Three-dimensional positioning device and method for power survey using total station and GNSS

Abstract

The present invention discloses a three-dimensional positioning device and method for power surveys that utilizes a total station and GNSS. The device comprises a housing, a GNSS antenna, and a reflector, the reflector comprising a reflective prism and / or at least one total station reflector. The GNSS antenna is disposed within the housing. The reflective prism is embedded in the housing, and one end of the reflective prism near the interior of the housing is provided with three mutually perpendicular facets. The central axis of the reflective prism passing through the vertex is orthogonal to a vertical line passing through the geometric phase center of the GNSS antenna. At least one total station reflector is disposed around the housing, with the observation points of the at least one total station reflector located in the same plane, and the same plane is parallel to the horizontal plane containing the geometric phase center of the GNSS antenna. The reflective prism is made of glass with a refractive index of 1.45 to 1.55. This invention can improve the accuracy of elevation measurement in engineering surveys and realize an integrated three-dimensional positioning survey operation mode.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power engineering survey, and in particular to a three-dimensional positioning device and method for electric power survey in collaboration with a total station and GNSS. Background Art

[0002] During the power engineering survey, there are generally two methods to obtain the plane coordinates and normal elevation of the measured points. One is to place a total station at the survey station. After the survey station is oriented, the plane coordinates of the measured points are obtained using the total station polar coordinate method, and the normal elevation is obtained using the total station trigonometric height measurement method or leveling method. The other is to directly use two GNSS receivers, one as a GNSS base station and the other as a GNSS mobile station, to obtain the plane coordinates and geodetic elevation of the measured points at the GNSS mobile station through the RTK method, and then convert the geodetic elevation into the normal elevation through the elevation fitting method.

[0003] However, during the construction process, horizontal and vertical control surveys are particularly susceptible to the impact of the construction environment. Firstly, horizontal and vertical control surveys are used throughout the entire process of project planning, design, construction, and safety monitoring. Control points are frequently used, but they are often damaged during construction. Restoring damaged control points by staking out known control points often takes a significant amount of time, which can affect the progress of construction. Therefore, GNSS technology has begun to be considered for application in the field of engineering construction.

[0004] GNSS technology is a space-based radio navigation and positioning system that provides users with three-dimensional coordinates, velocity, and time information around the clock, anywhere on the Earth's surface or in near-Earth space. While GNSS technology can achieve high positioning accuracy for plane coordinates (x, y) in spatial coordinates, the positioning accuracy of geodetic height H obtained with this technology is lower, by approximately 1 / 2 to 1 / 3, compared to plane coordinates (x, y). Furthermore, the process of converting geodetic height to normal height using elevation fitting must be considered, which also results in a loss of elevation conversion accuracy. Therefore, GNSS technology generally fails to meet the normal height measurement accuracy requirements for engineering surveys. Therefore, further research is needed to improve the accuracy of normal height measurements in engineering surveys. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a three-dimensional positioning device and method for electric power surveying that cooperates with a total station and GNSS, which can improve the elevation measurement accuracy of engineering surveys and realize an integrated three-dimensional positioning operation mode for electric power surveying.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a three-dimensional positioning device for power survey in collaboration with a total station and GNSS, comprising a shell, a GNSS antenna and a reflector, the reflector comprising a reflective prism and / or at least one total station reflector; the GNSS antenna is arranged on the shell; the reflective prism is embedded in the shell, and the end of the reflective prism close to the inside of the shell is provided with three mutually perpendicular cross-sections, and the central axis of the reflective prism passing through the vertex is orthogonal to the vertical line passing through the geometric phase center of the GNSS antenna; the at least one total station reflector is arranged around the shell, and the observation points of the at least one total station reflector are located on the same plane, and the same plane is parallel to the horizontal plane where the geometric phase center of the GNSS antenna is located; the reflective prism is made of glass with a refractive index of 1.45 to 1.55.

