A method for measuring arm value of combined navigation system based on dynamic measurement and detection vehicle

Abstract

The present invention discloses a method for measuring the arm value of a combined navigation system based on a dynamic metrology inspection vehicle. The method comprises the following steps: staking out and positioning a total station, a positioning antenna, and a directional antenna; making an auxiliary line parallel to the upper surface of an inertial measurement unit, and using a total station to find auxiliary points on the auxiliary line; measuring the coordinate differences from the inertial measurement unit to the positioning antenna and the directional antenna in the X, Y, and Z directions, obtaining the real-time parameter rotation angle according to the placement of the inertial measurement unit, and calculating the arm value of the positioning antenna and the directional antenna. The present invention adopts a total station staking method to place the positioning antenna, the directional antenna, and the total station in the same vertical plane under the same coordinate system, thereby avoiding the conversion of multiple coordinate systems and reducing the complexity of calculations. Auxiliary points are used to connect the two antennas on the roof and the inertial measurement unit inside the vehicle. Only one auxiliary point is used, which reduces error accumulation and improves measurement accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of lever arm value measurement of an integrated navigation system, and in particular to a lever arm value measurement method of an integrated navigation system based on a dynamic metrology detection vehicle. Background Art

[0002] The lever arm value is a crucial parameter in integrated navigation. When using integrated navigation equipment, the satellite antenna phase center and the inertial measurement unit (IMU) are often not in the same position. To unify the positional results, both must be normalized to the same point. The lever arm value is measured to determine the positional difference between the satellite antenna and the IMU to ensure the accuracy of the navigation system.

[0003] Existing integrated navigation systems typically measure arm values ​​using a combination of a handheld laser rangefinder and a steel tape measure. This approach lacks consideration for the angle between the inertial measurement unit (IMU) and the satellite antenna's measuring surfaces, making the steel tape measure's three-dimensional accuracy unreliable. Furthermore, handheld laser rangefinders are prone to measurement errors due to unstable reference surfaces. Other approaches employ a Kalman filter algorithm for estimation, but this method fails to account for installation accuracy, resulting in less reliable arm value measurements.

[0004] Based on this, the present invention designs a combined navigation system arm value measurement method based on a dynamic measurement and detection vehicle to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art that the measurement accuracy of manual measurement is difficult to ensure, and the estimation method using the Kalman filter algorithm does not take the installation accuracy into consideration, resulting in poor reliability of the measurement results of the arm value. A method for measuring the arm value of a combined navigation system based on a dynamic metrology and inspection vehicle is proposed, which avoids the conversion of multiple coordinate systems, reduces the complexity of calculations and the accumulation of calculation errors, and improves measurement accuracy.

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

[0007] A method for measuring the arm value of a combined navigation system based on a dynamic measurement and detection vehicle comprises the following steps:

[0008] Step S1: staking out and positioning the total station, positioning antenna and directional antenna;

[0009] In step S2, a ruled surface close to the inertial measurement unit is selected to create an auxiliary line, so that the auxiliary line is parallel to the upper surface of the inertial measurement unit, and an auxiliary point on the auxiliary line is found using a total station;

[0010] In step S3, the coordinate differences between the inertial measurement unit and the directional antenna and the positioning antenna in the X, Y, and Z directions are measured, the real-time parameter rotation angle is obtained according to the placement method of the inertial measurement unit, and the arm values ​​of the positioning antenna and the directional antenna are calculated.

[0011] Furthermore, in step S1, the total station, positioning antenna, and directional antenna are positioned in the following manner:

[0012] In step S11, a total station is placed at the rear end of the dynamic metrology vehicle. After the total station is centered and leveled, the total station's layout program is entered. The northeast celestial coordinates of the total station's location and the instrument height data of the total station are input. The center of the positioning line of the directional antenna phase center is aimed at, the horizontal angle is set to zero, and the horizontal angle, horizontal distance, and height difference between the total station and the directional antenna are measured.

[0013] Step S12: maintaining the horizontal angle between the total station and the directional antenna unchanged, adjusting the positioning antenna so that the center of the positioning line of the positioning antenna phase center coincides with the crosshairs of the total station;

[0014] Step S13: measuring the horizontal angle, horizontal distance, and height difference between the total station and the positioning antenna;

[0015] In step S14, based on the angles between the directional antenna, the positioning antenna and the total station, it is determined whether the total station, the positioning antenna and the directional antenna are in the same vertical plane. If the angle value is within the allowable error, it indicates that the total station, the positioning antenna and the directional antenna are in the same vertical plane, and the layout positioning is completed.

