High-precision digital traffic pile equipment based on RTK and AR technologies

Abstract

The invention, which relates to the technical field of electric power engineering, discloses a high-precision digital traffic pile device based on RTK and AR technologies, comprising an RTK positioning module, a pose estimation module, a fusion positioning module, an augmented reality module and a data interaction module. According to the invention, through the RTK positioning module and the pose estimation module, the equipment can realize centimeter-level precise positioning of a pile position, and positioning errors in a traditional method are avoided; the situations of pile position loss and repeated pile crossing in the traditional pile crossing process can be obviously improved through the fusion positioning module, and the construction efficiency is improved; on-site image acquisition and live-action fusion of a pile position can be completed through the augmented reality module, and a virtual pile position is displayed in a real scene, so that a constructor is helped to work more intuitively; and data transmission and interaction between the equipment and other systems are realized through the data interaction module, so that the working efficiency and accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power engineering, and in particular to a high-precision digital handover equipment based on RTK and AR technologies. Background Art

[0002] In the construction of transmission line towers, the design unit first needs to explain the tower location to the construction unit (i.e., hand over the piles), and then the construction unit will carry out the tower foundation construction and later tower assembly work at this location. This requires the design unit to first determine the precise pile location.

[0003] At present, most power design units use the on-site cross-pile positioning method. This method requires the transmission line survey and design personnel and construction personnel to arrive at the location of each tower on site. The survey and design personnel use GPS measuring instruments to identify the tower location on site, and then the construction personnel mark the location with positioning piles. Usually, the positioning piles are made of wooden strips or steel bars. However, this method can easily cause the problem of frequent loss of on-site piles. This problem seems small, but it reflects many difficulties in the construction of current power transmission and transformation projects, including:

[0004] Firstly, if the pile is lost, the tower base needs to be repeatedly redeployed, which not only prolongs the operation cycle but also increases the survey cost.

[0005] Based on in-depth analysis, the main reasons for the above problems include:

[0006] 1) The physical pile position is easily damaged by the outside world, resulting in repeated pile crossing. Positioning piles are solid piles such as wooden piles and steel bars, and are often erected on farmland and on both sides of roads. If the piles are erected at this location, they are easily crushed by passing vehicles in the later stage, causing the position of the positioning piles to shift or even be damaged. In particular, when the positioning piles are damaged by external forces and shifted, but no signs of external force damage can be observed on site, construction workers tend to subjectively believe that the positioning piles have not been damaged by external forces and have not shifted. If the pole tower is constructed based on this pile, positioning errors will occur. 2)

[0008] It is impossible to accurately locate in the early stage of design, and the pile position deviation is large in the construction drawing stage. When survey and design personnel use GPS measuring instruments for layout, large errors may occur due to reasons such as GPS signal strength and instrument sensitivity.

[0009] The Chinese patent with the authorization announcement number CN201440269U discloses an electronic virtual pile-crossing system, which is characterized by: comprising a virtual map generation part, a pile position coordinate processing part, a pile position map synthesis module and a virtual pile-crossing map output interface; the virtual map generation part is used to generate a synthetic three-dimensional map through aerial photography data; the pile position coordinate processing part corrects the pile position coordinate data and sends the corrected pile position coordinate data to the pile position map synthesis module; the pile position map synthesis module synthesizes the synthetic three-dimensional map input by the virtual map generation part and the pile position coordinate processing part and the corrected pile position coordinate data to generate a virtual pile-crossing map. The electronic virtual pile-crossing system only needs to obtain aerial photography data through aerial photography technology, and then generate a three-dimensional map through relevant data processing technology, and mark the corresponding pile position on the three-dimensional map to complete the pile-crossing work. Although the electronic virtual pile exchange system developed by the above technology can generate a three-dimensional map and process the pile position coordinates, it cannot achieve centimeter-level precision positioning of the pile position. In addition, the electronic virtual pile exchange system developed by the above technology lacks real-time data upload and download, and cannot transmit and interact with other systems, which has very limited improvement in actual construction efficiency. Therefore, further developing a high-precision digital pile exchange device that can replace the existing physical pile positions, effectively improve the accuracy of early project positioning, reduce the number of on-site pile exchanges, and improve on-site survey efficiency has become an inevitable trend in technological development. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide a high-precision digital stake exchange equipment based on RTK and AR technology, so as to replace the existing physical stake positions, effectively improve the accuracy of early project positioning, reduce the number of on-site stake exchanges, and improve on-site survey efficiency.

