Inertial RTK measurement system

Abstract

The present application relates to the field of satellite positioning technology, and discloses an inertial navigation RTK measurement system, comprising: a centering pole provided with a bracket, a smart handbook fixed to the pole body of the centering pole by the bracket, and a GNSS antenna provided at the top of the centering pole and connected to the smart handbook, the GNSS antenna being used to receive GNSS satellite signals; the smart handbook being used to obtain GNSS observation data, CORS differential data and inertial raw observation data, perform RTK calculations based on CORS differential data and GNSS observation data, and simultaneously perform combined navigation calculations using inertial raw observation data and RTK positioning results, and generate high-precision position information of a point to be measured in combination with the smart handbook and the GNSS antenna at the position of the centering pole; the bracket being used to fix the smart handbook to ensure that the smart handbook and the GNSS antenna remain relatively fixed. The present application can simplify measurement operations, reduce production and maintenance costs, and reduce waste of resources.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and in particular to surveying and mapping technology. Background Art

[0002] In GPS (Global Positioning System) measurements, static, fast static, and dynamic measurements all require post-calculation to obtain centimeter-level accuracy. RTK (Real Time Kinematic) is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. Its emergence has greatly improved the efficiency of field operations.

[0003] However, there are still some shortcomings in the current RTK surveying equipment in application, for example, the surveying operation is complicated, the mobile station receiver is bulky, and the handheld controller and the mobile station receiver must cooperate to realize the surveying and mapping, which is inefficient; moreover, the composition of the mobile station receiver system is very complicated, the cost is more than 60% of the cost of the surveying system, and the failure rate is high, and the maintenance cost is high. Further, the mobile station receiver includes: GNSS (Global Navigation Satellite System) antenna, high-precision positioning board, IMU (inertial measurement unit), radio module, key display, Bluetooth WiFi, 4G module, external battery, etc., and the handheld controller also includes a handheld controller motherboard, 4G module, Bluetooth WiFi, etc. The mobile station receiver and the handheld controller transmit data to each other through Bluetooth or WiFi connection. Bluetooth or WiFi connection has stability and distance limitations, and also needs to be paired and connected. Using two devices with similar functions in the surveying operation is actually a waste of resources. Furthermore, the mobile station receiver needs to be installed on the top of the centering pole. Since the mobile station receiver is generally about 2 kilograms, it is easy to tip over or fall during measurement operations. There is a great risk that the mobile station receiver will be broken if it falls 2 meters to the hard ground, which further leads to high maintenance costs. Furthermore, in order to achieve interoperability between the cloud and the end, the handheld controller and the mobile station receiver must be connected to the cloud platform, and the handheld controller and the receiver need to exchange data, which will increase the difficulty of system design and increase costs. Summary of the invention

[0004] The purpose of this application is to provide an inertial navigation RTK measurement system that can not only realize surveying and mapping, but also simplify the complexity of surveying operations, make the mobile station receiver easier to carry and use, improve the efficiency of surveying and mapping, reduce the design difficulty and production cost of the mobile station receiver, and reduce the failure rate and maintenance cost of the mobile station. Reduce data transmission and reduce resource waste.

[0005] The present application discloses an inertial navigation RTK measurement system, comprising: a centering pole provided with a bracket, a smart handbook fixed to the pole body of the centering pole by the bracket, and a GNSS antenna provided at the top of the centering pole and connected to the smart handbook, wherein:

[0006] The GNSS antenna is used to receive GNSS satellite signals and send the GNSS satellite signals to the smart handbook;

[0007] The smart handbook is used to obtain GNSS observation data, CORS differential data and inertial raw observation data according to the GNSS satellite signal, perform RTK calculation according to the CORS differential data and the GNSS observation data to obtain an RTK positioning result, and simultaneously use the inertial raw observation data and the RTK positioning result to perform combined navigation calculation, and generate high-precision position information of the point to be measured at the position of the centering pole in combination with the smart handbook and the GNSS antenna; and,

[0008] The bracket is used to fix the smart handbook on the rod body of the centering rod to ensure that the smart handbook and the GNSS antenna remain relatively fixed.

[0009] In a preferred example, the point to be measured is the bottom end position of the centering rod.

[0010] In a preferred example, the GNSS antenna is connected to the smart handbook via a radio frequency cable, and the smart handbook comprises an interface for connecting the radio frequency cable, and the interface is an SMB plug-in connector.