[0016] Furthermore, the total station is placed at the rear end of the dynamic measurement vehicle, which requires that the total station can simultaneously observe the positioning antenna, directional antenna and inertial measurement unit;

[0017] When using a total station to measure the horizontal angle, horizontal distance, and height difference between the total station and the directional antenna and positioning antenna, the prism-free mode is used for measurement.

[0018] Furthermore, by adjusting the total station, the center of the positioning line of the positioning antenna phase center coincides with the crosshairs of the total station, using the following method:

[0019] Slowly move the total station's vertical spiral until the horizontal axis of the crosshairs is at the same height as the positioning antenna. Then move the positioning antenna left and right until the center of the positioning line of the positioning antenna's phase center coincides with the crosshairs of the total station.

[0020] Furthermore, in step S2,

[0021] Select a ruled surface close to the inertial measurement unit, use a level to level it, and use a string to mark the auxiliary lines;

[0022] Keep the horizontal angle of the total station unchanged, observe the auxiliary line, and slowly adjust the vertical direction screw of the total station. When the center of the crosshairs of the total station intersects with the auxiliary line, the intersection point of the crosshairs and the auxiliary line is the auxiliary point. After determining the auxiliary point on the auxiliary line, use the total station to measure the horizontal angle, vertical angle, elevation difference and horizontal distance of the auxiliary point.

[0023] Furthermore, in step S3, the coordinate differences between the inertial measurement unit and the directional antenna and the positioning antenna in the X, Y, and Z directions are measured and calculated.

[0024] According to the placement of the inertial measurement unit, the right-hand rule is used to rotate the inertial measurement unit around the coordinate axis so that the inertial measurement unit coordinate system coincides with the carrier coordinate system. The angle of rotation around the coordinate axis is the rotation angle of the real-time parameter obtained. According to the above measurement results, the arm values ​​of the positioning antenna and the directional antenna can be calculated:

[0025] Set the antenna coordinates to , the directional antenna coordinates are , and the coordinates of the auxiliary points measured by the total station are ;

[0026] Obtain the diameters of the positioning antenna and directional antenna based on their nominal technical parameters ,get:

[0027] Coordinates of the positioning antenna phase center A = ;

[0028] Coordinates of the phase center B of the directional antenna = ;

[0029] The relative position coordinates of one corner of the optional inertial measurement unit are According to the factory dimension drawing of the inertial measurement unit, the above coordinates are obtained as The relative position coordinates of any corner to the center E of the inertial measurement unit are ;

[0030] The coordinates of the center E of the inertial measurement unit are expressed as follows:

[0031] = ;

[0032] Coordinate difference between positioning antenna and inertial measurement unit:

[0033] = ;

[0034] Coordinate difference from directional antenna to inertial measurement unit:

[0035] = ;

[0036] Rotation angle according to real-time parameters , calculated to obtain:

[0037] Positioning antenna arm value is , the directional antenna arm value is .

[0038] Compared with existing technologies, the present invention offers the following advantages: It eliminates the need for a Kalman filter algorithm for estimation. Instead, it employs a total station setup method, placing the positioning antenna, directional antenna, and total station within the same vertical plane within the same coordinate system. This avoids the need for multiple coordinate system conversions and enhances the reliability of measurement results. Furthermore, auxiliary points are used to connect the two roof antennas to the inertial measurement unit within the vehicle. Calculations can be performed using only a single pivot point (auxiliary point), reducing computational complexity and effectively preventing the accumulation of calculation errors, thereby improving measurement accuracy. The method's simple steps are easy to implement and understand, facilitating the widespread adoption of this lever arm value measurement method. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Flowchart of a method for measuring the lever arm value of a combined navigation system of a dynamic metrology inspection vehicle according to an embodiment of the present invention;

[0040] Figure 2 Schematic diagram of the arrangement relationship between the dynamic measurement and testing vehicle, the total station, the positioning antenna, and the directional antenna in an embodiment of the present invention;

[0041] Figure 3 Schematic diagram of the arrangement relationship between the dynamic metrology inspection vehicle, the total station, the positioning antenna, the directional antenna, and the inertial measurement unit in an embodiment of the present invention.

