedly adjust multiple legs or screws, which is time-consuming and laborious, especially difficult to quickly complete leveling in complex terrains (such as slopes, muddy ground).

[0004] Insufficient accuracy: The reading of the level bubble is greatly affected by environmental light and human error, and it is difficult to achieve sub-millimeter leveling accuracy, resulting in systematic deviations in subsequent surveying data.

[0005] Poor adaptability: Traditional leveling mechanisms lack dynamic compensation capabilities. When the device is slightly tilted due to external vibration or foundation settlement, it cannot be corrected in real time and needs to be manually adjusted again.

[0006] Low intelligence level; Existing systems do not integrate an automatic leveling module and cannot be linked with satellite positioning data, making it difficult to meet the requirements of high-precision real-time surveying. Summary of the Invention

[0007] In view of the deficiencies of the prior art, the present invention provides a surveying instrument based on a satellite positioning system and its image surveying system, which overcomes the deficiencies of the prior art and effectively solves the problems of complicated operation, insufficient accuracy, and poor adaptability in manual leveling.

[0008] The technical solution adopted by the present invention to solve its technical problems is: a surveying instrument based on a satellite positioning system and its image surveying system, including a frame body. At the center of the interior of the frame body, a lower docking member is provided, and an upper docking member is screwed on the inner wall of the lower docking member. A universal adjustment component is provided between the lower docking member and the frame body, and the universal adjustment component includes a bottom column fixedly connected to the center of the inner wall of the bottom of the frame body and a spherical surface top column fixedly connected to the center of the outer wall of the bottom of the lower docking member, and the bottom column and the spherical surface top column are slidably matched. An equal-distance distributed leveling component is provided between the frame body and the lower docking member, and the leveling component is distributed around the universal adjustment component. An inclination sensor is installed inside the lower docking member.

[0009] For the above-mentioned surveying instrument based on a satellite positioning system and its image surveying system, an arc-shaped groove is opened on the outer wall of the top of the bottom column, and the spherical surface top column is slidably connected to the inner wall of the arc-shaped groove.

[0010] For the above-mentioned surveying instrument based on a satellite positioning system and its image surveying system, the lower docking member includes a chassis, a mounting seat, a threaded docking sleeve and an elastic positioner. Among them, the chassis is arranged inside the frame body, and the outer diameter of the chassis is smaller than the inner diameter of the frame body. The mounting seat is embedded in the center of the bottom of the chassis, and the spherical surface top column is fixedly connected to the outer wall of the bottom of the mounting seat. The inclination sensor is fixedly connected to the inner wall of the bottom of the mounting seat by screws. The threaded docking sleeve is fixedly connected to the outer wall of the top of the chassis, and the equal-distance distributed elastic positioners are installed on the inner wall of the threaded docking sleeve.

[0011] For the above-mentioned surveying instrument based on a satellite positioning system and its image surveying system, the elastic positioner includes a spherical cylinder fixedly connected to the inner wall of the threaded docking sleeve, a sphere slidably connected to the inner wall of the spherical cylinder, and a spring fixedly connected between the sphere and the spherical cylinder.

[0012] For the above-mentioned surveying instrument based on a satellite positioning system and its image surveying system, the leveling component includes a servo motor, a connecting column, a turntable, a rotating rod and a connecting rod. Among them, the servo motor fixedly connected to the inner wall of the bottom of the frame body by screws, the connecting column installed on the output shaft of the servo motor, the turntable welded to the outer wall of the connecting column, the rotating rod fixedly connected to the outer wall of one side of the turntable, and the connecting rod rotatably connected to the outer wall of one end of the rotating rod, and the connecting rod is hinged to the outer wall of the bottom of the chassis.

[0013] For the above-mentioned surveying instrument based on a satellite positioning system and its image surveying system, the upper docking member includes a threaded docking column, a positioning disk and a positioning hole. Among them, the threaded docking column is screwed on the inner wall of the threaded docking sleeve, the positioning disk is fixedly connected to the outer wall of the threaded docking column, the positioning hole is opened on the top of the positioning disk, and the positioning hole corresponds to the elastic positioner one by one, and the sphere is arranged on the inner wall of the positioning hole.

[0014] The above-mentioned surveying instrument based on the satellite positioning system and its image surveying system. At the center of the outer wall of the bottom of the frame body, an internal thread sleeve is fixedly connected, and a tripod is arranged on the outer wall of the bottom of the internal thread sleeve. The tripod includes a leg connecting seat screwed on the inner wall of the internal thread sleeve, equally spaced support legs rotatably connected to the inner wall around the leg connecting seat, and a cone head welded on the outer wall of the bottom of the support legs.