[0011] In a preferred example, the smart handbook obtains the CORS differential data from a CORS service provider via a 4G communication network.

[0012] In a preferred example, the raw inertial observation data represents the attitude information of the smart handbook, the centering pole and the GNSS antenna.

[0013] In a preferred example, the smart handbook includes a combined navigation unit and an Android unit arranged on the same PCB board.

[0014] In a preferred example, the integrated navigation unit includes: a radio frequency unit for completing GNSS full-system full-frequency signal reception and down-conversion; and a GNSS baseband chip for completing signal sampling and digital signal processing and outputting GNSS observation data.

[0015] In a preferred example, the integrated navigation unit comprises: a three-axis MEMS gyroscope, a three-axis MEMS accelerometer and a three-axis MEMS magnetometer for communicating with an ARM processor via an SPI bus and outputting raw inertial observation data in real time.

[0016] In a preferred example, the combined navigation unit includes: an ARM processor for receiving GNSS observation data output by a GNSS baseband chip, communicating with a processor of an Android unit to obtain CORS differential data obtained from the Internet by a 4G module of the Android unit, and performing RTK solution using GNSS observation data and CORS differential data to obtain centimeter-level high-precision position information.

[0017] In a preferred example, the ARM processor is also used to receive the inertial raw observation data, and use the inertial raw observation data and RTK positioning results to perform combined navigation calculations, and combine the smart handbook and the GNSS antenna to generate high-precision position information of the measured point at the position of the centering pole.

[0018] In the implementation mode of the present application, the inertial navigation RTK measurement system can not only realize surveying and mapping, but also simplify the complexity of the surveying operation, make the mobile station receiver easier to carry and use, improve the surveying and mapping efficiency, reduce the design difficulty and production cost of the mobile station receiver, and reduce the failure rate and maintenance cost of the mobile station. Reduce data transmission and reduce resource waste.

[0019] Specifically, the inertial navigation RTK measurement system of this specification replaces the mobile station receiver with a universal GNSS antenna, and transfers the core RTK positioning function to the smart handbook, which can not only achieve the purpose of measurement, but also greatly reduce the system complexity, design difficulty, system cost, production and processing cost and after-sales maintenance cost. Furthermore, by concentrating the mobile station receiver and the smart handbook on one device, only one set of motherboard, Bluetooth, WiFi and 4G is needed, which can reduce costs, reduce unnecessary data transmission, and improve resource utilization. Furthermore, it can effectively prevent the mobile station receiver from being damaged due to being too heavy.

[0020] Furthermore, the inertial navigation RTK measurement system of this manual eliminates the Bluetooth WiFi module, battery, main control board, radio, buttons and interface connectors of the traditional mobile station receiver, and eliminates the complex hardware and structural design work, software development work, structural mold costs, production costs and after-sales maintenance costs of the mobile station receiver; without the complex mobile station receiver, after-sales maintenance, the probability of system damage is also reduced; the comprehensive cost savings are about 2 million yuan.

[0021] Furthermore, the inertial navigation RTK measurement system of this manual eliminates the Bluetooth WiFi connection and data transmission between the mobile station receiver and the smart handbook, eliminates pairing, and there is no need to worry about not being able to connect to the host. The smart handbook serves as a data calculation and aggregation terminal and a communication terminal, which can ensure efficient data interaction between the measurement system and the cloud platform.

[0022] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all deemed to have been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of an inertial navigation RTK measurement system according to a first embodiment of the present application;

[0024] Figure 2 It is a schematic diagram of the internal structure of a smart handheld device of an inertial navigation RTK measurement system according to the first embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0026] Description of some concepts:

[0027] RTK, the full name of which is Real-time kinematic, is a carrier phase differential technology. It is a differential method for processing the carrier phase observations of two measuring stations in real time. The carrier phase collected by the base station is sent to the user receiver, also known as the mobile station, to calculate the coordinates. The key lies in data processing technology and data transmission technology. During RTK positioning, the base station receiver is required to transmit the observation data (pseudo-range observation value, phase observation value) and known data to the mobile station receiver in real time.

[0028] The mobile station receiver is the RTK measurement equipment in the usual sense. The mobile station receiver can include a high-precision positioning board, a GNSS antenna, a 4G module, a Bluetooth wifi module, a main control board, an inertial sensor, and a radio, etc. If the base station observation data broadcasted on the Internet is used, the radio can be omitted.

