An RTK-based automatic measurement method

Abstract

The present invention discloses an automatic measurement method based on RTK, which includes the following steps: S1: Connect the mobile terminal and the RTK device; S2: Place the RTK device at the first measurement point to be measured in the area to be measured, collect the coordinates of the first measurement point to be measured, and transmit them to the mobile terminal; S3: The RTK device determines whether it is in the fixed solution working state according to the coordinate fluctuation. If it is the mobile terminal, the coordinates in this state are recorded and marked for the first time to obtain the fixed solution coordinate set W; S4: The mobile terminal calculates the coordinate difference P between two adjacent coordinates according to the fixed solution coordinate set W, and compares the coordinate difference P with the preset threshold K. If P < K, it means that the coordinates of the measurement point to be measured are normal, and S5 is entered; if P ≥ K, it means that the coordinates of the measurement point to be measured are abnormal; S5: The mobile terminal completes the dotting of the first measurement point to be measured according to the last coordinate in the coordinate set W; S6: Move the RTK device to the next measurement point to be measured, and repeat S2-S5 until the dotting of all measurement points to be measured is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic measurement, and particularly relates to an automatic measurement method based on RTK. Background Art

[0002] Measurement is to describe the observed phenomenon with data according to a certain rule, that is, to make a quantitative description of things, which is a quantization process of non-quantitative entities. In mechanical engineering, measurement refers to the experimental recognition process of comparing the measured quantity with a standard quantity with a measurement unit in terms of numerical value, so as to determine the ratio of the two. Measurement is actually a comparison process, that is, a comparison between the measured physical quantity and the standard quantity.

[0003] When conducting field measurements, common measurement methods include GPS measurement, level measurement, RTK measurement, etc. In GPS measurement, such as static, fast static, and dynamic measurements, post-processing is required to obtain centimeter-level accuracy; RTK measurement is a measurement method that can obtain centimeter-level positioning accuracy in the field in real time, and its emergence has greatly improved the field operation efficiency.

[0004] Under the operating conditions of traditional RTK measurement, the operator needs to operate the RTK to complete bubble calibration and operate the hand-held terminal to complete coordinate acquisition work at the same time. When the field measurement task is large, the above steps need to be completed for each acquisition, which is very time-consuming and laborious for users and results in reduced measurement efficiency. Summary of the Invention

[0005] Aiming at the problems of complex RTK measurement operation and reduced efficiency during field operations in the prior art, the present invention proposes an automatic measurement method based on RTK, which automatically adjusts to a fixed solution by identifying the working state of the RTK, thereby reducing the operation difficulty and improving the measurement efficiency and accuracy.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] An automatic measurement method based on RTK, comprising the following steps:

[0008] S1: Connect the mobile terminal and the RTK device;

[0009] S2: Place the RTK device at the first measurement point to be measured in the area to be measured, collect the coordinates of the first measurement point, and transmit them to the mobile terminal;

[0010] S3: The RTK device determines whether it is in the fixed solution working state according to the coordinate fluctuation. If it is, the mobile terminal records the coordinates of this state and makes a first mark to obtain the fixed solution coordinate set W;

[0011] S4: The mobile terminal calculates the coordinate difference P between two adjacent coordinates according to the fixed solution coordinate set W, and compares the coordinate difference P with a preset threshold K. If P < K, it indicates that the coordinate of the point to be measured is normal, and it proceeds to S5; if P ≥ K, it indicates that the coordinate of the point to be measured is abnormal.

[0012] S5: The mobile terminal completes the dotting of the first point to be measured according to the last coordinate in the coordinate set W.

[0013] S6: Move the RTK device to the next point to be measured, and repeat S2 - S5 until the dotting of all points to be measured is completed.

[0014] Preferably, in S1, the mobile terminal and the RTK device are connected via Bluetooth.

[0015] Preferably, in S1, the mobile terminal includes a tablet, a mobile phone, and a laptop computer.

[0016] Preferably, in S2, the acquisition frequency of the RTK device is once per second; the coordinate set W = {(x 11 , y 11 ), (x 12 , y 12 ),..., (x 1n , y 1n )}, where x 1n represents the abscissa of the first point to be measured at the nth moment, and y 1n represents the ordinate of the first point to be measured at the nth moment.

[0017] Preferably, in S3, when the coordinate fluctuation is less than or equal to the preset fluctuation value, it indicates that the RTK device is in the fixed solution working state; when the coordinate fluctuation in the first piece of information is greater than the preset fluctuation value, it indicates that the RTK device is not in the fixed solution working state.

