GNSS ranging device and method applied to leveling

Abstract

The application belongs to the technical field of leveling, and particularly relates to a GNSS ranging device and method applied to leveling, wherein the GNSS ranging device applied to leveling comprises at least one carrier, a placing component, a GNSS device, a testing device and a foot pad assembled on the carrier; the carrier is provided with a supporting platform; the foot pad is arranged on the supporting platform; the GNSS device is connected to the supporting platform; the placing component is connected to the supporting platform; and the placing component is provided with a placing groove; and the testing device is arranged in the placing groove. The application can realize relative long-distance and convenient testing operation, improve work efficiency, and save labor cost.

Description

Technical Field

[0001] This invention belongs to the field of leveling technology, and particularly relates to a GNSS ranging device and method for leveling. Background Technology

[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 equipment requires excessive investment of manpower and resources, and the accuracy of the measured data is poor, resulting in low operational efficiency and higher labor costs. Summary of the Invention

[0004] The purpose of this invention is to provide a GNSS ranging device for leveling surveys, which addresses the shortcomings of existing technologies and can solve any of the aforementioned technical problems.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A GNSS ranging device for leveling surveys includes at least one vehicle and a placement component, a GNSS device, a testing device, and a measuring rod mounted on the vehicle. The vehicle has a support platform; the measuring rod is placed on the support platform; the GNSS device is connected to the support platform; the placement component is connected to the support platform; and the placement component has a placement groove; the testing device is placed in the placement groove.

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

[0008] Preferably, the GNSS equipment includes an RTK high-precision positioning device; the RTK high-precision positioning device is used for electrical connection of the GNSS receiver, GNSS positioning module and GNSS monitoring equipment of the cloud platform.

[0009] Preferably, the ruler pad includes a base plate, a clamping protrusion, and a supporting block; the number of clamping protrusions is at least three, and all of them are connected to the bottom of the base plate; the supporting block is disposed 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 placement component includes an abutment portion and a limiting portion; the abutment portion and the limiting portion are vertically arranged; and the abutment portion is connected to the side end of the support platform; the placement groove is disposed inside the limiting portion; and the bottom of the testing device is connected to the inside of the placement groove; the upper end of the testing device is detachably connected to the abutment portion.

[0011] Preferably, the testing equipment includes at least two leveling rods; the leveling rods are respectively disposed in placement grooves in two of the transport vehicles.

[0012] Preferably, the testing equipment includes 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] This invention also discloses a GNSS ranging method for leveling, which is executed based on the GNSS ranging device for leveling described above; the GNSS ranging method for leveling includes:

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

[0016] S2. Construct a local area network for detection; wherein, an RTK high-precision positioning device on a vehicle equipped with observation instruments is used as a base station A, an RTK high-precision positioning device on one of the vehicles equipped with a leveling rod is used as a rover station B, and an RTK high-precision positioning device on one of the vehicles equipped with a leveling rod is used as a rover station C.

[0017] S3. Obtain the first coordinate information of the base station A; and obtain the second coordinate information of the rover B and the third coordinate information of the rover C based on the first coordinate information using a carrier phase differential algorithm.

[0018] S4. Based on the first coordinate information, the second coordinate information, and the third coordinate information, obtain the first distance data and the first altitude difference data between the base station A and the rover B, as well as the second distance data and the second altitude difference data between the base station A and the rover C.

[0019] Preferably, the step of obtaining the first coordinate information of the base station A; and obtaining the second coordinate information of the rover B and the third coordinate information of the rover C based on the first coordinate information using a carrier phase differential algorithm, includes the following:

[0020] The RTK high-precision positioning equipment of the base station A, the RTK high-precision positioning equipment of the rover B, and the RTK high-precision positioning equipment of the rover C communicate with the data server and share satellite number, terminal number, positioning data, and differential data information.

[0021] The GNSS terminal calculates the difference between the satellite positioning value and the actual position value to obtain the difference term, and simultaneously packages and publishes the satellite number and GNSS terminal number used; all published information is stored in real time on the data server; rover B and rover C are matched with a base station using the same set of satellites to obtain the difference term and calculate the differentially corrected positioning value.

[0022] The beneficial effects of this invention are that, by using a GNSS device mounted on a vehicle and implementing dual measurements through a GNSS local differential algorithm and testing equipment, this invention enables relatively long-distance and convenient testing operations, as well as accurate measurements and real-time display at multiple locations, thereby improving work efficiency and saving labor costs. Attached Figure Description

[0023] The following will refer to the appendix. Figures 1-5 The features, advantages and technical effects of exemplary embodiments of the present invention are described below.

