GNSS distance measuring device and method applied to leveling

Abstract

The invention belongs to the technical field of leveling, and particularly relates to a GNSS distance measuring device and method applied to leveling. The GNSS distance measuring device applied to leveling comprises at least one carrying tool, and a placing part, GNSS equipment, test equipment and a ruler pad which are assembled on the carrying tool, a supporting platform is arranged on the carrying tool; the ruler pad is arranged on the supporting platform; the GNSS equipment is connected to the supporting platform; the placing part is connected to the supporting platform; a placing groove is formed in the placing part; and the test equipment is arranged in the placing groove. According to the invention, relatively long-distance and convenient test operation can be realized, the working efficiency is improved, and the labor cost is saved.

Description

Technical Field

[0001] The present invention belongs to the technical field of leveling, and in particular relates to a GNSS distance measuring device and method applied to leveling. Background Art

[0002] Leveling, as a high-precision elevation observation method, is widely used in professional fields such as geodesy and engineering surveying.

[0003] However, existing leveling devices require excessive investment of manpower and material resources, and the accuracy of the measured data is poor, so the operating efficiency is low and more manpower costs are required. Summary of the invention

[0004] The purpose of the present invention is to provide a GNSS distance measuring device for leveling measurement to solve any of the above technical problems in view of the shortcomings of the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A GNSS distance measuring device used for leveling measurement comprises at least one vehicle and a placement component, a GNSS device, a test device and a ruler pad assembled on the vehicle; the vehicle is provided with a support platform; the ruler pad is arranged on the support platform; the GNSS device is connected to the support platform; the placement component is connected to the support platform; and a placement groove is provided in the placement component; the test device is arranged in the placement groove.

[0007] Preferably, the vehicle is a battery vehicle or a bicycle.

[0008] Preferably, the GNSS device includes an RTK high-precision positioning device; the RTK high-precision positioning device is used to electrically connect the GNSS receiver, GNSS positioning module and GNSS monitoring device of the cloud platform.

[0009] Preferably, the ruler pad includes a base plate, a clamping protrusion and a supporting block; the number of the clamping protrusions is at least three, and all are connected to the bottom of the base plate; the supporting block is arranged on the upper surface of the base plate; the supporting platform is provided with a mounting groove corresponding to the clamping protrusion; the outer surface of the clamping protrusion abuts against the inner wall of the mounting groove.

[0010] Preferably, the placing component includes a supporting portion and a limiting portion; the supporting portion and the limiting portion are vertically arranged; and the supporting portion is connected to the side end of the supporting platform; the placing groove is arranged inside the limiting portion; and the bottom of the testing device is connected to the inside of the placing groove; the upper end of the testing device is detachably connected to the supporting portion.

[0011] Preferably, the testing device comprises at least two level rulers; the level rulers are respectively arranged in placement grooves in two of the vehicles.

[0012] Preferably, the testing device comprises at least one observation component; the observation component is connected to the placement groove of another of the vehicles.

[0013] Preferably, the observation component includes an observation instrument body, a height adjustment body and a triangular base; the bottom of the observation instrument body is connected to the height adjustment body; the bottom of the height adjustment body is connected to the triangular base; the bottom of the triangular base is connected to the placement groove; and the observation instrument body abuts against the placement component.

[0014] The present invention also discloses a GNSS distance measurement method applied to leveling measurement, which is executed based on the above-mentioned GNSS distance measurement device applied to leveling measurement; the GNSS distance measurement method applied to leveling measurement includes:

[0015] S1. Conduct pre-test inspection on all vehicles and instruments mounted on the vehicles;

[0016] S2, constructing a detection local area network; wherein the RTK high-precision positioning device on a vehicle with an observation instrument is used as a base station A, the RTK high-precision positioning device on one of the vehicles with a leveling ruler is used as a mobile station B, and the RTK high-precision positioning device on one of the vehicles with a leveling ruler is used as a mobile station C;

[0017] S3, obtaining the first coordinate information of the base station A; and obtaining the second coordinate information of the mobile station B and the third coordinate information of the mobile station C through a carrier phase difference algorithm according to the first coordinate information;

[0018] S4. Acquire first distance data and first height difference data between the reference station A and the mobile station B, and second distance data and second height difference data between the reference station A and the mobile station C according to the first coordinate information, the second coordinate information and the third coordinate information.