[0011] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0012] A high-precision digital handover device based on RTK and AR technology includes an RTK positioning module, a posture estimation module, a fusion positioning module, an augmented reality module and a data interaction module.

[0013] Further preferably, the RTK positioning module adopts GPS-RTK technology or network RTK technology, the pose estimation module adopts visual SLAM or visual inertial SLAM technology, the fusion positioning module utilizes extended Kalman filter or unscented Kalman filter technology, the augmented reality module adopts natural feature tracking and registration technology or hybrid tracking and registration technology, and the data interaction module adopts RESTfulAPI or GraphOL or WebSocket technology.

[0014] Further preferably, the RTK positioning module adopts network RTK technology, that is, a network RTK positioning module; the pose estimation module adopts visual inertial SLAM technology, that is, a visual inertial SLAM pose estimation module; the fusion positioning module utilizes unscented Kalman filter technology, that is, an unscented Kalman filter fusion positioning module; the augmented reality module adopts hybrid tracking and registration technology, that is, an augmented reality module with hybrid tracking and registration; the data interaction module adopts WebSocket technology, that is, a WebSocket data interaction module.

[0015] Further preferably, the network RTK positioning module includes: a GNSS board module, a communication interface module, an appearance design module, and a positioning accuracy test module;

[0016] The GNSS board module includes a GNSS board and a positioning module. The GNSS board carries an inertial measurement unit (IMU) and receives satellite signals and global navigation satellite positioning data through an input interface of the GNSS board. The positioning module is designed according to the GNSS board.

[0017] The communication interface module includes a data interface, Bluetooth, a communication module, data feedback, a data protocol, a button and an indicator light. The communication interface module transmits the positioning data to other modules;

[0018] The appearance design module designs a network RTK positioning module device with an IMU unit according to the performance indicators of the GNSS board module, the hardware system of the communication interface module and the communication serial port, the size and weight and other parameters, and forms an integrated body with the mobile device;

[0019] The positioning accuracy test module verifies the plane accuracy, elevation accuracy and angle accuracy output by the GNSS board module, where the plane accuracy must be ≤2cm, the elevation accuracy must be ≤2cm, and the angle accuracy must be ≤0.5°.

[0020] Further preferably, the visual inertial SLAM pose estimation module includes: a feature point extraction and matching module, a visual inertial odometer design module, a pose estimation module code writing module, and a pose accuracy testing module;

[0021] The feature point extraction and matching module includes: using the camera of an Android tablet as an image input source, calibrating the internal and external parameters of the camera to obtain the camera's internal and external parameter matrices; using the open source ORB-SLAM2 algorithm, divided into three threads: position tracking, mapping and loop detection, and completing the positioning and mapping functions through the System thread;

[0022] The visual inertial odometry design module includes: using a tightly coupled optimization method to jointly estimate state quantities using visual and IMU data to design a visual inertial odometry system; when the visual inertial odometry system is working, firstly all images and IMU information between two adjacent key frames are obtained, then the IMU data is pre-integrated, feature tracking and motion estimation are performed on the visual data, and finally the IMU information and visual information are jointly optimized to obtain a more accurate estimation result;

[0023] The pose estimation module code writing module includes converting the algorithm into an executable program to implement the specific logic of the pose estimation algorithm;

[0024] The posture accuracy test module includes linear movement and in-situ rotation tests on the visual inertial SLAM posture estimation module, accumulating absolute error, relative translation error mean and relative rotation error mean, wherein the relative translation error mean must be ≤2cm, and the relative rotation error mean must be ≤2°, to test and verify the performance of the posture estimation module.