[0007] The present invention also proposes a three-dimensional positioning method for a three-dimensional positioning device for electric power survey based on the above-mentioned total station and GNSS collaboration, comprising:

[0008] Setting up the three-dimensional positioning device at the known point and the point to be measured respectively, and setting up a total station at any point within a preset range of the known point and the point to be measured;

[0009] Obtaining the normal height of the known point, and obtaining the height from the reflector of the three-dimensional positioning device on the known point to the known point to obtain a first height, and obtaining the height from the reflector of the three-dimensional positioning device on the point to be measured to the point to be measured to obtain a second height;

[0010] Sighting the total station at a reflective element of a three-dimensional positioning device at a known point, obtaining a first slant distance and a first vertical angle, wherein the first slant distance is the distance between the total station and the reflective element of the three-dimensional positioning device at the known point, and the first vertical angle is the angle between a line connecting the total station and the reflective element of the three-dimensional positioning device at the known point and a horizontal direction;

[0011] Sighting the total station at the reflective element of the three-dimensional positioning device at the point to be measured, obtaining a second slant distance and a second vertical angle, wherein the second slant distance is the distance between the total station and the reflective element of the three-dimensional positioning device at the point to be measured, and the second vertical angle is the angle between a line connecting the total station and the reflective element of the three-dimensional positioning device at the point to be measured and a horizontal direction;

[0012] The normal height of the point to be measured is calculated according to the normal height, the first height, the second height, the first slant distance, the first vertical angle, the second slant distance and the second vertical angle of the known point.

[0013] The beneficial effects of the present invention are as follows: by integrating the total station reflector into the GNSS receiver, and setting up the GNSS receiver with the integrated total station reflector at the known point and the point to be measured, the GNSS receiver uses the RTK method to obtain the plane coordinates of the point to be measured, and the total station uses the trigonometric height measurement method to obtain the normal height of the point to be measured, thereby realizing a three-dimensional positioning integrated survey operation mode of the point to be measured and improving the height measurement accuracy of the GNSS receiver. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of a three-dimensional positioning device for electric power survey according to a first embodiment of the present invention;

[0015] Figure 2 Schematic diagram of the structure of the reflecting prism according to the first embodiment of the present invention;

[0016] Figure 3 Schematic diagram of the radial depth of the reflecting prism according to the first embodiment of the present invention;

[0017] Figure 4 Schematic diagram of the structure of the tetrahedron part of the reflecting prism in the first embodiment of the present invention;

[0018] Figure 5 is a top view of the tetrahedron portion of the reflecting prism according to the first embodiment of the present invention;

[0019] Figure 6 A side view of the tetrahedron portion of the reflecting prism according to the first embodiment of the present invention;

[0020] Figure 7 is a cross-sectional view of a tetrahedron portion of a reflecting prism according to a first embodiment of the present invention;

[0021] Figure 8 Schematic diagram of the calculation principle of the constants of the reflecting prism in the first embodiment of the present invention;

[0022] Figure 9 This is a schematic structural diagram of a three-dimensional positioning device for electric power survey according to a second embodiment of the present invention;

[0023] Figure 10 This is a flow chart of a three-dimensional positioning method according to a third embodiment of the present invention;

[0024] Figure 11 This is a schematic diagram of the elevation measurement principle of the third embodiment of the present invention;

[0025] Figure 12 Schematic diagram of the relationship between the BeiDou system coordinate system (CGCS2000 coordinate system) and the electric power survey coordinate system in the third embodiment of the present invention.

[0026] Description of labels:

[0027] 1. Housing; 2. GNSS antenna; 3. Reflector; 4. Support; 5. Horizontal platform; 6. Level;

[0028] 31. Reflecting prism; 32. Reflecting sheet of total station. DETAILED DESCRIPTION

[0029] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following is a detailed description in conjunction with the embodiments and accompanying drawings.

[0030] See also Figure 1 , a three-dimensional positioning device for power survey in which a total station and GNSS are coordinated, comprising a shell, a GNSS antenna and a reflector, the reflector comprising a reflective prism and / or at least one total station reflector; the GNSS antenna is arranged on the shell; the reflective prism is embedded in the shell, and the end of the reflective prism close to the interior of the shell is provided with three mutually perpendicular cross-sections, and the central axis of the reflective prism passing through the vertex is orthogonal to the vertical line passing through the geometric phase center of the GNSS antenna; the at least one total station reflector is arranged around the shell, and the observation points of the at least one total station reflector are located on the same plane, and the same plane is parallel to the horizontal plane where the geometric phase center of the GNSS antenna is located; the reflective prism is made of glass with a refractive index of 1.45 to 1.55.

[0031] From the above description, it can be seen that the beneficial effects of the present invention are: it can realize three-dimensional positioning and improve the accuracy of engineering survey elevation measurement.

[0032] Furthermore, the radial depth of the reflecting prism is greater than or equal to times the radius of the reflecting prism.