[0042] The numbers in the figure are: 1. Directional antenna; 2. Positioning antenna; 3. Total station; 4. Inertial measurement unit; 5. Auxiliary line; 6. Auxiliary point. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0044] In the field of integrated navigation technology, lever arm values ​​are crucial for proper operation. An incorrect lever arm can cause additional correction errors when the GNSS corrects the INS. This can mislead the INS during steering, severely impacting the INS's position, velocity, and attitude accuracy. This is particularly true when the GNSS signal is lost, significantly impacting position estimation accuracy. In mobile measurement systems, lever arm measurement accuracy typically must reach 1 cm. The following embodiments of the present invention disclose a lever arm measurement method for an integrated navigation system.

[0045] Example 1:

[0046] Reference Figure 1 This embodiment proposes a method for measuring the arm value of a combined navigation system based on a dynamic measurement detection vehicle, the method comprising the following steps:

[0047] Step S1: staking out and positioning the total station 3, positioning antenna 2 and directional antenna 1;

[0048] Specifically, the total station 3, positioning antenna 2 and directional antenna 1 are laid out and positioned in the following manner:

[0049] In step S11, the total station 3 is placed at the rear end of the dynamic measurement vehicle. This placement requires that the total station 3 can simultaneously observe the positioning antenna 2, the directional antenna 1, and the inertial measurement unit 4. After centering and leveling the total station 3, the total station 3's layout program is entered. The northeast celestial coordinates of the total station 3's location and the instrument height data of the total station 3 are input. The center of the positioning line at the phase center of the directional antenna 1 is aimed at, the horizontal angle is set to zero, and the horizontal angle, horizontal distance, and height difference between the total station 3 and the directional antenna 1 are measured using the prism-free mode.

[0050] In step S12, keep the horizontal angle between the total station 3 and the directional antenna 1 unchanged, adjust the positioning antenna 2, and slowly adjust the vertical spiral of the total station 3. After the horizontal axis of the crosshairs is at the same height as the positioning antenna 2, move the positioning antenna 2 left and right until the center of the positioning line of the phase center of the positioning antenna 2 coincides with the crosshairs of the total station 3.

[0051] In step S13, the horizontal angle, horizontal distance, and height difference between the total station 3 and the positioning antenna 2 are measured using a prism-free mode.

[0052] In step S14, based on the angle between the directional antenna 1 and the positioning antenna 2 and the total station 3, it is determined whether the total station 3, the positioning antenna 2 and the directional antenna 1 are in the same vertical plane. If the angle value is within the allowable error, it indicates that the total station 3, the positioning antenna 2 and the directional antenna 1 are in the same vertical plane, and the layout positioning is completed.

[0053] Step S2: Select a regular surface close to the inertial measurement unit to make an auxiliary line 5, use a level to level it, use a string to mark the auxiliary line 5, make the auxiliary line 5 parallel to the upper surface of the inertial measurement unit, and use the total station 3 to find the auxiliary point 6 on the auxiliary line 5.

[0054] Keep the horizontal angle of the total station 3 unchanged, observe the auxiliary line 5, and slowly adjust the vertical spiral of the total station 3. When the center of the crosshairs of the total station 3 intersects with the auxiliary line 5, the intersection point of the center of the crosshairs and the auxiliary line 5 is the auxiliary point 6. After determining the auxiliary point 6 on the auxiliary line 5, use the total station 3 to measure the horizontal angle, vertical angle, elevation difference and horizontal distance of the auxiliary point 6.

[0055] Step S3: Measure and calculate the coordinate differences between the inertial measurement unit 4 and the auxiliary point 6 and between the inertial measurement unit 4 and the directional antenna 1 and the positioning antenna 2 in the X, Y, and Z directions. According to the placement of the inertial measurement unit 4, the right-hand rule is used to rotate the inertial measurement unit 4 around the coordinate axis so that the coordinate system of the inertial measurement unit 4 coincides with the carrier coordinate system. The angle of rotation around the coordinate axis is the rotation angle of the real-time parameter obtained. , calculate the arm values ​​of positioning antenna 2 and directional antenna 1:

[0056] Set the coordinates of antenna 2 to , the coordinates of directional antenna 1 are , and the coordinates of auxiliary point 6 measured by the total station are ;

[0057] Obtain the diameters of positioning antenna 2 and directional antenna 1 based on their nominal technical parameters. ,get:

[0058] Coordinates of the phase center A of positioning antenna 2 = ;

[0059] Coordinates of the phase center B of directional antenna 1 = ;

[0060] The relative position coordinates of one corner of the optional inertial measurement unit 4 are According to the factory dimension drawing of the inertial measurement unit 4, the above coordinates are obtained as The relative position coordinates of any corner to the center E of the inertial measurement unit 4 are ;

[0061] Then the center E coordinate of the inertial measurement unit 4 is expressed as follows:

[0062] = ;

[0063] Coordinate difference between positioning antenna 2 and inertial measurement unit 4:

[0064] = ;

[0065] Coordinate difference from directional antenna 1 to inertial measurement unit 4:

[0066] = ;

[0067] Rotation angle according to real-time parameters , calculated to obtain:

[0068] Positioning antenna 2 arm value is , the arm value of directional antenna 1 is .