[0029] There are multiple modes for base stations, one of which is the Continuously Operating Reference Station System (abbreviated as "CORS"). Currently, most RTK measurement equipment can receive base station observation data through the Internet (such as 3G / 4G) and combine it with the observation data of mobile station receivers to perform RTK settlement, which is called network RTK. The positioning accuracy can reach millimeter level, meeting the accuracy requirements of measurement and mapping.

[0030] The smart handbook is an industrial-grade three-proof mobile phone with buttons. It is generally equipped with an Android system and has a surveying and mapping APP software installed. It communicates with the mobile station receiver via Bluetooth or WiFi. The smart handbook APP generally performs measurement operations, saves measurement data and drawings, and can also send instructions to the mobile station receiver for ordinary measurement services.

[0031] GNSS observation data refers to the original observation data of the mobile station GNSS (Global Navigation Satellite System) receiver.

[0032] CORS differential data, also known as "differential data", the full name of CORS is Continuously Operating Reference Stations.

[0033] Inertial raw observation data refers to the raw observation data determined by gyroscopes, accelerometers and magnetometers.

[0034] The technology of tilt measurement, that is, the measurement process does not require the centering pole to be perpendicular to the horizontal plane of the earth to achieve measurement. Keep the bottom of the centering pole still and tilt the receiver left and right. Then the mobile station receiver will have different coordinates at each tilt angle, but the inertial sensor in the mobile station receiver will calculate the tilt angle, for example, θ, then the coordinates (x, y, z) of the bottom of the centering pole can be calculated by (x", y", z") combined with the tilt angle θ.

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0036] like Figure 1 As shown, the first embodiment of the present application relates to an inertial navigation RTK measurement system, comprising: a centering pole 20 provided with a bracket 50, a smart handbook 40 fixedly arranged on the pole body of the centering pole 20 through the bracket 50, and a GNSS antenna 10 arranged on the top of the centering pole 20 and connected to the smart handbook 40, wherein:

[0037] The GNSS antenna 10 is used to receive GNSS satellite signals and send the GNSS satellite signals to the smart handbook 40;

[0038] The smart handbook 40 is used to obtain GNSS observation data according to the GNSS satellite signal, obtain inertial raw observation data and CORS differential data, perform RTK calculation according to the CORS differential data and the GNSS observation data to obtain an RTK positioning result, and simultaneously use the inertial raw observation data and the RTK positioning result to perform combined navigation calculation, and combine the smart handbook 40 and the GNSS antenna 10 to generate high-precision position information of the point to be measured at the position of the centering pole 20; and,

[0039] The bracket 50 is used to fix the smart handbook 40 to the shaft of the centering rod 20 to ensure that the smart handbook 40 and the GNSS antenna 10 remain relatively fixed. Preferably, the point to be measured is the bottom end of the centering rod 20.

[0040] Preferably, the GNSS antenna 10 is connected to the smart handbook 40 via a radio frequency cable 30 .

[0041] Furthermore, the smart handbook 40 includes an interface for connecting the GNSS antenna 10 and the radio frequency cable 30. Preferably, the interface is an SMB plug-in connector, which is easy to install during measurement operations.

[0042] Preferably, the GNSS antenna 10 can support multiple systems and multiple frequencies.

[0043] Furthermore, a bracket 50 is provided on the rod body of the centering rod 20 . The bracket 50 is a dedicated fixing device for the smart handbook 40 and is used to fix the smart handbook 40 , thereby ensuring that the smart handbook 40 and the GNSS antenna 10 remain relatively fixed.

[0044] More specifically, the bracket 50, i.e., the fixing device, is designed with a high-precision positioning for the shell of the smart book 40, so that after the smart book 40 is installed on the bracket 50, the position of the IMU inertial sensor inside the smart book 40 is relatively fixed with the position of the phase center of the GNSS antenna 10. In other words, the posture of the IMU inertial sensor changes as the posture of the GNSS antenna 10 changes.

[0045] Furthermore, the smart handbook 40 obtains GNSS observation data from the GNSS antenna 10, and obtains CORS differential data from a CORS service provider through a communication network such as 4G, and performs RTK calculation based on the CORS differential data and the GNSS observation data to obtain an RTK positioning result. The RTK positioning result is the position of the phase center of the GNSS antenna 10, and simultaneously uses the inertial raw observation data obtained by the built-in IMU inertial sensor and the RTK positioning result to perform combined navigation calculations, and combines the smart handbook 40 and the GNSS antenna 10 at the position of the centering pole 20 to generate high-precision position information of the measured point.

