Total station and GNSS combined guidance system and method

Abstract

The application discloses a total station and GNSS combined guiding system and method, which comprises two GNSS receiving systems, a total station, a single-chip microcomputer and two levels, the prism of the total station is arranged at the central position of a target machine, the two GNSS receiving systems are arranged at the two ends of the prism and are located on the same axis with the prism and are equal in distance to the prism, the two levels are respectively located on the two axes of the target machine, and the single-chip microcomputer is in communication with the GNSS receiving systems, the total station, the single-chip microcomputer and the levels. The total station and the global navigation satellite system are combined, the levels are supplemented, the signals of the total station and the GNSS are received by the single-chip microcomputer and are calculated, a new type of guiding system is constructed, the millimeter level precision positioning and guiding of the target machine and the automatic control output are realized, and the application prospect is huge.

Description

Technical Field

[0001] This invention relates to the field of positioning and guidance technology, and in particular to a total station and GNSS combined guidance system and method. Background Technology

[0002] Existing surveying guidance systems include rope and stake guidance systems, rotating laser systems, robotic total station systems, and global navigation satellite systems.

[0003] The rope-pile guidance system is a traditional guidance method that requires a surveyor to act as an interface between engineering design and operation. The surveyor guides the direction with a rope and uses stakes to indicate the required cut / fill level at the stake location. The cut / fill level between stakes needs to be filled in by the surveyor using experience, thus guiding the operator. A disadvantage of this method is that the stakes and rope are often knocked off by the target machinery during operation, and maintenance requires a significant amount of manpower.

[0004] A rotating laser system consists of a rotating mechanism, a mirror, a laser, a photoelectric receiver, and a data acquisition system. While it can achieve high-precision control in terms of height, its application in areas with small gradient changes is limited.

[0005] The robot-based full-station system eliminates the need for manual aiming and offers advantages such as automation, intelligence, ease of operation, user-friendly interface, high precision (down to the millimeter level), and long detection range. However, it is relatively expensive, and the reference station can only support one target machine.

[0006] Global Navigation Satellite Systems (GNSS) include the US GPS positioning system, China's BDS positioning system, Russia's GLSNASS positioning system, and the European Union's GALILEO positioning system, which can provide users with real-time three-dimensional coordinates in near-Earth space. Existing GNSS systems, combined with Real-Time Kinematics (RTK) technology, can achieve centimeter-level positioning. The advantages of GNSS systems are their long detection range, ability to simultaneously locate multiple points, and ability to operate in low-visibility environments. Their disadvantage is that they only achieve centimeter-level positioning and cannot be used in applications requiring high precision. Therefore, existing positioning and guidance systems all have certain limitations in application. Summary of the Invention

[0007] Purpose of the invention: The present invention aims to provide a total station and GNSS combined guidance system and method that can improve guidance accuracy.

[0008] Technical Solution: The present invention provides a total station and GNSS combined guidance system, comprising a target machine, a first GNSS receiving system, a second GNSS receiving system, a total station, a microcontroller, a first level, and a second level. The prism of the total station is positioned at the center of the target machine. The first and second GNSS receiving systems are respectively positioned at opposite ends of the prism, aligned with the prism, and equidistant from it. The first and second levels are respectively located on two axes of the target machine. The microcontroller communicates with the first GNSS receiving system, the second GNSS receiving system, the total station, the microcontroller, the first level, and the second level.

[0009] Preferably, the microcontroller is an STM32 microcontroller.

[0010] The present invention discloses a combined navigation method using a total station and GNSS, comprising the following steps:

[0011] (1) Set up a total station and GNSS combined guidance system on the target machine;

[0012] (2) Collect data and transmit it to the microcontroller;

[0013] (3) Data processing and output.

[0014] Preferably, the collected data includes latitude and longitude data from the GNSS receiving system, spatial coordinate data from the total station, and angle data from the level.

[0015] Preferably, step (3) includes the following steps:

[0016] (31) Unify GNSS latitude and longitude data to the same coordinate system;

[0017] (32) Under this coordinate system, the GNSS coordinate data is subjected to multi-point optimization difference processing;

[0018] (33) Perform Kalman filtering on the GNSS coordinate data after multi-point optimization differential processing, the spatial coordinate data of the total station, and the angle data of the level.

[0019] (34) The yaw angle of the target machine is obtained by combining the processed GNSS coordinate data with the spatial coordinate data of the total station, and the pitch angle and roll angle of the target machine are obtained by using the angle data of the two levels, so as to realize positioning guidance and automatic output.