[0019] Preferably, the step of acquiring the first coordinate information of the reference station A; and acquiring the second coordinate information of the mobile station B and the third coordinate information of the mobile station C by a carrier phase difference algorithm according to the first coordinate information, comprises the following:

[0020] The RTK high-precision positioning device of the base station A, the RTK high-precision positioning device of the mobile station B, and the RTK high-precision positioning device of the mobile station C communicate with the data server, and share satellite numbers, terminal numbers, positioning data, and differential data information;

[0021] The GNSS terminal obtains a differential item by subtracting the satellite positioning value from the real position value, and packages the satellite number used and the number of the GNSS terminal for publication; all published information is stored in real time in the data server; mobile station B and mobile station C are matched to the base station using the same group of satellites, thereby obtaining the differential item, and calculating the positioning value after differential correction.

[0022] The beneficial effect of the present invention lies in that the technical solution realizes relatively long-distance and convenient testing operations by carrying a GNSS device on a vehicle and realizing dual measurement through a GNSS local differential algorithm and test equipment, and realizes precise measurement and real-time display of multiple locations, thereby improving work efficiency and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following will refer to the attached Figures 1 to 5 To describe the features, advantages and technical effects of exemplary embodiments of the present invention.

[0024] Figure 1 A schematic diagram of the structure of a GNSS distance measuring device applied to leveling measurement according to an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of a GNSS distance measuring device applied to leveling measurement according to an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the structure of a detection local area network formed by a GNSS distance measuring device applied to leveling measurement according to an embodiment of the present invention;

[0027] Figure 4 This is a flow chart of a GNSS ranging method applied to leveling measurement according to an embodiment of the present invention;

[0028] Figure 5 The present invention is a schematic structural diagram of a triangular base frame of a GNSS distance measuring device used for leveling measurement according to an embodiment of the present invention.

[0029] In the figure: 110-carrying vehicle; 111-installing groove; 120-rule pad; 121-base plate; 122-clamping protrusion; 123-supporting block; 130-placing component; 131-resting part; 132-limiting part; 133-placing groove; 140-clamping assembly; 150-level ruler; 160-observation component; 161-observation instrument body; 162-height adjustment body; 163-triangle base; 170-warning component; 180-RTK high-precision positioning equipment. DETAILED DESCRIPTION

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0031] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0032] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and multiple situations exist alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0034] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0035] The following is combined with Figure 1 to Figure 5 The present invention is further described in detail, but is not intended to limit the present invention.

[0036] like Figure 1As shown, in one embodiment of the present invention, the GNSS distance measuring device applied to leveling measurement comprises at least one vehicle 110 and a placing component 130, a GNSS device, a test device and a ruler pad 120 mounted on the vehicle 110; the vehicle 110 is provided with a support platform; the ruler pad 120 is arranged on the support platform; the GNSS device is connected to the support platform; the placing component 130 is connected to the support platform; and a placing groove 133 is provided in the placing component 130; the test device is arranged in the placing groove 133.

[0037] The technical solution of the present invention realizes relatively long-distance and convenient testing operations by carrying a GNSS device on a vehicle and implementing dual measurement through a GNSS local differential algorithm and testing equipment, and realizes accurate measurement and real-time display of multiple locations, thereby improving work efficiency and saving labor costs.

[0038] Specifically, in some embodiments, the vehicle 110 is a battery car or a bicycle. The battery car is composed of a battery, an electric wheel hub, a controller, a charger and a body. Furthermore, a battery car of model M95C can be selected. Therefore, the following requirements can be met: ① pure electric or pedal-driven, environmentally friendly and pollution-free; ② intelligent control and flexible operation; ③ convenient movement and sensitive turning control; ④ small size and does not take up too much space; ⑤ simple driving and easy to use.

[0039] Specifically, in some embodiments, Figure 1 As shown, the GNSS device includes an RTK high-precision positioning device 180; the RTK high-precision positioning device 180 is electrically connected to the GNSS receiver, GNSS positioning module and GNSS monitoring device of the cloud platform. In other words, the coordinate data of each position can be obtained more accurately through the RTK high-precision positioning device 180, so that the level observation data can be further obtained in combination with the observation results, thereby improving work efficiency and saving labor costs.