[0046] It can be understood that since the smart handbook 40 and the GNSS antenna 10 remain relatively fixed, the position of the IMU inertial sensor inside the smart handbook 40 is relatively fixed to the position of the phase center of the GNSS antenna 10, and the attitude of the IMU inertial sensor changes as the attitude of the GNSS antenna 10 changes. Therefore, the inertial raw observation data can represent the attitude information of the smart handbook 40, the centering rod 20 and the GNSS antenna 10.

[0047] Combine the following Figure 2 , further exemplarily illustrating the hardware structure and specific working principle of the smart handbook 40 as a whole.

[0048] The smart handbook 40 includes a combined navigation unit and an Android unit connected by an internal bus, wherein the combined navigation unit includes a radio frequency unit, a GNSS baseband chip, an ARM processor, DDR (Double Data Rate SDRAM) memory, a Flash chip, a three-axis MEMS (Micro-electromechanical Systems) gyroscope, a three-axis MEMS accelerometer and a three-axis MEMS magnetometer; the Android unit includes a processor, power management, an interface, a display, WiFi, Bluetooth, a 4G module, a DDR and a Flash chip. The 4G module in the Android unit obtains CORS differential data from the Internet, and the CORS differential data is sent by the processor in Android to the ARM processor in the integrated navigation unit. The radio frequency unit and the GNSS baseband chip in the integrated navigation unit process the received satellite signals and send the obtained GNSS observation data to the ARM processor. The three-axis MEMS gyroscope, three-axis MEMS accelerometer and three-axis MEMS magnetometer in the integrated navigation unit send the inertial raw observation data to the ARM processor. The ARM processor performs RTK calculation based on the CORS differential data and the GNSS observation data to obtain an RTK positioning result. In addition, the ARM processor simultaneously uses the inertial raw observation data and the RTK positioning result to perform combined navigation calculations, and combines the smart handbook 40 and the GNSS antenna 10 to generate high-precision position information of the measured point at the position of the centering pole 20.

[0049] Specifically, the main board of the smart handbook 40 includes two circuits, namely, a combined navigation unit and an Android unit, both of which are designed on a PCB board to form the main board of the smart handbook 40. In other words, the smart handbook 40 includes a combined navigation unit and an Android unit arranged on the same PCB board.

[0050] Specifically, in the integrated navigation unit, the radio frequency unit is used to complete the GNSS full-system full-frequency signal reception and down-conversion; the GNSS baseband chip is used to complete signal sampling and digital signal processing, and output GNSS observation data; the three-axis MEMS gyroscope, three-axis MEMS accelerometer and three-axis MEMS magnetometer are used to communicate with the GNSS system through SPI (Serial Peripheral Interface). The ARM processor communicates with the ARM processor through a serial peripheral device interface (Serial Peripheral Interface) bus and outputs inertial raw observation data in real time, wherein the inertial raw observation data refers to the status information of the IMU inertial sensor itself, and also represents the attitude information of the smart handbook 40, the centering pole 20 and the GNSS antenna 10; the ARM processor is used to receive the GNSS observation data output by the GNSS baseband chip, communicate with the processor of the Android unit to obtain the CORS differential data obtained from the Internet by the 4G module of the Android unit, and perform RTK solution using the GNSS observation data and the CORS differential data to obtain centimeter-level high-precision position information, which is the phase center coordinate of the GNSS antenna 10. Furthermore, the ARM processor is also used to receive the inertial raw observation data, and use the inertial raw observation data and the RTK positioning result to perform combined navigation calculation, and generate high-precision position information of the point to be measured in combination with the smart handbook 40 and the GNSS antenna 10 at the position of the centering pole 20.

[0051] As described above, the Android unit may further include a mobile phone baseband processor, memory DDR and Flash, WiFi, Bluetooth and 4G functions, a display and camera interface, a speaker and microphone interface, and a power circuit. It can be understood that in other embodiments of this specification, the Android unit may include all the basic functions of a mobile phone.

[0052] It should be noted that the area of ​​the combined navigation unit can be significantly reduced through the above embodiment. Specifically, the area of ​​the combined navigation unit is no more than 35mm×35mm, and the area of ​​the Android unit core circuit can be, for example, 35mm×50mm, with a total area of ​​about 85mm×35mm, in other words, smaller than a 5.7-inch screen. The volume of traditional high-precision boards and inertial navigation modules is generally 100mm×60mm, which is approximately equal to the size of a 5.7-inch screen of a traditional mobile phone. Therefore, it is difficult to integrate them into the smart handbook 40.