[0069] Example 2:

[0070] Based on the above embodiment 1 disclosed a method for measuring the lever arm value of a combined navigation system based on a dynamic metrology and inspection vehicle, this embodiment describes in detail the measurement of the lever arm value of a combined navigation system based on a dynamic metrology and inspection vehicle in combination with actual applications.

[0071] Reference Figure 2 and Figure 3 In the lever arm value measurement operation of this embodiment, a total station 3 is used as the primary measurement means. The total station 3 is a Class I or higher total station, such as a Leica TS30 Class I total station, with an angle measurement accuracy of 0.5″ and a distance measurement accuracy of 0.6mm+1ppm. The total station 3 is used to lay out the inertial measurement unit 4, positioning antenna 2, and directional antenna 1, placing them in the same coordinate system, thereby completing the lever arm value measurement of the phase centers of the two antennas relative to the inertial measurement unit 4.

[0072] Step 1: Stake out and position the total station 3, positioning antenna 2, and directional antenna 1:

[0073] The line connecting the positioning antenna 2 and the directional antenna 1 is parallel to the axis of the carriage and is placed on the roof of the vehicle, with the directional antenna 1 located at the front of the vehicle and the positioning antenna 2 located at the rear of the vehicle. The total station 3 is placed about 5 meters from the rear end of the dynamic measurement vehicle to ensure that the positioning antenna 2, directional antenna 1, and inertial measurement unit 4 can be observed simultaneously.

[0074] Close the car door to facilitate observation of the positioning antenna 2 and directional antenna 1 on the roof.

[0075] Center and level Total Station 3 to ensure it remains in a stable position. Turn on Total Station 3 and enter the Stakeout program. Enter the coordinates of the survey station (the location of Total Station 3) and the instrument height (the instrument height is the vertical straight-line distance from the measurement control point to the center of the Total Station 3 degree disk). Aim at the center of the positioning line at the phase center of Directional Antenna 1 and set the horizontal angle to zero.

[0076] The total station 3 measured the directional antenna 1 in prism-free mode, and measured a horizontal angle of 0°0′0.0″, a horizontal distance of 5.8455m, and a height difference of 1.2215m.

[0077] While ensuring that the horizontal angle remains unchanged, slowly adjust the vertical spiral of the total station 3. After the horizontal axis of the crosshairs is basically at the same height as the positioning antenna 2, move the positioning antenna 2 left and right so that the center of the positioning line of the phase center of the positioning antenna 2 coincides with the crosshairs of the total station 3.

[0078] The total station 3 measured and positioned the antenna 2 in prism-free mode, and measured a horizontal angle of 0°0′8.0″, a horizontal distance of 3.9632m, and a height difference of 1.2001m.

[0079] High-precision measurement of the arm value is generally required to be no more than 1 cm. In this embodiment, the distance between the directional antenna 1 and the positioning antenna 2 is 2 m. To control the error within the range of 1 cm, the allowable error of the angle should not exceed arctan (1 cm / 2 m) = 0.29°

[0080] The angle between the two antennas was measured to be 8″ (less than 0.29°), and the distance from the total station 3 was 5.8455m, resulting in an error of 5.8455m×tan(8″)=0.039mm (less than 1cm), which is within the allowable error range and can be ignored. This shows that the total station 3, positioning antenna 2 and directional antenna 1 are in the same vertical plane.

[0081] At this point, the layout positioning is completed, and the total station 3, positioning antenna 2, and directional antenna 1 are in the same vertical plane.

[0082] Step 2: Determine the measurement auxiliary line 5 and auxiliary point 6:

[0083] Open the rear compartment, select a regular surface close to the inertial measurement unit, level it with a level, and use a string to make an auxiliary line 5 parallel to the upper surface of the inertial measurement unit 4.