[0040] Among them, GNSS receiver: GNSS receiver is the core equipment of GNSS positioning system, which can receive signals from GNSS satellites and calculate the position information of the receiver through data processing. RTK high-precision positioning equipment: RTK (Real-Time Keymat ic) is a real-time dynamic differential positioning technology, which can achieve high-precision positioning by real-time processing of carrier phase observations between two or more GNSS receivers. RTK high-precision positioning equipment usually includes a base station receiver and one or more mobile station receivers. The base station receiver is responsible for receiving GNSS signals and calculating differential corrections, while the mobile station receiver is responsible for receiving GNSS signals and differential corrections, and calculating high-precision position information. GNSS monitoring equipment: GNSS monitoring equipment is mainly used to monitor the quality of GNSS satellite signals and the accuracy of positioning results. This type of equipment usually has high data processing capabilities and multiple monitoring functions, and can monitor the level, signal-to-noise ratio, multipath effect and other parameters of GNSS signals in real time, and judge the reliability of positioning results through data analysis. GNSS positioning module: GNSS positioning module is a miniaturized GNSS receiver that can be easily integrated into various terminal devices to provide positioning functions for the terminal devices.

[0041] Specifically, in some embodiments, Figure 1 and 2 As shown, the ruler pad 120 includes a base plate 121, a clamping protrusion 122 and a supporting support block 123; the number of the clamping protrusions 122 is at least three, and all are connected to the bottom of the base plate 121; the supporting support block 123 is arranged on the upper surface of the base plate 121; the supporting platform is provided with a mounting groove 111 corresponding to the clamping protrusion 122; the outer surface of the clamping protrusion 122 abuts against the inner wall of the mounting groove 111. The clamping protrusion 122 is a prismatic structure with a triangular cross section, and three are selected to be distributed in a triangular shape. This structure can improve the assembly stability of the ruler pad 120, thereby ensuring the stability of the subsequent test equipment when it is used.

[0042] Specifically, in some embodiments, Figure 1 and 2 As shown, the support platform is also provided with a warning component 170. The warning component 170 is a warning light, which can be a red warning light, a yellow warning light, etc.

[0043] Specifically, in some embodiments, Figure 1 and 2As shown, the placing component 130 includes a supporting portion 131 and a limiting portion 132; the supporting portion 131 and the limiting portion 132 are vertically arranged; and the supporting portion 131 is connected to the side end of the supporting platform; the placing groove 133 is arranged inside the limiting portion 132; and the bottom of the test device is connected to the inside of the placing groove 133; the upper end of the test device is detachably connected to the supporting portion 131. Figure 1 and 2 As shown, the placement component 130 further includes a clamping assembly 140; the clamping assembly 140 includes a buckle ring 141 and a buckle column 142; the buckle ring 141 is threadedly detachably connected to the test device; the buckle column 142 is connected to the abutment portion 131; the buckle ring 141 and the buckle column 142 are detachably connected, so that the abutment portion 131 is detachably connected to the test device. This structure can ensure the convenience of disassembly and assembly of the test device, thereby improving the use efficiency.

[0044] Specifically, in some embodiments, Figure 1 As shown in FIG. 3 , the test equipment includes at least two leveling rods 150; the leveling rods 150 are respectively arranged in the placement grooves 133 in two of the vehicles 110. That is, on at least two vehicles 110 in the GNSS ranging device, the test equipment is the leveling rods 150, and they serve as the mobile station B and the mobile station C respectively, which is conducive to building a corresponding detection local area network, thereby effectively improving the operation efficiency of the leveling measurement.

[0045] Specifically, in some embodiments, Figure 2 As shown in FIG. 3 , the test equipment includes at least one observation component 160; the observation component 160 is connected to the placement groove 133 of another vehicle 110. That is, on one vehicle 110 in the GNSS ranging device, the test equipment is the observation component 160 and serves as an observation base station A; this is conducive to building a corresponding detection local area network, thereby effectively improving the operating efficiency of leveling measurement.

[0046] Specifically, in some embodiments, Figure 2 As shown, the observation component 160 includes an observation instrument body 161, a height adjustment body 162 and a triangular base frame 163; the bottom of the observation instrument body 161 is connected to the height adjustment body 162; the bottom of the height adjustment body 162 is connected to the triangular base frame 163; the bottom of the triangular base frame 163 is connected to the placement groove 133; and the observation instrument body 161 abuts against the placement component 130 (the abutment portion 131). The observation instrument body 161 is a total station. The height adjustment body 162 can be a cylinder or a screw rod, etc. Figure 5As shown, the structure of the triangular base frame 163; the material classification of the triangular base frame 163 can be wood, high-strength plastic material, alloy material, steel material, volcanic stone, carbon fiber and the like.