[0015] The above-mentioned surveying instrument based on the satellite positioning system and its image surveying system. A surveying instrument main body is installed on the outer wall of the top of the threaded docking column, and the surveying instrument main body includes a machine body, a telescope and a display screen. Among them, the machine body is fixedly connected to the top outer wall of the top outer wall of the threaded docking column, and the telescope is located above the display screen.

[0016] The above-mentioned surveying instrument based on the satellite positioning system and its image surveying system. A fixing ring is fixedly connected to the outer wall of the frame body, and a control panel is installed on the top outer wall of the fixing ring. The control panel is connected to the servo motor and the inclination sensor through signal lines.

[0017] The surveying instrument image surveying system includes an image surveying system. An image surveying system is arranged inside the machine body, and the image surveying system includes a satellite positioning module, an inertial navigation module, an image acquisition module, a data fusion and processing module, an image processing and feature extraction module, a data storage and transmission module, a user interaction and visualization module, a power supply and thermal management module, and a calibration and quality control module.

[0018] The present invention provides a surveying instrument based on the satellite positioning system and its image surveying system, which has the following beneficial effects: In the present invention, the inclination angle of the device is monitored in real time through an inclination sensor, and a leveling instruction is generated by combining the control panel algorithm. The servo motor can be driven to drive the leveling component to dynamically adjust the chassis level, thereby realizing the automatic leveling of the surveying instrument main body without manual intervention. It has the characteristics of automatic operation, reduces the operation difficulty, and greatly improves the operation efficiency. The leveling component realizes micron-level displacement compensation in three-dimensional space through the dual cooperation of a universal adjustment component and an elastic positioner, ensuring that the device quickly reaches a horizontal state in complex terrain and improving the leveling accuracy. When the device tilts due to external disturbances (such as wind force, vibration), the inclination sensor can immediately feedback data to the control system. The servo motor can perform real-time fine adjustment on the chassis through the mutual cooperation of the connecting column, turntable, rotating rod and connecting rod, maintaining the device continuously horizontal, thereby adjusting the overall adaptability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional schematic diagram of the overall structure of the surveying instrument based on the satellite positioning system and its image surveying system Figure 1 ; Figure 2It is a schematic diagram of the overall structural disassembly of a surveying instrument based on a satellite positioning system and its image surveying system; Figure 3 It is a three-dimensional schematic diagram of the overall structure of a surveying instrument based on a satellite positioning system and its image surveying system Figure 2 ; Figure 4 It is a schematic diagram of the internal connection structure of the housing of a surveying instrument based on a satellite positioning system and its image surveying system Figure 1 ; Figure 5 It is a schematic diagram of the internal connection structure of the housing of a surveying instrument based on a satellite positioning system and its image surveying system Figure 1 ; Figure 6 It is a schematic diagram of the leveling component structure of a surveying instrument based on a satellite positioning system and its image surveying system; Figure 7 It is a schematic diagram of the structure when the lower docking part and the upper docking part of a surveying instrument based on a satellite positioning system and its image surveying system are docked; Figure 8 It is a schematic diagram of the structure when the lower docking part and the upper docking part of a surveying instrument based on a satellite positioning system and its image surveying system are separated; Figure 9 It is a schematic diagram of the elastic positioner of a surveying instrument based on a satellite positioning system and its image surveying system; Figure 10 It is a schematic diagram of the main body of a surveying instrument based on a satellite positioning system and its image surveying system.

[0020] Explanation of reference numerals: 1. Housing; 2. Lower docking part; 21. Chassis; 22. Mounting seat; 23. Threaded docking sleeve; 24. Elastic positioner; 241. Ball cylinder; 242. Sphere; 243. Spring; 3. Universal adjustment component; 31. Bottom column; 32. Arc-shaped top column; 4. Leveling component; 41. Servo motor; 42. Connecting column; 43. Turntable; 44. Rotating rod; 45. Link; 5. Upper docking part; 51. Threaded docking column; 52. Positioning disk; 53. Positioning hole; 6. Inclination sensor; 7. Internal thread sleeve; 8. Tripod; 81. Leg connecting seat; 82. Support leg; 83. Taper head; 9. Main body of the surveying instrument; 91. Body; 92. Telescope; 93. Display screen; 10. Fixed ring; 11. Control panel. Detailed implementation manners

[0021] Reference will now be made to example embodiments to discuss the subject matter described herein. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and thus implement the subject matter described herein, and that changes may be made to the functions and arrangements of the elements discussed without departing from the scope of protection of the content of this specification. Each example may omit, substitute, or add various processes or components as needed. In addition, the features described with respect to some examples may be combined in other examples.