[0025] Further preferably, the unscented Kalman filter fusion positioning module includes: a synchronization preprocessing module, a fusion positioning algorithm framework module based on the unscented Kalman filter technology, a fusion positioning module code writing module, and a fusion positioning accuracy testing module;

[0026] The synchronization preprocessing module includes: synchronizing the time of the solving devices of the network RTK positioning module and the visual inertial SLAM pose estimation module, adding time tags to the output data of the visual inertial SLAM pose estimation module and the network RTK positioning module, and converting the camera coordinate system of ORB-SLAM2 to the world coordinate system of the network RTK positioning module through coordinate system conversion to provide consistent data for fusion positioning;

[0027] The fusion positioning algorithm framework module based on the unscented Kalman filter technology includes: using the absolute position information provided by the network RTK positioning module, fusing the local relative positioning result of the visual inertial SLAM pose estimation module, and correcting the absolute position of the camera;

[0028] The fusion positioning module code writing module includes: writing program code to implement the fusion positioning algorithm by fusion network RTK positioning module and visual inertial SLAM pose estimation module through unscented Kalman filter positioning;

[0029] The fusion positioning accuracy test module includes: performing a fusion positioning accuracy test on the established network RTK positioning module, the visual inertial SLAM pose estimation module, and the fusion positioning module that integrates the data of the two, wherein the fusion positioning accuracy test includes testing the real-time positioning error and the accuracy improvement statistical value, wherein the accuracy improvement statistical value must be ≥50%; testing the resource occupancy rate during the operation of the fusion positioning test, including testing the average CPU and memory occupancy rates, wherein the average CPU and memory occupancy rates must be ≤30%, to verify the performance of the unscented Kalman filter fusion positioning module.

[0030] Further preferably, the hybrid tracking and registered augmented reality module includes: an AR development environment and resource preparation module, a system underlying framework design and implementation module, and an AR virtual pile rendering effect test module;

[0031] The AR development environment and resource preparation module includes: installing and setting up the development environment, preparing necessary model resources and hardware, and providing a basic environment for the development and testing of the AR module;

[0032] The system bottom framework design and implementation module includes: designing and writing code to implement the bottom framework of the system, including the following steps: ARCore configuration, CROSRTK positioning module integration, visual inertial SLAM pose estimation module integration, and vision + IMU + GNSS fusion positioning module integration;

[0033] The AR virtual pile rendering effect test module includes: performing a virtual pile test evaluation outdoors, testing the time taken to generate a virtual pile model and the maximum trackable inclination angle of the model, wherein the time taken to generate a virtual pile model must be ≤1s, and the maximum trackable inclination angle of the model must be ≥60°, to verify the rendering effect and tracking capability of the AR module.

[0034] Further preferably, the WebSocket data interaction module includes: a development environment configuration module, a WebSocket management class encapsulation module, a data interaction function module development module, and a pile position coordinate data storage test module;

[0035] The development environment configuration module includes: using the WebSocketSharp library to configure the development environment and provide necessary software support for data interaction;

[0036] The encapsulation module of the WebSocket management class includes: encapsulating a class for managing WebSocket connections and events, creating a WebSocketManager management class for managing WebSocket connections and events, and this management class cooperates with the main class for managing AR scenes, and is called by various functional modules of the system to implement the data interaction function of the system;

[0037] The data interaction function module development module includes: developing function modules for data transmission and communication. The system data interaction module development adopts parameterized and modular development methods. Parameterization is used to standardize the data specifications and handshake protocols between various functions, and modularization is used to reduce the low coupling of system functions.