[0053] It should be noted that the power consumption of the combined navigation unit in this embodiment is within 0.8 W, while the total power consumption of the traditional high-precision board and inertial navigation module is more than 3 W. The power consumption of a general mobile phone is about 4 W. If the traditional high-precision board and inertial navigation module are integrated into the smart handbook 40, the power consumption will reach 7 W, and the heat dissipation of the smart handbook 40 will be difficult to solve, and the operation time will be greatly reduced.

[0054] It should be pointed out that a prerequisite of this embodiment is that a low-power, small-size combined navigation unit can be designed in hardware. The existing high-precision positioning board is large in size and power consumption, and it is difficult to integrate it into the functional smart handbook 40. However, a low-power, small-size combined navigation unit can be easily integrated into the smart handbook 40.

[0055] Furthermore, another premise of this embodiment is that the smart handbook 40 has a combined navigation algorithm function, and the tilt state of the centering pole 20 is calculated by integrating an IMU inertial sensor in the smart handbook 40 .

[0056] Furthermore, the bracket 50 on the centering rod 20 in this embodiment, that is, the smart handbook 40 dedicated fixing device of the smart handbook 40, needs to ensure high accuracy to ensure that the position of the IMU inertial sensor in the smart handbook 40 is relatively fixed with the phase center position of the GNSS antenna 10, thereby ensuring the accuracy of tilt measurement; at the same time, the structural design of the bracket 50 needs to facilitate the installation and removal of the smart handbook 40 without affecting the user experience.

[0057] It should be noted that the above embodiment is simple in equipment composition compared with the traditional measurement system, and only requires a GNSS antenna 10 with a radio frequency cable 30, a smart handbook 40 and a centering rod 20, wherein the smart handbook 40 replaces the main functions of the traditional mobile station receiver by combining a navigation unit. Since the traditional mobile station receiver is complex in composition, high in cost, and complex in production and maintenance, while the GNSS antenna 10 is low in cost and simple in processing, the present embodiment can simplify the measurement system and greatly reduce the equipment cost.

[0058] Furthermore, in the above embodiment, a special smart handbook 40 mounting device, namely, a bracket 50, is designed for the centering pole 20 to ensure that the phase center of the smart handbook 40 and the GNSS antenna 10 is kept relatively fixed. At the same time, an IMU inertial sensor is integrated in the smart handbook 40, and the smart handbook 40 integrates an inertial navigation algorithm, which realizes tilt measurement in combination with the phase center of the GNSS antenna 10 and the RTK positioning result.

[0059] Furthermore, in the above embodiment, all the measurement data are in the smart handbook 40. When the 4G unit in the smart handbook 40 interacts with the cloud platform, data transmission is more convenient and faster. For scenarios with a large amount of calculations, the computing resources of the cloud platform can be borrowed. Cloud computing will increase the computing speed and positioning accuracy. After cloud computing is completed, the positioning results are sent down, and the measurement operation is more efficient. In the traditional measurement system, the measurement data needs to be exchanged between the mobile station receiver and the smart handbook 40, and then connected to the cloud platform. This method has a long link and usually causes large data delays and data loss.

[0060] Furthermore, the above embodiment can further set an audio function of the smart notebook 40, and the AI ​​voice solution can be directly integrated by using the audio function, without the need to interact with the host in the traditional solution, which is more convenient to use and further improves the measurement efficiency.

[0061] Furthermore, in the above embodiment, the smart handbook 40 is used as a mobile station receiver, which significantly reduces the weight of the top of the centering pole 20, and the bracket 50 protects it after falling or falling, thereby significantly reducing the risk of breakage, reducing the probability of after-sales maintenance, and extending the product life.

[0062] In general, the inertial navigation RTK measurement system of this manual can not only realize surveying and mapping, but also simplify the complexity of surveying operations, make the mobile station receiver easier to carry and use, improve the efficiency of surveying and mapping, reduce the design difficulty and production cost of the mobile station receiver, and reduce the failure rate and maintenance cost of the mobile station. Reduce data transmission and reduce resource waste.