[0033] From the above description, it can be seen that three orthogonal sections can be set on the reflecting prism, thereby ensuring that the reflecting prism can completely reflect the electromagnetic wave signal emitted by the total station.

[0034] Furthermore, the constant P of the reflecting prism is -(n-1)×h+d, where n is the refractive index of the material of the reflecting prism, h is the radial depth of the reflecting prism, and d is the distance between the vertex of the reflecting prism and the vertical line passing through the geometric phase center of the GNSS antenna.

[0035] Furthermore, it also includes a GNSS receiving host, which is arranged in the shell and connected to the GNSS antenna.

[0036] As can be seen from the above description, the GNSS antenna is used to search, track, and lock GNSS navigation satellite signals for the GNSS receiving host. The GNSS receiving host can calculate the position information based on the GNSS navigation satellite signals.

[0037] Furthermore, a support member is included, and the shell is arranged on the support member.

[0038] It can be seen from the above description that the support and installation of the positioning device are facilitated.

[0039] Furthermore, it also includes a horizontal platform and a leveler, the horizontal platform is horizontally arranged on the support member, and the leveler is arranged on the horizontal platform.

[0040] As can be seen from the above description, it is convenient to subsequently observe whether the positioning device is leveled.

[0041] The present invention also proposes a three-dimensional positioning method for a three-dimensional positioning device for electric power survey based on the above-mentioned total station and GNSS collaboration, comprising:

[0042] Setting up the three-dimensional positioning device at the known point and the point to be measured respectively, and setting up a total station at any point within a preset range of the known point and the point to be measured;

[0043] Obtaining the normal height of the known point, and obtaining the height from the reflector of the three-dimensional positioning device on the known point to the known point to obtain a first height, and obtaining the height from the reflector of the three-dimensional positioning device on the point to be measured to the point to be measured to obtain a second height;

[0044] Sighting the total station at a reflective element of a three-dimensional positioning device at a known point, obtaining a first slant distance and a first vertical angle, wherein the first slant distance is the distance between the total station and the reflective element of the three-dimensional positioning device at the known point, and the first vertical angle is the angle between a line connecting the total station and the reflective element of the three-dimensional positioning device at the known point and a horizontal direction;

[0045] Sighting the total station at the reflective element of the three-dimensional positioning device at the point to be measured, obtaining a second slant distance and a second vertical angle, wherein the second slant distance is the distance between the total station and the reflective element of the three-dimensional positioning device at the point to be measured, and the second vertical angle is the angle between a line connecting the total station and the reflective element of the three-dimensional positioning device at the point to be measured and a horizontal direction;

[0046] The normal height of the point to be measured is calculated according to the normal height, the first height, the second height, the first slant distance, the first vertical angle, the second slant distance and the second vertical angle of the known point.

[0047] Furthermore, the normal height of the point to be measured is calculated according to the normal height, the first height, the second height, the first slant distance, the first vertical angle, the second slant distance and the second vertical angle of the known point as follows:

[0048] The normal height of the measured point is calculated according to the first height calculation formula, which is h B =h A +S B ·sinα B -S A ·sinα A +V A -V B , where h B is the normal height of the measured point B, h A is the normal height of the known point A, S A is the first slope distance, α A is the first vertical angle, S B is the second slant distance, α B is the second vertical angle, V A is the first height, V B The second height.

[0049] Furthermore, the normal height of the point to be measured is calculated according to the normal height, the first height, the second height, the first slant distance, the first vertical angle, the second slant distance and the second vertical angle of the known point as follows:

[0050] Calculate the normal height of the measured point according to the second height calculation formula. The second height calculation formula is: h B =h A +S B ·sinα B -S A ·sinα A +[(1-k) / 2R 地 ][(S B ·cosα B ) 2 -(S A ·cosα A ) 2 ]+V A -V B , where k is the atmospheric vertical refraction coefficient, R 地 is the radius of curvature of the Earth, h B is the normal height of the measured point B, h A is the normal height of the known point A, S A is the first slope distance, α A is the first vertical angle, S B is the second slant distance, α B is the second vertical angle, V A is the first height, V B The second height.

[0051] From the above description, it can be seen that the elevation measurement of the measured point by the total station trigonometric height measurement method can improve the elevation measurement accuracy of the GNSS receiver compared to the GNSS technology height measurement.