[0038] The pile position coordinate data storage test module includes: collecting pile position coordinate data and testing the storage rate of each project, testing the rate average and the concurrency success rate, the rate average includes the downlink rate average and the uplink rate average, the downlink rate average and the uplink rate average both need to be ≥10mbps, the concurrency success rate includes the downlink concurrency success rate and the uplink concurrency success rate, the downlink concurrency success rate and the uplink concurrency success rate both need to be ≥99%, ensuring that the data interaction module meets the performance requirements.

[0039] The beneficial effects of adopting the above technical scheme are as follows: the present invention enables the equipment to achieve centimeter-level precise positioning of the pile position through the RTK positioning module and the posture estimation module, avoiding the positioning error in the traditional method; the fusion positioning module can significantly improve the situation of pile position loss and repeated pile exchange in the traditional pile exchange process, thereby improving the construction efficiency; the augmented reality module can complete the real-scene fusion of on-site image acquisition and pile position, and display the virtual pile position in the real scene, helping construction personnel to work more intuitively; the data interaction module realizes data transmission and interaction between the equipment and other systems, thereby improving work efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is the overall scheme diagram of the digital pile crossing instrument for power transmission line engineering based on motion tracking + three-dimensional registration technology of the present invention;

[0041] Figure 2 It is the overall scheme of the present invention and the reference relationship diagram;

[0042] Figure 3 It is a flowchart of the ORB-SLAM2 algorithm of the feature point extraction and matching module in the visual inertial SLAM pose estimation module of the present invention;

[0043] Figure 4 It is a VIO system block diagram of the visual inertial odometer design module in the visual inertial SLAM pose estimation module of the present invention;

[0044] Figure 5 It is a VIO system workflow diagram of the visual inertial odometer design module in the visual inertial SLAM pose estimation module of the present invention;

[0045] Figure 6 It is a flow chart of synchronization preprocessing in the unscented Kalman filter fusion positioning module of the present invention;

[0046] Figure 7 It is a framework diagram of a fusion positioning algorithm based on UKF in the unscented Kalman filter fusion positioning module of the present invention;

[0047] Figure 8 It is a virtual pile rendering effect diagram when the AR virtual pile rendering effect test module in the augmented reality module of the hybrid tracking registration of the present invention performs a virtual pile setting test outdoors;

[0048] Fig. 9 This is a virtual pile position presentation diagram of the user interface of an embodiment of the present invention;

[0049] Fig.10 It is a principle diagram of the mathematical model of coordinate transformation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the features and advantages of the present invention more obvious and easy to understand, the technical solution will be clearly and completely described below in combination with the drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0051] As an important part of the power grid construction process, pile exchange involves many key factors and is directly related to the completion and commissioning of the power grid project and the reliable supply of electric energy. Zhejiang Province builds about 5,000 power poles and towers with voltage levels of 35kV and above every year. These towers need to be accurately piled, which is a huge project.

[0052] In order to improve the success rate of handover, our invention team has developed a high-precision digital handover equipment based on RTK and AR technology, including RTK positioning module, pose estimation module, fusion positioning module, augmented reality module and data interaction module.

[0053] Example 1

[0054] The demand source for the invention team to develop this equipment is that the number of pile crossings n of the "Jiaxing Lianyue-Airport 110kV Line Project" is 30, and it is hoped that the first pile crossing success rate of the 30 power towers in this project can be increased to 95%.

[0055] According to the statistics of the team, the first-time cross-pile success rate K cross-pile of the physical cross-pile positioning method of the "Jiaxing Lianyue-Airport 110kV Line Project" is 55.6%, see Table 1 for details.

[0056] Table 1

[0057]

[0058] The existing physical cross-pile positioning method can no longer meet the demand, so the team of the present invention proposed whether it is possible to innovate the cross-pile method to meet the needs of the "Jiaxing Lianyue-Airport 110kV Line Project".