[0084] Still ensuring that the horizontal angle of the total station 3 remains unchanged, slowly adjust the vertical screw of the total station 3. When the center of the crosshairs of the total station 3 intersects with the auxiliary line 5, the intersection point of the crosshairs and the auxiliary line 5 is the auxiliary point 6. After determining the auxiliary point 6 on the auxiliary line 5, use the total station 3 to measure the horizontal angle, vertical angle, elevation difference and horizontal distance of the auxiliary point 6.

[0085] Step 3: Measure and calculate the coordinate differences between the inertial measurement unit 4 and the auxiliary point 6 and between the inertial measurement unit 4 and the directional antenna 1 and the positioning antenna 2 in the X, Y, and Z directions (the X, Y, and Z directions are the vector directions from the phase center of the satellite antenna to the integrated navigation center). According to the placement method of the inertial measurement unit 4, use the right-hand rule to rotate the inertial measurement unit 4 around the coordinate axis so that the coordinate system of the inertial measurement unit 4 coincides with the carrier coordinate system. The angle of rotation around the coordinate axis is the rotation angle of the acquired real-time parameters. Calculate the arm values ​​of the positioning antenna 2 and the directional antenna 1, as follows:

[0086] The auxiliary point 6 and the inertial measurement unit 4 are both rigidly mounted on fixed equipment. Therefore, a high-precision Invar standard ruler can be used for measurement to obtain the coordinate differences between the inertial measurement unit 4 and the auxiliary point 6 and the inertial measurement unit 4 and the directional antenna 1 and the positioning antenna 2 in the X, Y, and Z directions.

[0087] The inertial measurement unit 4 used in the dynamic measurement and detection vehicle in this embodiment is of the model Novatech 100C.

[0088] In this embodiment, the coordinates of the positioning antenna 2 are =(0.0006m,3.9632m,1.2001m),the coordinates of directional antenna 1 are =(0.0009m,5.8455m,1.2215m), and the coordinates of auxiliary point 6 measured by the total station are = (0.0006m, 3.8349m, 0.3198m).

[0089] Obtain the diameters of positioning antenna 2 and directional antenna 1 based on their nominal technical parameters. =0.076m, so we can get:

[0090] Locate the coordinates of the phase center A of antenna 2:

[0091] = = (0.0006m, 4.0392m, 1.2001m);

[0092] Coordinates of the phase center B of directional antenna 1:

[0093] = = (0.0009m, 5.9215m, 1.2215m).

[0094] In this embodiment, a high-precision Invar standard ruler and a handheld laser rangefinder or other measuring devices are used to measure and select the relative position coordinates of the upper right corner of the inertial measurement unit 4 as = (-0.480m, 0.255m, -0.063m), according to the factory dimension drawing of the inertial measurement unit 4, the above coordinates are obtained as The relative position coordinates of any corner to the center E of the inertial measurement unit 4 are = (-0.0719m, 0.0646m, -0.1097m);

[0095] Then the center E coordinate of the inertial measurement unit 4 is expressed as follows:

[0096] = = (-0.5513m, 4.1545m, 0.1471m)

[0097] A0 (X A0 , Y A0 , Z A0 ) = (0.0006m, 4.0392m, 1.2001m),

[0098] B0 (X B0 , Y B0 , Z B0 )=(0.0009m, 5.9215m, 1.2215m),

[0099] Coordinate difference between positioning antenna 2 and inertial measurement unit 4:

[0100] = = (-0.5519m, 0.1153m, -1.053m);

[0101] Coordinate difference from directional antenna 1 to inertial measurement unit 4:

[0102] = = (-0.5522m, -1.767m, -1.0744m);

[0103] Rotation angle according to real-time parameters , calculated to obtain:

[0104] Positioning antenna 2 arm value is , the arm value of directional antenna 1 is ;

[0105] According to the placement direction of the inertial measurement unit 4 and the direction of the vehicle head, and the right-hand rule, a 180° rotation around the Y axis will coincide with the carrier coordinate system. Therefore, the rotation angle in this embodiment is The values ​​of the arm of the positioning antenna 2 are (-0.5519m, -0.1153m, -1.053m), and the values ​​of the arm of the directional antenna 1 are (-0.5522m, 1.767m, -1.0744m).