[0020] Preferably, the multi-point optimization differential processing in step (32) includes the following steps:

[0021] (321) Actual measurement: Determine the maximum positioning errors r1 and r2 of the two GNSS receiving systems according to the product manual, and measure the distances r1' and r2' from the two GNSS receiving systems to the center point of the target machine respectively;

[0022] (322) Multi-point optimization: Based on the coordinate data of the two GNSS receiving systems, calculate the positioning distances r1” and r2” from the center point of the target machine respectively. Select a constant x between 0 and 1, and collect the coordinate data of the two GNSS receiving systems multiple times until r1” falls into the range of (r1-1) to (r1-x) and r2” falls into the range of (r2+x) to (r2+1). Stop positioning, determine the coordinates of the error positioning points of the two GNSS receiving systems at this time, and save them in the microcontroller.

[0023] (323) Differential processing.

[0024] Preferably, the differential processing in step (323) includes the following steps:

[0025] (a) Draw a circle with the center of the target machine as the center and r1' or r2' as the radius, and draw a circle with the error positioning point of the first GNSS receiving system determined in step (322) as the center and the maximum positioning error r1 as the radius, and draw a circle with the error positioning point of the second GNSS receiving system as the center and the maximum positioning error r2 as the radius.

[0026] (b) The three circles obtained in step a intersect to form two arcs, and the positions of the two arcs correspond to the position intervals of two actual GNSS coordinates.

[0027] (c) Take the two sectors formed by the two arcs obtained in step b and the center of the circle;

[0028] (d) Rotate one of the sector intervals in step c by 180 degrees around the center of the target machine, and intersect it with another sector interval. Perform the same operation on the other sector interval to obtain two intersections.

[0029] (e) Take the midpoint of the arcs corresponding to the intersection in step d to obtain the optimized coordinates of the two GNSS receiving systems, and save them to the microcontroller.

[0030] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: it constructs a novel target machine positioning and guidance system, improves guidance accuracy to the millimeter level, provides attitude calculation for the target machine, and realizes automated output. Attached Figure Description

[0031] Figure 1 This is a system layout orientation diagram of the present invention;

[0032] Figure 2This is a schematic diagram of the differential processing process of the present invention;

[0033] Figure 3 This is a flowchart of the data processing of the present invention. Detailed Implementation

[0034] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0035] like Figure 1 As shown, the total station and GNSS combined guidance system of the present invention includes a target machine 5, a first GNSS receiving system 1, a second GNSS receiving system 2, a total station, a microcontroller, a first level 3, and a second level 4. The prism 6 of the total station is positioned at the center of the target machine 5. The first GNSS receiving system 1 and the second GNSS receiving system 2 are respectively positioned at opposite ends of the prism, aligned with the prism on the same straight line and at equal distances. The first level 3 and the second level 4 are respectively located on two axes of the target machine 5. The microcontroller communicates with the first GNSS receiving system 1, the second GNSS receiving system 2, the total station, the microcontroller, the first level 3, and the second level 4. Specifically, the first GNSS receiving system 1 and the second GNSS receiving system 2 are connected to the serial port of the microcontroller via DuPont wires for communication, and the total station is connected to the serial port of the microcontroller via Bluetooth for communication. The microcontroller is an STM32 microcontroller.

[0036] The present invention discloses a combined navigation method using a total station and GNSS, comprising the following steps:

[0037] (1) Set up a total station and GNSS combined guidance system on target machine 5;

[0038] (2) Collect data and transmit it to the microcontroller;

[0039] (3) Data processing and output.

[0040] The collected data includes latitude and longitude data from the GNSS receiving system, spatial coordinate data from the total station, and angle data from the level.

[0041] The data processing procedure includes the following steps:

[0042] (31) Unify GNSS latitude and longitude data to the same coordinate system;

[0043] (32) In this coordinate system, the GNSS coordinate data is subjected to multi-point optimization differential processing to improve the accuracy to the millimeter level;

[0044] Multi-point optimization differential processing includes the following steps:

[0045] (321) Actual measurement: Determine the maximum positioning errors r1 and r2 of the two GNSS receiving systems according to the product manual, and measure the distances r1' and r2' from the two GNSS receiving systems to the center point of the target machine respectively. Since the two GNSS receiving systems are arranged symmetrically, r1' and r2' are the same at this time.

[0046] (322) Multi-point optimization: Based on the coordinate data of the first GNSS receiving system 1 and the second GNSS receiving system 2, calculate the positioning distances r1” and r2” from the center point of the target machine respectively, select a constant x between 0 and 1, collect the coordinate data of the first GNSS receiving system 1 multiple times until r1” falls within the range of (r-1) to (rx), stop positioning, determine the coordinates of the first error positioning point of the first GNSS receiving system 1 at this time, and collect the coordinate data of the second GNSS receiving system 2 multiple times until r2” falls within the range of (r+x) to (r+1), stop positioning, determine the coordinates of the second error positioning point of the second GNSS receiving system at this time, and save the coordinate data of the two error positioning points in the microcontroller;

[0047] (323) Differential processing.