[0052] Furthermore, it also includes:

[0053] Determine the conversion relationship between the BeiDou system coordinate system and the electric power survey coordinate system;

[0054] The plane coordinates of the point to be measured in the Beidou system coordinate system are obtained by a three-dimensional positioning device on the point to be measured, and the plane coordinates of the point to be measured in the electric power survey coordinate system are obtained by conversion according to the conversion relationship.

[0055] From the above description, it can be seen that the plane coordinates of the measured point are measured through the GNSS antenna and the GNSS receiving host.

[0056] Furthermore, the conversion relationship between the BeiDou system coordinate system and the electric power survey coordinate system is:

[0057]

[0058] Wherein, (x, y) are the coordinates of a point in the electric power survey coordinate system, (x', y') are the coordinates of the point in the Beidou system coordinate system, α is the rotation angle from the Beidou system coordinate system to the electric power survey coordinate system, m is the ratio of the unit length of the electric power survey coordinate system to the unit length of the Beidou system coordinate system, and (X0, Y0) are the coordinates of the origin of the Beidou system coordinate system in the electric power survey coordinate system.

[0059] Example 1

[0060] Please refer to Figure 1-8 , Embodiment 1 of the present invention is: a three-dimensional positioning device for electric power survey in which a total station and GNSS are coordinated, which can be applied to electric power survey projects.

[0061] like Figure 1As shown, it includes a shell 1, a GNSS antenna 2, a reflector 3, a GNSS receiving host (not shown in the figure) and a support 4. The shell 1 is arranged on the support 5. In this embodiment, the support 5 is a support rod, and the lower end of the shell 1 is spirally connected to the upper end of the support rod. The GNSS antenna 2 is arranged on the shell 1, and further, it is arranged at the top of the shell 1, that is, the side of the shell 1 away from the support 4. The GNSS receiving host is arranged in the shell 1, and the GNSS receiving host is connected to the feeder of the GNSS antenna 2 through a signal line. The GNSS antenna is used to search, track, and lock the GNSS navigation satellite signal for the GNSS receiving host. The GNSS receiving host can calculate the position information based on the GNSS navigation satellite signal. Preferably, the GNSS antenna 2 is located at the center of the top of the shell 1, and the GNSS antenna 2 uses a lightweight antenna material with a radius of less than 5 cm.

[0062] Furthermore, a horizontal platform 5 is horizontally provided on the support member 4. Preferably, the horizontal platform 5 is arranged in the middle of the support rod and is orthogonal to the support rod. A level 6 is provided on the horizontal platform 5. In this embodiment, the level 6 is a circular level.

[0063] Reflector 3 is provided on housing 1 and is used to receive the electromagnetic wave signals emitted by the total station and reflect them back. In this embodiment, an aiming aid mark (not shown) may be provided on housing 1 near reflector 3. For example, aiming aid lines may be drawn on the outer surface of the housing to facilitate subsequent aiming of the total station and improve aiming accuracy and efficiency.

[0064] In this embodiment, the reflector 3 is a reflective prism 31, which is embedded in the housing 1. Furthermore, the reflective prism 3 is located on the side of the housing 1, and one end surface of the reflective prism 31 close to the outside of the housing 1 is flush with the outer wall of the housing 1. Figure 2 As shown, the end of the reflecting prism 31 close to the interior of the housing 1 is provided with three mutually perpendicular sections, and the reflecting prism 31 passes through the vertex (i.e., the intersection of the three sections, i.e., Figure 2 The central axis of point S) is orthogonal to a vertical line passing through the geometric phase center of the GNSS antenna 2. This orthogonal point is also collinear with the geometric phase center of the GNSS antenna 2 and the axis of the support member 4. In this embodiment, the reflective prism is made of glass with a refractive index of 1.45-1.55, preferably 1.5.

[0065] Figure 3 shows the radial depth h of the reflecting prism. In this embodiment, R is the radius of the reflecting prism, which can ensure that the function of the reflecting prism can be realized. The specific derivation process is as follows:

[0066] Since one end of the reflecting prism is provided with three orthogonal facets, one end of the reflecting prism can be regarded as a tetrahedron, such as Figure 4 As shown, S is a vertex of the tetrahedron, AS⊥BS, BS⊥CS, SC⊥AS, and SA=SB=SC, △ABC is an equilateral triangle, that is, AC=CB=BA.