[0022] Referring to Figures 1 - 10 , the present invention provides a solution: a surveying instrument based on a satellite positioning system, including a housing 1, a lower docking member 2 is provided at the center inside the housing 1, and an upper docking member 5 is screwed on the inner wall of the lower docking member 2. A universal adjustment assembly 3 is provided between the lower docking member 2 and the housing 1, and the universal adjustment assembly 3 includes a bottom column 31 fixedly connected to the center of the inner wall of the bottom of the housing 1 and an arc-shaped top column 32 fixedly connected to the center of the outer wall of the bottom of the lower docking member 2, and the bottom column 31 and the arc-shaped top column 32 are slidably matched. An arc-shaped groove is formed on the outer wall of the top of the bottom column 31, and the arc-shaped top column 32 is slidably connected to the inner wall of the arc-shaped groove. An equal-distance distributed leveling assembly 4 is provided between the housing 1 and the lower docking member 2, and the leveling assembly 4 is distributed around the universal adjustment assembly 3. An inclination sensor 6 is installed inside the lower docking member 2.

[0023] A lower docking member 2 is provided at the center inside the housing 1, and the housing 1 and the lower docking member 2 are slidably connected through a universal adjustment assembly 3. The bottom column 31 and the arc-shaped top column 32 of the universal adjustment assembly 3 are matched through an arc-shaped groove, allowing the lower docking member 2 to slide in multiple directions in the horizontal plane. At the same time, the leveling assembly 4 is evenly distributed around the bottom column 31. The leveling assembly 4 is driven by a servo motor 41 to rotate a turntable 43, thereby controlling the swing of a rotating rod 44, and further controlling a connecting rod 45 to push a chassis 21 to swing, realizing dynamic leveling.

[0024] In this embodiment, the inclination angle of the device is monitored in real time by the inclination sensor 6, and a leveling instruction is generated by combining the algorithm of the control panel 11, which can drive the servo motor 41 to drive the leveling assembly 4 to dynamically adjust the level of the chassis 21, thereby realizing the automatic leveling of the surveying instrument main body 9 without manual intervention, having the characteristics of automated operation, reducing the operation difficulty, and greatly improving the operation efficiency.

[0025] The lower docking member 2 includes a chassis 21, a mounting seat 22, a threaded docking sleeve 23 and an elastic positioner 24. Among them, the chassis 21 is arranged inside the frame body 1, and the outer diameter of the chassis 21 is smaller than the inner diameter of the frame body 1. The mounting seat 22 is embedded at the center of the bottom of the chassis 21, and the arc surface top column 32 is fixedly connected to the outer wall of the bottom of the mounting seat 22. The inclination sensor 6 is fixedly connected to the inner wall of the bottom of the mounting seat 22 by screws. The threaded docking sleeve 23 is fixedly connected to the outer wall of the top of the chassis 21, and the equidistantly distributed elastic positioners 24 are installed on the inner wall of the threaded docking sleeve 23. The elastic positioner 24 includes a ball barrel 241 fixedly connected to the inner wall of the threaded docking sleeve 23, a sphere 242 slidably connected to the inner wall of the ball barrel 241, and a spring 243 fixedly connected between the sphere 242 and the ball barrel 241.

[0026] The upper docking member 5 includes a threaded docking column 51, a positioning disk 52 and a positioning hole 53. Among them, the threaded docking column 51 is screwed on the inner wall of the threaded docking sleeve 23. The positioning disk 52 is fixedly connected to the outer wall of the threaded docking column 51. The positioning hole 53 is opened on the top of the positioning disk 52, and the positioning hole 53 corresponds to the elastic positioner 24 one by one. The sphere 242 is arranged on the inner wall of the positioning hole 53.

[0027] The threaded docking sleeve 23 is fixedly connected to the top of the chassis 21 of the lower docking member 2, and a plurality of elastic positioners 24 are installed on its inner wall. The sphere 242 of the elastic positioner 24 is pressed tightly in the positioning hole 53 of the upper docking member 5 under the action of the spring 243 to form a self-locking structure. When the threaded docking column 51 is screwed into the threaded docking sleeve 23, the positioning disk 52 is accurately aligned with the elastic positioner 24 to ensure firm and easy disassembly of the connection.