[0106] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A method for measuring the arm value of a combined navigation system based on a dynamic measurement and detection vehicle, characterized in that: The following steps are involved: Step S1: Stake out and position the total station, positioning antenna, and directional antenna, and measure the horizontal angle, horizontal distance, and height difference between the total station and the directional antenna and positioning antenna respectively; In step S2, a ruled surface close to the inertial measurement unit is selected to create an auxiliary line, so that the auxiliary line is parallel to the upper surface of the inertial measurement unit, and an auxiliary point on the auxiliary line is determined using a total station; Step S3 measures the coordinate differences between the inertial measurement unit and the directional antenna and the positioning antenna in the X, Y, and Z directions, obtains the real-time parameter rotation angle based on the placement of the inertial measurement unit, and calculates the arm values ​​of the positioning antenna and the directional antenna, including: Using the right-hand rule, the inertial measurement unit rotates around the coordinate axis so that the coordinate system of the inertial measurement unit coincides with the carrier coordinate system. The angle of rotation around the coordinate axis is the rotation angle of the real-time parameter obtained. , calculate the arm value of the positioning antenna and the directional antenna: Set the antenna coordinates to , the directional antenna coordinates are , and the coordinates of the auxiliary points measured by the total station are ; Obtain the diameters of the positioning antenna and directional antenna based on their nominal technical parameters ,get: Coordinates of the positioning antenna phase center A = ; Coordinates of the phase center B of the directional antenna = ; The relative position coordinates of one corner of the optional inertial measurement unit are According to the factory dimension drawing of the inertial measurement unit, the above coordinates are obtained as The relative position coordinates of any corner to the center E of the inertial measurement unit are ; The coordinates of the center E of the inertial measurement unit are expressed as follows: = ； Coordinate difference between positioning antenna and inertial measurement unit: = ； Coordinate difference from directional antenna to inertial measurement unit: = ； Rotation angle according to real-time parameters , calculated to obtain: Positioning antenna arm value is , the directional antenna arm value is .

2. The method for measuring the lever arm value of a combined navigation system based on a dynamic measurement and detection vehicle according to claim 1, characterized in that: In step S1, the total station, positioning antenna, and directional antenna are positioned in the following manner: In step S11, a total station is placed at the rear end of the dynamic metrology vehicle. After the total station is centered and leveled, the total station's layout program is entered. The northeast celestial coordinates of the total station's location and the instrument height data of the total station are input. The center of the positioning line of the directional antenna phase center is aimed at, the horizontal angle is set to zero, and the horizontal angle, horizontal distance, and height difference between the total station and the directional antenna are measured. Step S12: maintaining the horizontal angle between the total station and the directional antenna unchanged, adjusting the positioning antenna so that the center of the positioning line of the positioning antenna phase center coincides with the crosshairs of the total station; Step S13: measuring the horizontal angle, horizontal distance, and height difference between the total station and the positioning antenna; In step S14, based on the angles between the directional antenna, the positioning antenna and the total station, it is determined whether the total station, the positioning antenna and the directional antenna are in the same vertical plane. If the angle value is within the allowable error, it indicates that the total station, the positioning antenna and the directional antenna are in the same vertical plane, and the layout positioning is completed.

3. The method for measuring the lever arm value of a combined navigation system based on a dynamic measurement and detection vehicle according to claim 2, characterized in that: The total station is placed at the rear end of the dynamic measurement vehicle, and it must be able to observe the positioning antenna, directional antenna and inertial measurement unit at the same time; When using a total station to measure the horizontal angle, horizontal distance, and height difference between the total station and the directional antenna and positioning antenna, the prism-free mode is used for measurement.

4. The method for measuring the lever arm value of a combined navigation system based on a dynamic measurement and detection vehicle according to claim 2, characterized in that: Adjust the total station so that the center of the positioning line of the positioning antenna phase center coincides with the crosshairs of the total station in the following way: Adjust the vertical direction screw of the total station so that the horizontal axis of the crosshairs is at the same height as the positioning antenna. Then move the positioning antenna left and right until the center of the positioning line of the positioning antenna phase center coincides with the crosshairs of the total station.

5. The method for measuring the lever arm value of a combined navigation system based on a dynamic measurement and detection vehicle according to claim 1, characterized in that: In step S2, Select a ruled surface close to the inertial measurement unit, use a level to level it, and use a string to mark the auxiliary lines; Keep the horizontal angle of the total station unchanged, adjust the vertical direction screw of the total station, and observe the auxiliary line. When the center of the crosshairs of the total station intersects with the auxiliary line, the intersection point of the crosshairs and the auxiliary line is the auxiliary point. After determining the auxiliary point on the auxiliary line, use the total station to measure the horizontal angle, vertical angle, elevation difference and horizontal distance of the auxiliary point.

Images