[0067] Figure 5 It is a top view of the tetrahedron part in the reflecting prism, and the circumcircle of △ABC is drawn in the top view. Among them, point O is the vertical projection point of the vertex S of the tetrahedron on plane ABC, so point O is the center of the circumcircle of the equilateral triangle ABC. Assuming that the radius of the circumcircle of △ABC is R, OA=OB=OC=R, draw OP⊥AB through O, then ∠OAP=30°, OP=(1 / 2)R,

[0068] Figure 6 is the side view of the tetrahedron, since therefore And since SA=SB, AS⊥BS, that is, △ABS is an equilateral right triangle, so According to the volume principle, we can get:

[0069]

[0070] Among them, V S-ABC is the volume of the tetrahedron, S SAC is the area of ​​△SAC, S ABC is the area of ​​△ABC, H is the height of the tetrahedron, that is, H=SO.

[0071] By reasoning and calculating the above formula, we can get

[0072] Figure 7 The cross-sectional view of the tetrahedron in the reflecting prism is the plane where SPO is located. Point M is the projection of the center O of the circumcircle of △ABC on the plane where circle M (the circle with point M as the center) is located. OP=(1 / 2)R,MD=R(MD is the radius of the reflecting prism), and according to the triangle similarity principle, we can get:

[0073]

[0074] Available but

[0075] From the above derivation, it can be obtained that in order to realize the function of the prism, the relationship between the radial depth h of the reflecting prism and its radius R is

[0076] That is, only when the radial depth h and its radius R satisfy the above relationship can it be ensured that three mutually perpendicular surfaces can be cut out on the reflecting prism, so that the reflecting prism can realize the function of receiving and reflecting the signal sent by the total station.

[0077] like Figure 8 As shown, the constant P of the reflecting prism is -(n-1)×h+d, where n is the refractive index of the material of the reflecting prism. In this embodiment, n is 1.45-1.55, preferably, n=1.5; h is the radial depth of the reflecting prism, and d is the distance between the vertex of the reflecting prism and the vertical line passing through the geometric phase center of the GNSS antenna.

[0078] In this embodiment, by integrating the total station reflector into the GNSS receiver, when subsequent three-dimensional positioning is performed, the plane coordinates of the measured point can be measured through the original GNSS antenna, and the elevation of the measured point can be measured through the total station free station setting method, thereby realizing a three-dimensional positioning integrated survey operation mode for the measured point.

[0079] Example 2

[0080] Please refer to Figure 9 This embodiment is another implementation of the three-dimensional positioning device for power survey in collaboration with the total station and GNSS of the first embodiment. The similarities are not repeated here. The difference is that, as shown in the figure, in this embodiment, the reflector 3 includes at least one total station reflector 32, and at least one total station reflector 32 is arranged around the shell 1 to form a reflective guard ring. The observation points of these total station reflectors 32 (i.e., the center points of the target marks on the total station reflectors) are located on the same plane, and the same plane is parallel to the horizontal plane where the geometric phase center of the GNSS antenna 2 is located.

[0081] Assuming the two planes differ by a fixed distance D, and the elevation of the total station reflector is Y (which can be obtained through total station trigonometric height measurement), the elevation of the GNSS antenna's geometric phase center is Z = Y + D, or Z = YD. The plane coordinates of the GNSS antenna's geometric phase center can be determined using GNSS satellite positioning technology and the conversion relationship between the GNSS antenna's instantaneous phase center, average phase center, and geometric phase center.

[0082] Furthermore, in other optional embodiments, the reflective element 3 also includes the reflective prism 31 described in Example 1, that is, it includes the reflective prism 31 and the total station reflective plate 32 at the same time, and the vertex of the reflective prism 31 and the observation point of the total station reflective plate 32 are located on the same plane, that is, the reflective prism 31 is located at a certain position of the reflective guard ring.

[0083] In this embodiment, a reflective guard ring composed of a total station reflector is provided on the housing of the GNSS receiver, so that the GNSS receiver can omnidirectionally receive and reflect electromagnetic wave signals emitted by the total station.

[0084] Example 3

[0085] Please refer to Figure 10-12 This embodiment is a three-dimensional positioning method of a three-dimensional positioning device for electric power survey based on the total station and GNSS cooperation of the above embodiment. Figure 10 As shown, the following steps are included:

[0086] S1: Set up three-dimensional positioning devices at the known point and the point to be measured respectively, and set up a total station at any point within the preset range of the known point and the point to be measured, that is, the total station is freely set up.