[0047] Specifically, in some embodiments, Figure 1 , 2 As shown in Figure 3, one of the vehicles 100 with the leveling rod 150 is arranged 20m to 40m in front of another vehicle 100 with the observation component 160; another vehicle 100 with the leveling rod 150 is arranged 20m to 40m behind another vehicle 100 with the observation component 160. That is, one of the vehicles 100 with the leveling rod 150 is arranged at the mobile station B; another vehicle 100 with the observation component 160 is arranged at the base station A; another vehicle 100 with the leveling rod 150 is arranged at the mobile station C, thereby forming a detection local area network, thereby effectively improving the operating efficiency of leveling measurement.

[0048] The present invention also proposes a GNSS ranging method for leveling measurement, which performs method steps based on a GNSS ranging device for leveling measurement. The specific structure of the GNSS ranging device for leveling measurement refers to the above embodiment. Since the GNSS ranging method for leveling measurement adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Figure 4 As shown in the figure, the GNSS ranging methods used in leveling measurement include the following:

[0049] S1. Conduct pre-test inspection on all vehicles and instruments mounted on the vehicles;

[0050] S2, constructing a detection local area network; wherein the RTK high-precision positioning device on a vehicle with an observation instrument is used as a base station A, the RTK high-precision positioning device on one of the vehicles with a leveling ruler is used as a mobile station B, and the RTK high-precision positioning device on one of the vehicles with a leveling ruler is used as a mobile station C;

[0051] S3, obtaining the first coordinate information of the base station A; and obtaining the second coordinate information of the mobile station B and the third coordinate information of the mobile station C through a carrier phase difference algorithm according to the first coordinate information;

[0052] S4. According to the first coordinate information, the second coordinate information and the third coordinate information, obtain the first distance data and the first height difference data between the reference station A and the mobile station B, and the second distance data and the second height difference data between the reference station A and the mobile station C. That is, the actual distance and height difference between the mobile station and the reference station are calculated by comparing the three-dimensional coordinate data obtained by the GNSS with the data of the total station, and displayed in real time on the mobile terminal.

[0053] Specifically, in some implementations, in S2, the step of building a detection local area network includes the following:

[0054] The mobile station B moves to the front of the base station A; and there is a first preset distance between the base station A and the mobile station B; wherein the first preset distance is 20m to 40m;

[0055] The mobile station C moves to the rear of the base station A; and there is a second preset distance between the base station A and the mobile station C; wherein the second preset distance is 20m to 40m.

[0056] This method uses the GNSS equipment of the observation instrument vehicle as the base station A, and the GNSS positioning equipment of the front and rear scale vehicles as the mobile stations B and C to form a local area network, thereby effectively improving the efficiency of leveling measurements.

[0057] Specifically, in some embodiments, the step of obtaining the first coordinate information of the reference station A in S3; and obtaining the second coordinate information of the mobile station B and the third coordinate information of the mobile station C by using a carrier phase difference algorithm according to the first coordinate information, includes the following:

[0058] The RTK high-precision positioning device of the base station A, the RTK high-precision positioning device of the mobile station B, and the RTK high-precision positioning device of the mobile station C communicate with the data server, and share satellite numbers, terminal numbers, positioning data, and differential data information;

[0059] The GNSS terminal obtains a differential item by subtracting the satellite positioning value from the real position value, and packages the satellite number used and the number of the GNSS terminal for publication; all published information is stored in real time in the data server; mobile station B and mobile station C are matched to the base station using the same group of satellites, thereby obtaining the differential item, and calculating the positioning value after differential correction.

[0060] Further, the GNSS terminal determines whether the differential positioning result indicates that the preset condition is met, which may include the following steps: determining whether the differential positioning result indicates that the differential positioning state of the first positioning module is valid or whether the accuracy of the differential positioning result meets the threshold; when it is determined that the differential positioning result indicates that the differential positioning state of the first positioning module is valid and the accuracy of the differential positioning result meets the threshold, it is determined that the differential positioning result indicates that the preset condition is met; when it is determined that the differential positioning result indicates that the differential positioning state of the first positioning module is invalid or the accuracy of the differential positioning result does not meet the threshold, it is determined that the differential positioning result indicates that the preset condition is not met. When the differential positioning result indicates that the preset condition is not met, the GNSS terminal analyzes the detected satellite signal through the built-in second positioning module to obtain the first satellite observation data, performs error correction on the first satellite observation data according to the pre-established multipath error correction model and delay correction model to obtain positioning data, and outputs the positioning data.