[0018] Preferably, in S4, the calculation formula for the coordinate difference P is as follows:

[0019]

[0020] In formula (1), x 1n represents the abscissa of the first point to be measured at the nth moment, and y 1n represents the ordinate of the first point to be measured at the nth moment; x 1n-1 represents the abscissa of the first point to be measured at the (n - 1)th moment, and y 1n-1 represents the ordinate of the first point to be measured at the (n - 1)th moment.

[0021] Preferably, in step S6, before dotting the next point to be measured, calculate the distance between the coordinates of the next point to be measured and the previous point to be measured. If the distance between the two points to be measured is less than the preset distance, it is determined that the position has not moved, and the user is prompted to move the RTK device; if the distance between the two points to be measured is greater than or equal to the preset distance, it is determined that the RTK device has reached the next point.

[0022] Preferably, the preset distance is 10 cm.

[0023] In summary, due to the adoption of the above technical solution, compared with the prior art, the present invention has at least the following beneficial effects:

[0024] The present invention identifies the working state of the RTK through the coordinate information of the points to be measured, and automatically adjusts it to the fixed solution working state, reducing the operation difficulty and improving the measurement accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of an automatic measurement method based on RTK according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The present invention will be further described in detail below in conjunction with the embodiments and the specific implementation manners. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following embodiments. All technologies implemented based on the content of the present invention belong to the scope of the present invention.

[0027] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0028] As Figure 1 shown, the present invention provides an automatic measurement method based on RTK, which specifically includes the following steps:

[0029] S1: Connect the mobile terminal and the RTK device (for example, through Bluetooth connection), and adjust the working state of the RTK device.

[0030] RTK (Real-time kinematic) carrier phase differential technology is a differential method for real-time processing of carrier phase observations of two measurement stations. By sending the carrier phase collected by the reference station to the mobile terminal, the coordinates are obtained by differential calculation.

[0031] The RTK device has four working states, including single-point solution, differential solution, floating-point solution and fixed solution.

[0032] Single-point solution: When the RTK device is working, the mobile terminal and the base station cannot communicate with each other. Only the mobile terminal is working, and generally no data is displayed.

[0033] Differential analysis: There is a signal, but due to various reasons, such as too few satellites or poor position of the mobile station, the accuracy of the intersection data is very low, usually with a deviation of several meters or ten to twenty meters.

[0034] Floating point solution: It has higher accuracy than single point solution, and sometimes can barely reach an accuracy of less than 10CM. This accuracy can also be used if measuring fish ponds or mountains.

[0035] Fixed solution: The measurement accuracy is the highest, and the accuracy is generally 3-5cm. It can basically be used as a basic point, and can also be used directly for layout.

[0036] In this embodiment, the mobile terminal includes a tablet, a mobile phone, a laptop computer, etc.

[0037] S2: Place the RTK device at the first point to be measured in the area to be measured, collect the coordinates of the first point to be measured, and send them to the mobile terminal.

[0038] In this embodiment, the RTK device also sends the power and the acquired differential information to the mobile terminal. The acquisition frequency of the RTK device is once per second.

[0039] In this embodiment, RTK is a complete and mature surveying and mapping software; when the RTK device is placed at a position, it will automatically read the coordinates of the current position. It is only because of the accuracy of the satellite signal that there are multiple working states, that is, the coordinates of multiple working states will be transmitted back to the mobile terminal.

[0040] S3: The RTK device determines whether it is in a fixed solution working state according to the coordinate fluctuation. If it is a mobile terminal, the coordinates of this state are recorded and first marked to obtain a fixed solution coordinate set W. If not, the coordinates of other states are marked accordingly.

[0041] In this embodiment, when the coordinate fluctuation (obtained by the RTK device, which is a prior art) is less than or equal to a preset fluctuation value, it indicates that the RTK device is in a fixed solution working state; when the coordinate fluctuation in the first information is greater than the preset fluctuation value, it indicates that the RTK device is not in a fixed solution working state, and coordinates continue to be collected;

[0042] After the mobile terminal receives that the RTK device is in the fixed solution working state, it records the transmitted coordinates and makes a first mark (for example, the coordinates in the fixed solution working state can be displayed in green, and the coordinates in the single point solution working state can be displayed in red), obtaining the fixed solution coordinate set W, W = {(x 11 , y 11 ), (x 12 , y 12 ),..., (x 1n , y 1n ), where x 1n represents the abscissa of the first measurement point at the nth moment, and y 1n represents the ordinate of the first measurement point at the nth moment.

[0043] In order to provide measurement accuracy in the present invention, when the RTK device is in the fixed solution working state, the coordinate set W is considered normal.