[0087] like Figure 11 As shown, the 3D positioning device for electric power survey described in the above embodiment is set up at a known point A and a target point B. The 3D positioning device at known point A serves as a base station, while the 3D positioning device at target point B serves as a rover. After setting up the base station, check the connections of the relevant equipment, including the base station's power supply connection, the base station's radio signal connection to the rover, and the rover's Bluetooth connection to the mobile controller. Then, set up a total station at a suitable arbitrary point K and level it.

[0088] S2: Obtain the normal height of the known point, and obtain the height from the reflector of the three-dimensional positioning device on the known point to the known point to obtain a first height, and obtain the height from the reflector of the three-dimensional positioning device on the point to be measured to the point to be measured to obtain a second height.

[0089] Specifically, the vertical height from the reflector in the three-dimensional positioning device at the known point to the known point can be measured by a tape measure as the first height V A Similarly, the vertical height from the reflector in the three-dimensional positioning device to the measured point is measured by a tape measure as the second height V B .

[0090] S3: Align the total station with the reflector of the three-dimensional positioning device at the known point to obtain the first slant distance and the first vertical angle. Figure 11 As shown, the first slant distance S A is the distance between the total station at point K and the reflector sighted in the three-dimensional positioning device at the known point (point A), the first vertical angle α A It is the angle between the horizontal direction (horizontal plane) and the line connecting the total station and the reflector being sighted in the three-dimensional positioning device at the known point.

[0091] S4: Align the total station with the reflector of the three-dimensional positioning device at the point to be measured to obtain the second slant distance and the second vertical angle. Figure 11 As shown, the second slant distance S B is the distance between the total station at point K and the reflector in the three-dimensional positioning device at the point to be measured (point B), and the second vertical angle α B It is the angle between the horizontal direction (horizontal plane) and the line connecting the total station and the reflector being sighted in the three-dimensional positioning device at the point to be measured.

[0092] When executing steps S3 and S4, keep the total station at point K.

[0093] S5: Calculate the normal height of the point to be measured based on the normal height, the first height, the second height, the first slant distance, the first vertical angle, the second slant distance, and the second vertical angle of the known point.

[0094] Specifically, in an optional embodiment, according to the first elevation calculation formula h B =h A +S B ·sinα B -S A ·sinα A +V A -V B , calculate the normal height h of the measured point B , where h A is the normal height of the known point A, S A is the first slope distance, α A is the first vertical angle, S B is the second slant distance, α B is the second vertical angle, V A is the first height, V B The second height.

[0095] In one embodiment, the reflectors in the three-dimensional positioning device at the known point and the point to be measured are placed at the same height, that is, V A =V B , then the normal height h of the measured point B =h A +S B ·sinα B -S A ·sinα A .

[0096] In another optional embodiment, according to the second elevation calculation formula h B =h A +S B ·sinα B -S A ·sinαA +[(1-k) / 2R 地 ][(S B ·cosα B ) 2 -(S A ·cosα A ) 2 ]+V A -V B , calculate the normal height h of the measured point B , where k is the atmospheric vertical refraction coefficient, that is, the ratio of the earth's curvature radius to the line of sight curvature radius, k = 0.14, R 地 The radius of the earth's curvature is generally 6371 km. By correcting the combined effects of atmospheric vertical refraction error, earth curvature error, and other factors on elevation measurement, the elevation measurement accuracy of the three-dimensional positioning device for power surveys can be improved.

[0097] S6: Determine the conversion relationship between the BeiDou system coordinate system and the electric power survey coordinate system.

[0098] Specifically, when the mobile station displays a fixed solution, the plane coordinates of at least two known points in the Beidou system coordinate system (the Beidou system in this embodiment uses the CGCS2000 coordinate system) are collected to determine the four transformation parameters of the CGCS2000 coordinate system relative to the power survey coordinate system: rotation parameter α, scale parameter m, and translation parameters X0 and Y0. The specific determination process is described as follows.