[0059] The present invention team draws on the motion tracking technology + 3D registration technology of AR navigation devices and decomposes them according to the needs, as shown in Table 2. The high-precision digital cross-stake equipment is decomposed into 5 modules: RTK positioning module, posture estimation module, fusion positioning module, augmented reality module, and data interaction module. The overall plan is as follows Figure 1 As shown, the relationship with the reference is as follows Figure 2 shown.

[0060] Table 2

[0061]

[0062]

[0063] The overall solution breakdown is shown in Table 3.

[0064] Table 3

[0065]

[0066] The selection of RTK positioning module is shown in Table 4:

[0067] Table 4

[0068]

[0069]

[0070]

[0071] The selection of pose estimation modules is shown in Table 5:

[0072] Table 5

[0073]

[0074]

[0075] The selection of fusion positioning modules is shown in Table 6:

[0076] Table 6

[0077]

[0078] The selection of augmented reality modules is shown in Table 7:

[0079] Table 7

[0080]

[0081] The selection of data interaction modules is shown in Table 8:

[0082] Table 8

[0083]

[0084]

[0085] Through comparative analysis of relevant parameters and advantages and disadvantages, it is finally determined that the further preferred solutions for each module of the high-precision digital handover equipment based on RTK and AR technology are: network RTK positioning module, visual inertial SLAM pose estimation module, unscented Kalman filter fusion positioning module, hybrid tracking and registration augmented reality module, and WebSocket data interaction module.

[0086] The modules are specifically included in Table 9:

[0087] Table 9

[0088]

[0089] The network RTK positioning module includes: GNSS board module, communication interface module, appearance design module, positioning accuracy test module. The specific contents of each part are shown in Table 10.

[0090] Table 10

[0091]

[0092]

[0093] The visual inertial SLAM pose estimation module includes: feature point extraction and matching module, visual inertial odometer design module, pose estimation module code writing module, pose accuracy test module. The specific contents of each part are shown in Table 11:

[0094] Table 11

[0095]

[0096]

[0097] The unscented Kalman filter fusion positioning module includes: synchronization preprocessing module, fusion positioning algorithm framework module based on unscented Kalman filter technology, fusion positioning module code writing module, and fusion positioning accuracy test module. The contents of each part are shown in Table 12:

[0098] Table 12

[0099]

[0100] The augmented reality module of hybrid tracking registration includes: AR development environment and resource preparation module, system underlying framework design and implementation module, AR virtual pile rendering effect test module. The contents of each part are shown in Table 13:

[0101] Table 13

[0102]

[0103]

[0104] The WebSocket data interaction module includes: development environment configuration module, WebSocket management class encapsulation module, data interaction function module development module, and pile position coordinate data storage test module. The contents of each part are shown in Table 14:

[0105] Table 14

[0106]

[0107]

[0108] Based on the above design of the equipment, the present invention team selected materials to assemble and test the equipment. The specific contents are shown in Table 15:

[0109] Table 15

[0110]

[0111] The present invention team conducted field applications based on the above assembled equipment, and the field application scenarios were:

[0112] (1) In outdoor environments, as the handheld digital stake-handling instrument moves and the camera perspective changes, real-time positioning and stake position navigation can be achieved in an augmented reality environment.

[0113] (2) It can place virtual piles according to the tower coordinates and display information such as the span, line direction, and turning angle in real time in the real scene.

[0114] (3) It can complete the fusion of on-site collected images and real scenes of virtual piles, and realize the virtual and real distance measurement between virtual piles and surrounding sensitive points.

[0115] (4) It can simultaneously record the digital pile position and surrounding sensitive point information, and transmit the measured pile position coordinates to the backend database in real time through the built-in communication module.

[0116] The number of handover piles in the Jiaxing Lianyue-Airport 110kV line project is 30. After using high-precision digital handover pile equipment, the overall first handover pile success rate of the project is 95.6%, meeting the requirement of first handover pile success rate ≥ 95%.