[0028] In this embodiment, when the device tilts due to external disturbances such as wind force and vibration, the inclination sensor 6 can immediately feedback data to the control system. The servo motor 41 can perform real-time fine adjustment on the chassis 21 through the mutual cooperation of the connecting column 42, the turntable 43, the rotating rod 44 and the connecting rod 45 to maintain the continuous level of the device, thereby adjusting the overall adaptability of the device.

[0029] Embodiment 3: The leveling assembly 4 includes a servo motor 41, a connecting column 42, a turntable 43, a rotating rod 44 and a connecting rod 45. Among them, the servo motor 41 fixedly connected to the inner wall of the bottom of the frame body 1 by screws, the connecting column 42 installed on the output shaft of the servo motor 41, the turntable 43 welded to the outer wall of the connecting column 42, the rotating rod 44 fixedly connected to the outer wall of one side of the turntable 43, the connecting rod 45 rotatably connected to the outer wall of one end of the rotating rod 44, and the connecting rod 45 is hinged to the outer wall of the bottom of the chassis 21.

[0030] The servo motor 41 of the leveling assembly 4 drives the rotating rod 44 to swing via a turntable 43. Since the connecting rod 45 is hinged to the bottom of the chassis 21, the servo motor 41 can drive the connecting rod 45 to control the leveling of the chassis 21. The inclination sensor 6 monitors the inclination angle of the chassis 21 in real time. Simultaneously, the control panel 11 adjusts the speed and direction of the servo motor 41 based on the feedback signal, so that the chassis 21 is level in all three directions.

[0031] In this embodiment, the leveling component 4 can achieve micron-level displacement compensation in three-dimensional space by adopting the dual cooperation of the universal adjustment component 3 and the elastic positioner 24, ensuring that the equipment quickly reaches a horizontal state in complex terrain and improving the leveling accuracy.

[0032] An internal threaded sleeve 7 is fixedly connected to the center of the bottom outer wall of the frame 1, and a tripod 8 is provided on the bottom outer wall of the internal threaded sleeve 7. The tripod 8 includes a leg connecting seat 81 screwed on the inner wall of the internal threaded sleeve 7, support legs 82 rotatably connected to the inner wall around the leg connecting seat 81 and distributed at equal distances, and a cone head 83 welded to the bottom outer wall of the support leg 82.

[0033] The surveying instrument body 9 is installed on the top outer wall of the threaded docking column 51, and the surveying instrument body 9 includes a body 91, a telescope 92 and a display screen 93, wherein the body 91 is fixedly connected to the top outer wall of the threaded docking column 51, and the telescope 92 is located above the display screen 93.

[0034] The bottom of the frame 1 is connected to the tripod 8 via an internally threaded sleeve 7. The leg connector 81 is threadedly connected to the internally threaded sleeve 7. The tapered tips 83 at the ends of the support legs 82 can be inserted into the ground to enhance grip. The surveying instrument body 9 is fixed to the top of the threaded docking post 51. The body 91 houses the imaging system, with a telescope 92 and a display screen 93 for target aiming and data display, respectively.

[0035] A fixing ring 10 is fixedly connected to the outer wall of the frame 1 , and a control panel 11 is installed on the outer wall of the top of the fixing ring 10 . The control panel 11 is connected to the servo motor 41 and the inclination sensor 6 via signal lines.

[0036] An image mapping system is provided inside the body 91, and the image mapping system includes a satellite positioning module, an inertial navigation module, an image acquisition module, a data fusion and processing module, an image processing and feature extraction module, a data storage and transmission module, a user interaction and visualization module, a power supply and thermal management module, and a calibration and quality control module.

[0037] Satellite positioning module: Adopts a high-sensitivity GNSS receiving chip, supports multi-band satellite signal reception such as L1, L2, L5, etc., eliminates the ionospheric delay error through multi-bands, and improves the positioning accuracy. At the same time, it supports multi-satellite systems such as GPS, Beidou, and GLONASS, enhancing the signal coverage and positioning stability. Through the differential signal correction between the base station and the mobile station, centimeter-level real-time positioning accuracy is achieved. Provides satellite observation data (pseudo-range, carrier phase, Doppler frequency shift, etc.) for post-processing.

[0038] Inertial navigation module: Measures the pitch angle, roll angle, and heading angle of the device through gyroscopes and accelerometers to assist in image attitude correction. When satellite signals are temporarily lost (such as in tunnels or canyons), maintains positioning continuity through inertial data. Fuses with GNSS data to eliminate the jitter error caused by the movement of the carrier.