[0063] Specifically, the inertial navigation RTK measurement system of this specification replaces the mobile station receiver with a universal GNSS antenna, and transfers the core RTK positioning function to the smart handbook, which can not only achieve the purpose of measurement, but also greatly reduce the system complexity, design difficulty, system cost, production and processing cost and after-sales maintenance cost. Furthermore, by concentrating the mobile station receiver and the smart handbook on one device, only one set of motherboard, Bluetooth, WiFi and 4G is needed, which can reduce costs, reduce unnecessary data transmission, and improve resource utilization. Furthermore, it can effectively prevent the mobile station receiver from being damaged due to being too heavy.

[0064] Furthermore, the inertial navigation RTK measurement system of this manual eliminates the Bluetooth WiFi module, battery, main control board, radio, buttons and interface connectors of the traditional mobile station receiver, and eliminates the complex hardware and structural design work, software development work, structural mold costs, production costs and after-sales maintenance costs of the mobile station receiver; without the complex mobile station receiver, after-sales maintenance, the probability of system damage is also reduced; the comprehensive cost savings are about 2 million yuan.

[0065] Furthermore, the inertial navigation RTK measurement system of this manual eliminates the Bluetooth WiFi connection and data transmission between the mobile station receiver and the smart handbook, eliminates pairing, and there is no need to worry about not being able to connect to the host. The smart handbook serves as a data calculation and aggregation terminal and a communication terminal, which can ensure efficient data interaction between the measurement system and the cloud platform.

[0066] It should be noted that in the application documents of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0067] All documents mentioned in this application are considered to be included in the disclosure of this application as a whole, so that they can be used as the basis for modification when necessary. In addition, it should be understood that after reading the above disclosure of this application, those skilled in the art can make various changes or modifications to this application, and these equivalent forms also fall within the scope of protection claimed in this application.

Claims

1. An inertial navigation RTK measurement system, characterized in that: The invention comprises: a centering pole provided with a bracket, a smart handbook fixed to the pole body of the centering pole by the bracket, and a GNSS antenna provided at the top of the centering pole and connected to the smart handbook, wherein: The GNSS antenna is used to receive GNSS satellite signals and send the GNSS satellite signals to the smart handbook; The smart handbook is used to obtain GNSS observation data, CORS differential data and inertial raw observation data according to the GNSS satellite signal, perform RTK calculation according to the CORS differential data and the GNSS observation data to obtain an RTK positioning result, and use the inertial raw observation data and the RTK positioning result to perform combined navigation calculation, and combine the smart handbook and the GNSS antenna at the position of the centering pole to generate high-precision position information of the point to be measured, wherein the inertial raw observation data represents the attitude information of the smart handbook, the centering pole and the GNSS antenna; and, The bracket is used to fix the smart handbook on the rod body of the centering rod to ensure that the smart handbook and the GNSS antenna remain relatively fixed.

2. The system according to claim 1, characterized in that The point to be measured is the bottom end position of the centering rod.

3. The system according to claim 1, characterized in that The GNSS antenna is connected to the smart handbook via a radio frequency cable, and the smart handbook comprises an interface for connecting the radio frequency cable, and the interface is an SMB plug-in connector.

4. The system according to claim 1, characterized in that The smart handbook obtains the CORS differential data from a CORS service provider via a 4G communication network.

5. The system according to claim 1, wherein: The smart handbook comprises a combined navigation unit and an Android unit which are arranged on the same PCB board.

6. The system according to claim 5, characterized in that The integrated navigation unit comprises: a radio frequency unit for receiving and down-converting signals of the entire GNSS system and at all frequencies; And a GNSS baseband chip for completing signal sampling and digital signal processing and outputting GNSS observation data.

7. The system according to claim 5, characterized in that The combined navigation unit comprises: a three-axis MEMS gyroscope, a three-axis MEMS accelerometer and a three-axis MEMS magnetometer, which are used to communicate with an ARM processor via an SPI bus and output inertial raw observation data in real time.

8. The system according to claim 5, characterized in that The combined navigation unit includes: an ARM processor for receiving GNSS observation data output by a GNSS baseband chip, communicating with a processor of an Android unit to obtain CORS differential data obtained from the Internet by a 4G module of the Android unit, and performing RTK solution using the GNSS observation data and CORS differential data to obtain centimeter-level high-precision position information.

9. The system according to claim 8, characterized in that The ARM processor is also used to receive the inertial raw observation data, and use the inertial raw observation data and RTK positioning results to perform combined navigation calculations, and combine the smart handbook and the GNSS antenna to generate high-precision position information of the point to be measured at the position of the centering pole.

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