[0117] Example 2

[0118] For high-precision digital stakeout equipment based on RTK and AR technology, a mathematical model that converts three-dimensional coordinates into two-dimensional plane coordinates can be associated, which specifically includes the following data content:

[0119] In a three-dimensional space with point coordinates (x, y, u), consider a sphere S: x 2 +y 2 +u 2 =1, take a point N(0,0,1) on the sphere as the spherical pole, regard the xOy plane as the z=x+iy plane, O as the center point or the bottom point of the sphere, draw a straight line connecting N and any point A(x,y,0) on the xOy plane, and let the intersection of this straight line and the sphere be A'(x',y',u'). Then A' is the spherical pole projection of A on the sphere. Fig.10 As shown, since points A(x,y,0), A'(x',y',u') and N(0,0,1) are collinear, we have x:y:-1=x':y':u'-1, thus we get: Also because So we get: In this way, a bijection is established between the complex plane C and S-{N}. The larger the modulus of a point z, the closer its spherical projection is to the spherical pole N. Through the above data processing model, the three-dimensional coordinates on the three-dimensional sphere with a known radius can be converted into two-dimensional plane coordinates.

[0120] This innovative data process can introduce many mature data processing paradigms in complex analysis (such as using the Cauchy integral series of complex functions to align data with consistent accuracy, using Liouville's theorem to define the data range, using the linear transformation of complex functions, namely the Möbius transformation, to correspond curves and straight lines, etc., using inversion changes to magnify fine structures and reduce large scales in the distance to a specified local area; and so on) into our data system, which is extremely innovative; in terms of practicality, it can be consistently or selectively applied to RTK positioning modules, pose estimation modules, fusion positioning modules, augmented reality modules, and data interaction modules, as a data processing algorithm solution for converting three-dimensional real space coordinates to two-dimensional space coordinates in each module.

[0121] The high-precision digital pile exchange equipment has changed the traditional pile exchange mode, greatly reducing the consumption of manpower and material resources. At the same time, it fundamentally solves the problem of physical pile position damage, making pile setting and pile exchange accurate, fast and visual, greatly improving work efficiency, winning praise from users, establishing the corporate image, and providing users with better services.

[0122] 1. Improve efficiency and reduce costs

[0123] The digital pile-handling instrument significantly improves the efficiency of pile-handling work, reduces the time and labor costs required by traditional methods, helps to reduce overall costs, speed up project progress, and create more economic value.

[0124] 2. Convenient digital management of pile positions

[0125] The digital pile crossing instrument can realize the digital management of pile positions, making pile position data easier to store, query and analyze. It improves the efficiency of data management and provides convenient data support for subsequent engineering maintenance, transformation and expansion.

[0126] 3. Unleash the potential of engineering big data

[0127] The large amount of data collected by the digital pile crossing instrument provides valuable resources for the analysis and application of engineering big data. By mining and analyzing these data, we can optimize engineering design and construction plans, improve engineering quality and benefits, and provide a scientific basis for the planning and construction of power grids.

[0128] 4. Eliminate safety hazards and reduce disputes

[0129] The digital pile-handling instrument can eliminate the potential safety hazards that may occur in the traditional pile-handling process, such as position deviation and inaccurate data, through precise measurement and recording. At the same time, it reduces disputes and controversies caused by pile-handling problems, providing a strong guarantee for the smooth progress of engineering projects.

[0130] 5. Promote the standardization and regularization of pile handover work

[0131] The widespread application of digital pile-handling instruments will promote the standardization and regularization of pile-handling work. By formulating unified operating procedures and data standards, the accuracy and consistency of pile-handling work can be ensured, and the overall level of power design and construction can be improved.

[0132] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A high-precision digital handover equipment based on RTK and AR technology. It is characterized in that It includes RTK positioning module, pose estimation module, fusion positioning module, augmented reality module and data interaction module.