[0039] Image acquisition module: Equipped with a global shutter CMOS or CCD sensor (such as the Sony IMX series), supports RGB or multi-spectral imaging. Strictly synchronizes the image exposure time with the GNSS timestamp through the PPS (pulse per second) signal to ensure spatio-temporal consistency. Adapts to different lighting conditions to ensure image quality.

[0040] Data fusion and processing module: Matches GNSS positioning data, IMU attitude data with the image timestamp to generate metadata with geographical coordinates. Fuses LiDAR point clouds, image textures, and positioning data to construct a three-dimensional geographical model.

[0041] Image processing and feature extraction module: Removes lens distortion (radial and tangential) to ensure geometric accuracy. Extracts image feature points through SIFT, ORB, or deep learning algorithms for stitching or three-dimensional reconstruction. Generates large-scale orthophotos or panoramas.

[0042] Data storage and transmission module: Stores the original images, positioning data, and processing results through SSD or SD cards. Transmits the data to the cloud or control center in real-time through 4G / 5G or LoRa. Adopts lossless compression (such as FLAC) or lossy compression (JPEG2000) to reduce the storage pressure.

[0043] User interaction and visualization module: Displays maps, trajectories, image previews, and positioning status through a touch screen or external devices. Sets the GNSS working mode (single point / differential), image resolution, acquisition frequency, etc. Issues warnings for abnormal states such as signal loss, low battery, and insufficient storage space.

[0044] Power and thermal management module: Powered by a lithium battery pack or solar panel, supports hot plugging and fast charging. Dynamically adjusts the power consumption of GNSS, cameras, and IMUs to extend the battery life.

[0045] Calibration and Quality Control Module: Regularly calibrate the IMU zero bias and the GNSS antenna phase center offset. Verify the absolute accuracy of the surveying and mapping results through known control points (GCPs). Save the device operation logs for fault diagnosis and later analysis.

[0046] Workflow and Principle of the Present Invention: 1. Equipment Deployment: Unfold the tripod 8, insert the cone head 83 into the ground to fix the frame 1. Then screw the threaded docking column 51 onto the inner wall of the threaded docking sleeve 23, start the power supply through the control panel 11, and after the system self-check, the tilt sensor 6 and the servo motor 41 enter the standby state.

[0047] 2. Tilt Detection: The tilt sensor 6 continuously collects the tilt angle data of the chassis 21 and transmits it to the control panel 11 through the signal line.

[0048] 3. Automatic Leveling: The control panel 11 calculates the leveling path based on the tilt data, drives the servo motor 41 to drive the turntable 43 to rotate, and pushes the chassis 21 to slide along the axis direction of the universal adjustment component 3 through the rotating rod 44 and the connecting rod 45 to keep the chassis 21 level. Until the tilt sensor 6 feeds back a horizontal signal.

[0049] 4. Data Acquisition: After leveling is completed, the satellite positioning module obtains the current position coordinates, the inertial navigation module corrects the motion error, and the image acquisition module captures high-definition images of the target area.

[0050] 5. Data Processing: The data fusion module superimposes the positioning data and the image, the feature extraction module identifies the terrain elements (such as elevation points, boundary lines), generates a digital model and stores it in the database.

[0051] 6. User Interaction: The visualization module projects the processing results onto the display screen 93, and the user can zoom in and out of the view, mark key areas or export the surveying and mapping report through touch operations.

[0052] 7. Dynamic Correction: If the device tilts due to external factors, the system immediately triggers the leveling process to ensure the continuous stability of the surveying and mapping process.

[0053] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A surveying instrument based on a satellite positioning system, comprising a frame body (1), characterized in that, A lower docking member (2) is provided at the center inside the housing (1), and an upper docking member (5) is screwed on the inner wall of the lower docking member (2). A universal adjustment assembly (3) is provided between the lower docking member (2) and the housing (1), and the universal adjustment assembly (3) includes a bottom column (31) fixedly connected to the center of the inner wall of the bottom of the housing (1) and a curved surface top column (32) fixedly connected to the center of the outer wall of the bottom of the lower docking member (2). The bottom column (31) and the curved surface top column (32) are in sliding fit. An equal-distance distributed leveling assembly (4) is provided between the housing (1) and the lower docking member (2), and the leveling assembly (4) is distributed around the universal adjustment assembly (3). An inclination sensor (6) is installed inside the lower docking member (2).