[0099] like Figure 12 As shown in the figure, O'-X'Y' is the CGCS2000 coordinate system (2000 National Geodetic Coordinate System) used by the BeiDou system, and O-XY is the power survey coordinate system. Assuming that the known point P i The coordinates in the CGCS2000 coordinate system are (x i ,y i ), the coordinates in the power survey coordinate system are (X i , Y i ), the coordinates of the origin O' of the CGCS2000 coordinate system in the electric power survey coordinate system are (X0, Y0), the rotation angle between the CGCS2000 coordinate system and the electric power survey coordinate system is α, and the scale parameter from the CGCS2000 coordinate system to the electric power survey coordinate system is m, then:

[0100]

[0101]

[0102]

[0103] Let a = mcosα-1, b = msinα, then:

[0104]

[0105]

[0106] make

[0107] Assume that there are n known points P, and the coordinates of these n known points in the power survey coordinate system are (X1, Y1), (X2, Y2), ..., (X n , Y n ), these n known points are (x1, y1), (x2, y2), ..., (x n ,y n ), then:

[0108]

[0109] Then V=BX-L, V is the correction matrix (if there is no error, V is a zero matrix). According to the least squares principle, the parameter solution should meet the condition V T V=min,we can get X=(B T B) -1 B T L, after solving X, we can get X0 and Y0, and at the same time get a and b, and then we can solve m and α. The calculation process is as follows:

[0110] because,

[0111] Transformed into:

[0112]

[0113] Right now:

[0114]

[0115] The transformation relationship between the CGCS2000 coordinate system and the electric power survey coordinate system is established by the rotation parameter α, scale parameter m, and translation parameters X0 and Y0:

[0116]

[0117] Among them, (x, y) are the coordinates of a point in the electric power survey coordinate system, (x', y') are the coordinates of the point in the CGCS2000 coordinate system, α is the rotation angle from the CGCS2000 coordinate system to the electric power survey coordinate system (rotation parameter), m is the ratio of the unit length of the electric power survey coordinate system to the unit length of the CGCS2000 coordinate system (scale parameter), and (X0, Y0) are the coordinates of the origin of the CGCS2000 coordinate system in the electric power survey coordinate system (translation parameter).

[0118] S7: Acquire the plane coordinates of the point to be measured in the Beidou system coordinate system through the three-dimensional positioning device on the point to be measured, and convert the plane coordinates of the point to be measured in the power survey coordinate system according to the conversion relationship.

[0119] That is, the plane coordinates of the measured point in the CGCS2000 coordinate system are obtained through the GNSS antenna and GNSS receiving host in the three-dimensional positioning device on the measured point, and then the plane coordinates in the CGCS2000 coordinate system are converted into the plane coordinates in the power survey coordinate system through the conversion relationship in step S6.

[0120] Furthermore, in the above steps, step S1 and step S6 may be executed in any order, and steps S2-S5 and step S7 may be executed in any order.

[0121] This embodiment sets up GNSS receivers with integrated total station reflectors at known points and points to be measured, sets the receiver at the known point to base station mode, and sets the receiver at the point to be measured to rover mode, measures the plane coordinates of the known point and the point to be measured by the RTK measurement method of the receiver, and calculates the elevation of the point to be measured from the elevation of the known point by using the method of free station setting of the total station. Thus, the elevation of the point to be measured can be measured at the same time as the plane coordinates of the point to be measured are measured using the receiver, thereby overcoming the disadvantage that the elevation measurement accuracy of the GNSS receiver cannot meet the requirements of power engineering survey.

[0122] In summary, the present invention provides a three-dimensional positioning device and method for electric power survey that cooperates with a total station and GNSS. It combines the advantages of GNSS technology in plane coordinate measurement, such as speed, simplicity, and high precision, and uses the total station's trigonometric height measurement method to compensate for its low height measurement accuracy. By integrating the total station's reflector into the GNSS receiver, the GNSS technology's method of obtaining the three-dimensional coordinates of the measured point (plane coordinates + geoid height) is changed to obtaining 2+1-dimensional coordinates, that is, the GNSS receiver uses the RTK method to obtain the plane coordinates, and the total station uses the trigonometric height measurement method to obtain the normal height, thereby realizing an integrated survey operation mode of collaborative three-dimensional positioning of the total station and GNSS.

[0123] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A three-dimensional positioning device for power survey using a total station and GNSS, characterized in that: It includes a housing, a GNSS antenna and a reflector, wherein the reflector includes a reflective prism; The GNSS antenna is arranged on the housing; the reflecting prism is embedded in the housing, and the reflecting prism has three mutually perpendicular sections at one end close to the interior of the housing, and the central axis of the reflecting prism passing through the vertex is perpendicular to the vertical line passing through the geometric phase center of the GNSS antenna; the reflecting prism is made of glass with a refractive index of 1.45 to 1.55, and the radial depth of the reflecting prism is greater than or equal to times the radius of the reflecting prism, the constant P of the reflecting prism = -(n-1)×h+d, n is the refractive index of the material of the reflecting prism, h is the radial depth of the reflecting prism, and d is the distance between the vertex of the reflecting prism and the vertical line passing through the geometric phase center of the GNSS antenna.