2. According to claim 1, a high-precision digital handover equipment based on RTK and AR technology, It is characterized in that The RTK positioning module adopts GPS-RTK technology or network RTK technology, the posture estimation module adopts visual SLAM or visual inertial SLAM technology, the fusion positioning module uses extended Kalman filtering or unscented Kalman filtering technology, the augmented reality module adopts natural feature tracking and registration technology or hybrid tracking and registration technology, and the data interaction module adopts RESTful API or GraphOL or WebSocket technology.

3. According to the high-precision digital handover equipment based on RTK and AR technology as described in claim 1, It is characterized in that The RTK positioning module adopts network RTK technology, that is, it is a network RTK positioning module; the posture estimation module adopts visual inertial SLAM technology, that is, it is a visual inertial SLAM posture estimation module; the fusion positioning module uses unscented Kalman filter technology, that is, it is an unscented Kalman filter fusion positioning module; the augmented reality module adopts hybrid tracking and registration technology, that is, it is an augmented reality module with hybrid tracking and registration; the data interaction module adopts WebSocket technology, that is, it is a WebSocket data interaction module.

4. According to claim 3, a high-precision digital handover equipment based on RTK and AR technology, It is characterized in that The network RTK positioning module includes: a GNSS board module, a communication interface module, an appearance design module, and a positioning accuracy test module; The GNSS board module includes a GNSS board and a positioning module. The GNSS board carries an inertial measurement unit (IMU) and receives satellite signals and global navigation satellite positioning data through an input interface of the GNSS board. The positioning module is designed according to the GNSS board. The communication interface module includes a data interface, Bluetooth, a communication module, data feedback, a data protocol, a button and an indicator light. The communication interface module transmits the positioning data to other modules; The appearance design module designs a network RTK positioning module device with an IMU unit according to the performance indicators of the GNSS board module, the hardware system of the communication interface module and the communication serial port, the size and weight and other parameters, and forms an integrated body with the mobile device; The positioning accuracy test module verifies the plane accuracy, elevation accuracy and angle accuracy output by the GNSS board module, where the plane accuracy must be ≤2cm, the elevation accuracy must be ≤2cm, and the angle accuracy must be ≤0.5°.

5. According to claim 3, a high-precision digital handover equipment based on RTK and AR technology, It is characterized in that The visual inertial SLAM pose estimation module includes: a feature point extraction and matching module, a visual inertial odometer design module, a pose estimation module code writing module, and a pose accuracy testing module; The feature point extraction and matching module includes: using the camera of the Android tablet as the image input source, calibrating the internal and external parameters of the camera to obtain the camera's internal and external parameter matrices; using the open source ORB-SLAM2 algorithm, divided into three threads: position tracking, mapping and loop detection, and completing the positioning and mapping functions through the System thread; The visual inertial odometry design module includes: using a tightly coupled optimization method to jointly estimate state quantities using visual and IMU data to design a visual inertial odometry system; when the visual inertial odometry system is working, firstly all images and IMU information between two adjacent key frames are obtained, then the IMU data is pre-integrated, feature tracking and motion estimation are performed on the visual data, and finally the IMU information and visual information are jointly optimized to obtain a more accurate estimation result; The pose estimation module code writing module includes converting the algorithm into an executable program to implement the specific logic of the pose estimation algorithm; The posture accuracy test module includes linear movement and in-situ rotation tests on the visual inertial SLAM posture estimation module, accumulating absolute error, relative translation error mean and relative rotation error mean, wherein the relative translation error mean must be ≤2cm, and the relative rotation error mean must be ≤2°, to test and verify the performance of the posture estimation module.