[0061] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0062] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs can also change and modify the above embodiment. Therefore, the present invention is not limited to the above specific embodiment, and any obvious improvement, replacement or modification made by those skilled in the art on the basis of the present invention belongs to the protection scope of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. A GNSS distance measuring device for leveling, characterized in that: The invention comprises at least one vehicle and a placement component, a GNSS device, a test device and a ruler pad assembled on the vehicle; the vehicle is provided with a support platform; the ruler pad is arranged on the support platform; The GNSS device is connected to the support platform; The placing component is connected to the supporting platform; a placing groove is arranged in the placing component; and the testing device is arranged in the placing groove.

2. The GNSS distance measuring device for leveling according to claim 1, characterized in that: The vehicle is a battery vehicle or a bicycle.

3. The GNSS distance measuring device for leveling according to claim 1, characterized in that: The GNSS device includes an RTK high-precision positioning device; the RTK high-precision positioning device is used to electrically connect the GNSS receiver, GNSS positioning module and GNSS monitoring equipment of the cloud platform.

4. The GNSS distance measuring device for leveling according to claim 1, characterized in that: The ruler pad includes a base plate, a clamping protrusion and a supporting block; the number of the clamping protrusions is at least three, and all are connected to the bottom of the base plate; the supporting block is arranged on the upper surface of the base plate; the supporting platform is provided with a mounting groove corresponding to the clamping protrusion; the outer surface of the clamping protrusion abuts against the inner wall of the mounting groove.

5. The GNSS distance measuring device for leveling according to claim 1, characterized in that: The placing component includes a supporting portion and a limiting portion; the supporting portion and the limiting portion are vertically arranged; and the supporting portion is connected to the side end of the supporting platform; the placing groove is arranged inside the limiting portion; and the bottom of the testing device is connected to the inside of the placing groove; the upper end of the testing device is detachably connected to the supporting portion.

6. The GNSS distance measuring device for leveling according to claim 1, characterized in that: The testing device comprises at least two level rods; the level rods are respectively arranged in placement grooves in two of the vehicles.

7. The GNSS distance measuring device for leveling according to claim 1 or 6, characterized in that: The testing device includes at least one observation component; the observation component is connected to the placement groove of another vehicle.

8. The GNSS distance measuring device for leveling according to claim 7, characterized in that: The observation component includes an observation instrument body, a height adjustment body and a triangular base; the bottom of the observation instrument body is connected to the height adjustment body; the bottom of the height adjustment body is connected to the triangular base; the bottom of the triangular base is connected to the placement groove; and the observation instrument body abuts against the placement component.

9. A GNSS ranging method for leveling, characterized in that: The method is implemented based on the GNSS distance measuring device for leveling measurement as described in claims 1 to 8 above; The GNSS ranging method applied to leveling measurement includes: S1. Conduct pre-test inspection on all vehicles and instruments mounted on the vehicles; S2, constructing a detection local area network; wherein the RTK high-precision positioning device on a vehicle with an observation instrument is used as a base station A, the RTK high-precision positioning device on one of the vehicles with a leveling ruler is used as a mobile station B, and the RTK high-precision positioning device on one of the vehicles with a leveling ruler is used as a mobile station C; S3, obtaining the first coordinate information of the base station A; and obtaining the second coordinate information of the mobile station B and the third coordinate information of the mobile station C through a carrier phase difference algorithm according to the first coordinate information; S4. Acquire first distance data and first height difference data between the reference station A and the mobile station B, and second distance data and second height difference data between the reference station A and the mobile station C according to the first coordinate information, the second coordinate information and the third coordinate information.

10. The GNSS distance measurement method for leveling according to claim 9, characterized in that: The step of acquiring the first coordinate information of the base station A; and acquiring the second coordinate information of the mobile station B and the third coordinate information of the mobile station C by using a carrier phase difference algorithm according to the first coordinate information, comprises the following: The RTK high-precision positioning device of the base station A, the RTK high-precision positioning device of the mobile station B, and the RTK high-precision positioning device of the mobile station C communicate with the data server, and share satellite numbers, terminal numbers, positioning data, and differential data information; The GNSS terminal obtains a differential term by subtracting the satellite positioning value from the real position value, and packages the satellite number used and the GNSS terminal number for publication; All published information is stored in real time in the data server; mobile station B and mobile station C are matched to the base station using the same set of satellites to obtain differential items and calculate the positioning value after differential correction.

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