2. The three-dimensional positioning device for electric power survey using a total station and GNSS according to claim 1, characterized in that: The reflector also includes at least one total station reflector, the vertex of the reflective prism and the observation point of the total station reflector are located on the same plane, the at least one total station reflector is arranged around the shell, the observation point of the at least one total station reflector is located on the same plane, and the same plane is parallel to the horizontal plane where the geometric phase center of the GNSS antenna is located.

3. The three-dimensional positioning device for electric power survey using a total station and GNSS according to claim 1, characterized in that: It also includes a GNSS receiving host, which is arranged in the shell and connected to the GNSS antenna.

4. The three-dimensional positioning device for electric power survey using a total station and GNSS according to claim 1, characterized in that: It also includes a support member, and the shell is arranged on the support member.

5. The three-dimensional positioning device for electric power survey using a total station and GNSS according to claim 4, characterized in that: It also includes a horizontal platform and a leveler. The horizontal platform is horizontally arranged on the support member, and the leveler is arranged on the horizontal platform.

6. A three-dimensional positioning method for electric power survey three-dimensional positioning device based on the total station and GNSS collaboration according to any one of claims 1 to 5, characterized in that: include: Setting up the three-dimensional positioning device at the known point and the point to be measured respectively, and setting up a total station at any point within a preset range of the known point and the point to be measured; Obtaining the normal height of the known point, and obtaining the height from the reflector of the three-dimensional positioning device on the known point to the known point to obtain a first height, and obtaining the height from the reflector of the three-dimensional positioning device on the point to be measured to the point to be measured to obtain a second height; Sighting the total station at a reflective element of a three-dimensional positioning device at a known point, obtaining a first slant distance and a first vertical angle, wherein the first slant distance is the distance between the total station and the reflective element of the three-dimensional positioning device at the known point, and the first vertical angle is the angle between a line connecting the total station and the reflective element of the three-dimensional positioning device at the known point and a horizontal direction; Sighting the total station at the reflective element of the three-dimensional positioning device at the point to be measured, obtaining a second slant distance and a second vertical angle, wherein the second slant distance is the distance between the total station and the reflective element of the three-dimensional positioning device at the point to be measured, and the second vertical angle is the angle between a line connecting the total station and the reflective element of the three-dimensional positioning device at the point to be measured and a horizontal direction; Calculate the normal height of the point to be measured according to the normal height, the first height, the second height, the first slant distance, the first vertical angle, the second slant distance and the second vertical angle of the known point, The calculation of the normal height of the point to be measured based on the normal height, the first height, the second height, the first slant distance, the first vertical angle, the second slant distance, and the second vertical angle of the known point is specifically as follows: The normal height of the measured point is calculated according to the second height calculation formula. The second height calculation formula is h B =h A +S B ∙sinα B -S A ∙sinα A +[(1-k) / 2R 地 ][(S B ∙cosα B ) 2 -(S A ∙cosα A ) 2 ]+V A -V B , where k is the atmospheric vertical refraction coefficient, R 地 is the radius of curvature of the Earth, h B is the normal height of the measured point B, h A is the normal height of the known point A, S A is the first slope distance, α A is the first vertical angle, S B is the second slant distance, α B is the second vertical angle, V A is the first height, V B The second height.

7. The three-dimensional positioning method according to claim 6, characterized in that: Also includes: Determine the conversion relationship between the BeiDou system coordinate system and the electric power survey coordinate system. The conversion relationship between the BeiDou system coordinate system and the electric power survey coordinate system is: Wherein, (x, y) are the coordinates of a point in the electric power survey coordinate system, (x', y') are the coordinates of the point in the Beidou coordinate system, α is the rotation angle from the Beidou coordinate system to the electric power survey coordinate system, m is the ratio of the unit length of the electric power survey coordinate system to the unit length of the Beidou coordinate system, and (x0, y0) are the coordinates of the origin of the Beidou coordinate system in the electric power survey coordinate system; The plane coordinates of the point to be measured in the Beidou system coordinate system are obtained by a three-dimensional positioning device on the point to be measured, and the plane coordinates of the point to be measured in the electric power survey coordinate system are obtained by conversion according to the conversion relationship.

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