6. The high-precision digital handover equipment based on RTK and AR technology according to claim 3, It is characterized in that The unscented Kalman filter fusion positioning module includes: a synchronization preprocessing module, a fusion positioning algorithm framework module based on the unscented Kalman filter technology, a fusion positioning module code writing module, and a fusion positioning accuracy testing module; The synchronization preprocessing module includes: synchronizing the time of the solving devices of the network RTK positioning module and the visual inertial SLAM pose estimation module, adding time tags to the output data of the visual inertial SLAM pose estimation module and the network RTK positioning module, and converting the camera coordinate system of ORB-SLAM2 to the world coordinate system of the network RTK positioning module through coordinate system conversion to provide consistent data for fusion positioning; The fusion positioning algorithm framework module based on the unscented Kalman filter technology includes: using the absolute position information provided by the network RTK positioning module, fusing the local relative positioning result of the visual inertial SLAM pose estimation module, and correcting the absolute position of the camera; The fusion positioning module code writing module includes: writing program code to implement the fusion positioning algorithm by fusion network RTK positioning module and visual inertial SLAM pose estimation module through unscented Kalman filter positioning; The fusion positioning accuracy test module includes: performing fusion positioning accuracy test on the established network RTK positioning module, visual inertial SLAM pose estimation module, and the fusion positioning module that integrates the data of the two, and the fusion positioning accuracy test includes testing the real-time positioning error and accuracy improvement statistics, where the accuracy improvement statistics must be ≥50%; testing the resource occupancy rate during the fusion positioning test, including testing the average CPU and memory occupancy rates, where the average CPU and memory occupancy rates must be ≤30%, to verify the performance of the unscented Kalman filter fusion positioning module.

7. The high-precision digital handover equipment based on RTK and AR technology according to claim 3, It is characterized in that The hybrid tracking and registered augmented reality module includes: an AR development environment and resource preparation module, a system bottom framework design and implementation module, and an AR virtual pile rendering effect test module; The AR development environment and resource preparation module includes: installing and setting up the development environment, preparing necessary model resources and hardware, and providing a basic environment for the development and testing of the AR module; The system bottom framework design and implementation module includes: designing and writing code to implement the bottom framework of the system, including the following steps: ARCore configuration, CROS RTK positioning module integration, visual inertial SLAM pose estimation module integration, and vision + IMU + GNSS fusion positioning module integration; The AR virtual pile rendering effect test module includes: performing a virtual pile test evaluation outdoors, testing the time taken to generate a virtual pile model and the maximum trackable inclination angle of the model, wherein the time taken to generate a virtual pile model must be ≤1s, and the maximum trackable inclination angle of the model must be ≥60°, to verify the rendering effect and tracking capability of the AR module.

8. The high-precision digital handover equipment based on RTK and AR technology according to claim 3, It is characterized in that The WebSocket data interaction module includes: a development environment configuration module, a WebSocket management class encapsulation module, a data interaction function module development module, and a pile position coordinate data storage test module; The development environment configuration module includes: using the WebSocketSharp library to configure the development environment and provide necessary software support for data interaction; The encapsulation module of the WebSocket management class includes: encapsulating a class for managing WebSocket connections and events, creating a WebSocketManager management class for managing WebSocket connections and events, and this management class cooperates with the main class for managing AR scenes, and is called by various functional modules of the system to implement the data interaction function of the system; The data interaction function module development module includes: developing function modules for data transmission and communication. The system data interaction module development adopts parameterized and modular development methods. Parameterization is used to standardize the data specifications and handshake protocols between various functions, and modularization is used to reduce the low coupling of system functions. The pile position coordinate data storage test module includes: collecting pile position coordinate data and testing the storage rate of each project, testing the rate average and the concurrency success rate, the rate average includes the downlink rate average and the uplink rate average, the downlink rate average and the uplink rate average both need to be ≥10mbps, the concurrency success rate includes the downlink concurrency success rate and the uplink concurrency success rate, the downlink concurrency success rate and the uplink concurrency success rate both need to be ≥99%, ensuring that the data interaction module meets the performance requirements.

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