2. The surveying instrument based on the satellite positioning system according to claim 1, wherein An arc-shaped groove is formed on the outer wall of the top of the bottom column (31), and the curved surface top column (32) is slidably connected to the inner wall of the arc-shaped groove.

3. The surveying instrument based on the satellite positioning system according to claim 1, characterized in that The lower docking member (2) includes a chassis (21), a mounting seat (22), a threaded docking sleeve (23), and an elastic positioner (24). Among them, the chassis (21) is arranged inside the housing (1), and the outer diameter of the chassis (21) is smaller than the inner diameter of the housing (1). The mounting seat (22) is embedded in the center of the bottom of the chassis (21), and the curved surface top column (32) is fixedly connected to the outer wall of the bottom of the mounting seat (22). The inclination sensor (6) is fixedly connected to the inner wall of the bottom of the mounting seat (22) by screws. The threaded docking sleeve (23) is fixedly connected to the outer wall of the top of the chassis (21), and the equal-distance distributed elastic positioners (24) are installed on the inner wall of the threaded docking sleeve (23).

4. The surveying instrument based on the satellite positioning system according to claim 3, characterized in that, The elastic positioner (24) includes a spherical cylinder (241) fixedly connected to the inner wall of the threaded docking sleeve (23), a sphere (242) slidably connected to the inner wall of the spherical cylinder (241), and a spring (243) fixedly connected between the sphere (242) and the spherical cylinder (241).

5. The surveying instrument based on the satellite positioning system according to claim 1, wherein The leveling assembly (4) includes a servo motor (41), a connecting column (42), a turntable (43), a rotating rod (44), and a connecting rod (45). Among them, the servo motor (41) fixedly connected to the inner wall of the bottom of the housing (1) by screws, the connecting column (42) installed on the output shaft of the servo motor (41), the turntable (43) welded to the outer wall of the connecting column (42), the rotating rod (44) fixedly connected to the outer wall of one side of the turntable (43), and the connecting rod (45) rotatably connected to the outer wall of one end of the rotating rod (44), and the connecting rod (45) is hinged to the outer wall of the bottom of the chassis (21).

6. The surveying instrument based on the satellite positioning system according to claim 1, characterized in that, The upper docking member (5) includes a threaded docking column (51), a positioning disk (52), and a positioning hole (53). Among them, the threaded docking column (51) is screwed on the inner wall of the threaded docking sleeve (23), the positioning disk (52) is fixedly connected to the outer wall of the threaded docking column (51), the positioning hole (53) is formed on the top of the positioning disk (52), and the positioning hole (53) corresponds to the elastic positioner (24) one by one, and the sphere (242) is arranged on the inner wall of the positioning hole (53).

7. The surveying instrument based on a satellite positioning system according to claim 1, characterized in that, A female screw sleeve (7) is fixedly connected to the center of the outer wall of the bottom of the housing (1), and a tripod (8) is arranged on the outer wall of the bottom of the female screw sleeve (7). The tripod (8) includes a leg connecting seat (81) screwed on the inner wall of the female screw sleeve (7), equally spaced support legs (82) rotatably connected to the inner wall around the leg connecting seat (81), and a cone head (83) welded to the outer wall of the bottom of the support legs (82).

8. The surveying instrument based on the satellite positioning system according to claim 6, characterized in that, A surveying instrument main body (9) is installed on the outer wall of the top of the threaded docking column (51). The surveying instrument main body (9) includes a body (91), a telescope (92) and a display screen (93). Among them, the body (91) is fixedly connected to the outer wall of the top of the outer wall of the threaded docking column (51), and the telescope (92) is located above the display screen (93).

9. The surveying instrument based on a satellite positioning system according to claim 1, wherein, A fixing ring (10) is fixedly connected to the outer wall of the housing (1), and a control panel (11) is installed on the outer wall of the top of the fixing ring (10). The control panel (11) is connected to the servo motor (41) and the inclination sensor (6) through signal lines respectively.

10. A mapping instrument image mapping system, applicable to a mapping instrument based on a satellite positioning system as described in any one of claims 1-9, including an image mapping system, characterized in that, An image surveying system is arranged inside the body (91). The image surveying system includes a satellite positioning module, an inertial navigation module, an image acquisition module, a data fusion and processing module, an image processing and feature extraction module, a data storage and transmission module, a user interaction and visualization module, a power supply and thermal management module, a calibration and quality control module.

Images