[0044] S4: Calculate the coordinate difference P between two adjacent coordinates according to the coordinate set W, and compare the coordinate difference P with a preset threshold K (for example, 10 cm). If P < K, it means that the coordinates of the measurement point are normal, and go to S5; if P ≥ K, it means that the coordinates of the measurement point are abnormal, then take the next point as the first point and recalculate the difference.

[0045] The calculation formula for the coordinate difference is as follows:

[0046]

[0047] In formula (1), x 1n represents the abscissa of the first measurement point at the nth moment, and y 1n represents the ordinate of the first measurement point at the nth moment; x 1n-1 represents the abscissa of the first measurement point at the (n - 1)th moment, and y 1n-1 represents the ordinate of the first measurement point at the (n - 1)th moment.

[0048] S5: The mobile terminal completes the dotting of the measurement point according to the last coordinate in the coordinate set W.

[0049] S6: Move the RTK device to the next measurement point, and repeat S2 - S5 until the dotting of all measurement points is completed.

[0050] In this embodiment, before dotting the next measurement point, calculate the distance between the coordinates of the next measurement point and the previous measurement point. If the distance between the two measurement points is less than the preset distance (for example, 10 cm), it is determined that the position has not moved, and the user is prompted to move the RTK device. If the distance between the two measurement points is greater than or equal to the preset distance (for example, 10 cm), it is determined that the user has reached the next point.

[0051] Those of ordinary skill in the art can understand that the above-described embodiments are specific examples for implementing the present invention, and in actual applications, various changes can be made to them in form and details without departing from the spirit and scope of the present invention.

Claims

1. An RTK-based automatic measurement method, characterized in that, It includes the following steps: S1: Connect the mobile terminal and the RTK device; S2: Place the RTK device at the first measurement point in the area to be measured, collect the coordinates of the first measurement point, and transmit them to the mobile terminal; S3: The RTK device determines whether it is in the fixed solution working state according to the coordinate fluctuation. If it is a mobile terminal, record the coordinates in this state and make the first mark to obtain the fixed solution coordinate set W; S4: The mobile terminal calculates the coordinate difference P between two adjacent coordinates according to the fixed solution coordinate set W, and compares the coordinate difference P with the preset threshold K. If P < K, it means that the coordinates of this measurement point are normal and proceed to S5; if P ≥ K, it means that the coordinates of this measurement point are abnormal; S5: The mobile terminal completes the dotting of the first measurement point according to the last coordinate in the coordinate set W; S6: Move the RTK device to the next measurement point and repeat S2 - S5 until the dotting of all measurement points is completed.

2. The automatic measurement method based on RTK according to claim 1, characterized in that, In S1, the mobile terminal and the RTK device are connected via Bluetooth.

3. The automatic measurement method based on RTK according to claim 1, characterized in that, In S1, the mobile terminal includes a tablet, a mobile phone, and a laptop.

4. The automatic measurement method based on RTK according to claim 1, characterized in that, In the step S2, the acquisition frequency of the RTK device is once per second; the coordinate set W = {(x 11 , y 11 ), (x 12 , y 12 ),..., (x 1n , y 1n )}, where x 1n represents the abscissa of the first measurement point at the nth moment, and y 1n represents the ordinate of the first measurement point at the nth moment.

5. A RTK-based automatic measurement method according to claim 1, characterized in that, In S3, when the coordinate fluctuation is less than or equal to the preset fluctuation value, it indicates that the RTK device is in the fixed solution working state; When the coordinate fluctuation in the first information is greater than the preset fluctuation value, it indicates that the RTK device is not in the fixed solution working state.

6. The automatic measurement method based on RTK according to claim 1, wherein, In S4, the calculation formula for the coordinate difference P is as follows: In formula (1), x 1n represents the abscissa of the first measurement point at the nth moment, and y 1n represents the ordinate of the first measurement point at the nth moment; x 1n-1 represents the abscissa of the first measurement point at the (n - 1)th moment, and y 1n-1 represents the ordinate of the first measurement point at the (n - 1)th moment.

7. The automatic measurement method based on RTK according to claim 1, characterized in that, In S6, before dotting the next measurement point, calculate the distance between the coordinates of the next measurement point and the previous measurement point. If the distance between the two measurement points is less than the preset distance, it is judged that the position has not moved, and the user is prompted to move the RTK device; if the distance between the two measurement points is greater than or equal to the preset distance, it is judged that the RTK device has reached the next point.

8. The automatic measurement method based on RTK according to claim 7, characterized in that, The preset distance is 10 cm.

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