[0048] Differential processing includes the following steps:

[0049] (a) Draw a circle with the center of the target machine 5 as the center and r1' or r2' as the radius, and draw a circle with the error positioning point of the first GNSS receiving system determined in step (322) as the center and the maximum positioning error r1 as the radius, and draw a circle with the error positioning point of the second GNSS receiving system as the center and the maximum positioning error r2 as the radius.

[0050] (b) The three circles obtained in step a intersect to form two arcs, and the positions of the two arcs correspond to the position intervals of two actual GNSS coordinates.

[0051] (c) Take the two sectors formed by the two arcs obtained in step b and the center of the circle;

[0052] (d) Rotate one of the sector intervals in step c by 180 degrees around the center of the target machine, and intersect it with another sector interval. Perform the same operation on the other sector interval to obtain two intersections.

[0053] (e) Take the midpoint of the arcs corresponding to the intersection in step d to obtain the optimized coordinates of the two GNSS receiving systems, and save them to the microcontroller.

[0054] (33) Perform Kalman filtering on the GNSS coordinate data after multi-point optimization differential processing, the spatial coordinate data of the total station, and the angle data of the level.

[0055] (34) The yaw angle of the target machine is obtained by combining the processed GNSS coordinate data with the spatial coordinate data of the total station. The pitch angle and roll angle of the target machine are obtained by using the angle data of two levels. The output is automatically generated through the serial port of the STM32 microcontroller to achieve high-precision positioning and guidance at the millimeter level.

Claims

1. A method for positioning and guidance using a total station combined with a GNSS guidance system, characterized in that, The total station and GNSS combined guidance system includes a target machine, a first GNSS receiving system, a second GNSS receiving system, a total station, a microcontroller, a first level, and a second level. The prism of the total station is positioned at the center of the target machine. The first and second GNSS receiving systems are respectively positioned at opposite ends of the prism, aligned with the prism on a straight line and equidistant from it. The first and second levels are located on opposite axes of the target machine. The microcontroller communicates with the first GNSS receiving system, the second GNSS receiving system, the total station, the microcontroller, the first level, and the second level. The method includes the following steps: (1) Set up a combined total station and GNSS guidance system on the target machine; (2) Collect data and transmit it to the microcontroller; (3) Data processing and output; Step (3) includes the following steps: (31) Unify GNSS latitude and longitude data to the same coordinate system; (32) Under this coordinate system, the GNSS coordinate data is subjected to multi-point optimization difference processing; Step (32) includes the following steps: (321) Actual measurement was performed to determine the maximum positioning errors r1 and r2 of the two GNSS receiving systems, and the distances r1' and r2' from the two GNSS receiving systems to the center point of the target machine were measured respectively; (322) Multi-point optimization: Based on the coordinate data of the two GNSS receiving systems, calculate the positioning distances r1'' and r2'' from the center point of the target machine, respectively. Select a constant x between 0 and l, and collect the coordinate data of the two GNSS receiving systems multiple times until r1'' falls into the range of (r1-l) to (r1-x) and r2'' falls into the range of (r2+x) to (r2+l). Stop positioning, determine the coordinates of the error positioning points of the two GNSS receiving systems at this time, and save them in the microcontroller. (323) Differential processing; The differential processing described in step (323) includes the following steps: (a) Draw a circle with the center of the target machine as the center and r1' or r2' as the radius, and draw a circle with the error positioning point of the first GNSS receiving system determined in step (322) as the center and the maximum positioning error r1 as the radius, and draw a circle with the error positioning point of the second GNSS receiving system as the center and the maximum positioning error r2 as the radius; (b) The three circles obtained in step a intersect to form two arcs, and the positions of the two arcs correspond to the position range of the actual coordinates of the two GNSS receiving systems. (c) Take the two sectors formed by the two arcs obtained in step b and the center of the circle; (d) Rotate one sector in step c by 180 degrees around the center of the target machine and intersect it with another sector. Repeat the same operation on the other sector to obtain two intersections. (e) Take the midpoint of the arcs corresponding to the intersection in step d to obtain the optimized coordinates of the two GNSS receiving systems, and save them to the microcontroller; (33) Perform Kalman filtering on the GNSS coordinate data after multi-point optimization differential processing, the spatial coordinate data of the total station, and the angle data of the level. (34) The yaw angle of the target machine is obtained by combining the processed GNSS coordinate data with the spatial coordinate data of the total station, and the pitch and roll angles of the target machine are obtained by using the angle data of the level instrument, so as to realize positioning guidance and automatic output.

2. The method for positioning and guidance using a total station and GNSS combined guidance system according to claim 1, characterized in that, The microcontroller used is an STM32 microcontroller.

3. The method for positioning and guidance using a total station and GNSS combined guidance system according to claim 1, characterized in that, The collected data includes latitude and longitude data from the first GNSS receiving system and the second GNSS receiving system, spatial coordinate data from the total station, and angle data from the first level and the second level.

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