[0024] Figure 1 This is a schematic diagram of a GNSS ranging device applied to leveling according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of a GNSS ranging device applied to leveling according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the detection local area network formed by a GNSS ranging device applied to leveling according to an embodiment of the present invention;

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

[0028] Figure 5 This is a schematic diagram of the triangular base of a GNSS ranging device applied to leveling according to an embodiment of the present invention.

[0029] In the diagram: 110-Vehicle; 111-Mounting slot; 120-Scale pad; 121-Base plate; 122-Clamping protrusion; 123-Support block; 130-Placement component; 131-Abutting part; 132-Limiting part; 133-Placement groove; 140-Clamping assembly; 150-Leveling rod; 160-Observation component; 161-Observation instrument body; 162-Height adjustment body; 163-Triangular base; 170-Warning component; 180-RTK high-precision positioning equipment. Detailed Implementation

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0031] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or multiple situations existing alone. In addition, the character " / " in this document generally indicates that the related objects before and after are in an "or" relationship.

[0034] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0035] The following is in conjunction with the appendix Figures 1-5 The present invention will be described in further detail, but this is not intended to limit the invention.

[0036] like Figure 1As shown, in one embodiment of the present invention, the GNSS ranging device applied to leveling surveys includes at least one vehicle 110 and a placement component 130, a GNSS device, a testing 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 disposed on the support platform; the GNSS device is connected to the support platform; the placement component 130 is connected to the support platform; and the placement component 130 is provided with a placement groove 133; the testing device is disposed in the placement groove 133.

[0037] The technical solution of this invention achieves relatively long-distance and convenient testing operations by using a GNSS device mounted on a vehicle and implementing dual measurements through a GNSS local differential algorithm and testing equipment. It also enables accurate measurement and real-time display at multiple locations, thereby improving work efficiency and saving labor costs.

[0038] Specifically, in some embodiments, the transport vehicle 110 is an electric vehicle or a bicycle. The electric vehicle consists of four main components: a battery, electric wheel hub, controller, and charger, plus the vehicle body; furthermore, an M95C model electric vehicle can be selected. Therefore, it meets the following requirements: 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, not occupying too much space; ⑤ Simple to drive and easy to learn.

[0039] Specifically, in some implementations, such as Figure 1 As shown, the GNSS equipment includes an RTK high-precision positioning device 180; the RTK high-precision positioning device 180 is used for electrical connection between the GNSS receiver, GNSS positioning module, and GNSS monitoring equipment of the cloud platform. In other words, the RTK high-precision positioning device 180 can more accurately acquire coordinate data of various locations, thereby allowing for further acquisition of leveling observation data based on the observation results; thus improving work efficiency and saving labor costs.

[0040] Among them, GNSS receivers are the core equipment of a GNSS positioning system. They receive signals from GNSS satellites and calculate the receiver's position information through data processing. RTK high-precision positioning equipment: RTK (Real-Time Kinetic) is a real-time dynamic differential positioning technology that achieves high-precision positioning by processing carrier phase observations between two or more GNSS receivers in real time. RTK high-precision positioning equipment typically includes a base station receiver and one or more rover receivers. The base station receiver is responsible for receiving GNSS signals and calculating differential corrections, while the rover 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 typically has high data processing capabilities and multiple monitoring functions, and can monitor parameters such as GNSS signal level, signal-to-noise ratio, and multipath effects in real time, and determine the reliability of the positioning results through data analysis. GNSS positioning module: A GNSS positioning module is a miniaturized GNSS receiver that can be easily integrated into various terminal devices to provide positioning functionality for those devices.

[0041] Specifically, in some implementations, such as Figure 1 and 2 As shown, the ruler pad 120 includes a base plate 121, clamping protrusions 122, and supporting blocks 123. There are at least three clamping protrusions 122, all connected to the bottom of the base plate 121. The supporting blocks 123 are disposed on the upper surface of the base plate 121. The supporting platform has mounting grooves 111 corresponding to the clamping protrusions 122. The outer surface of the clamping protrusions 122 abuts against the inner wall of the mounting grooves 111. The clamping protrusions 122 are prismatic structures with a triangular cross-section, and three are arranged in a triangular pattern. This structure improves the assembly stability of the ruler pad 120, thereby ensuring the stability of the subsequent testing equipment during use.

[0042] Specifically, in some implementations, such as Figure 1 and 2 As shown, the support platform is also equipped with a warning component 170. The warning component 170 is a warning light; it can be a red warning light, a yellow warning light, etc.

[0043] Specifically, in some implementations, such as Figure 1 and 2As shown, the placement component 130 includes abutting portion 131 and limiting portion 132; the abutting portion 131 and limiting portion 132 are vertically arranged; and the abutting portion 131 is connected to the side end of the support platform; the placement groove 133 is disposed inside the limiting portion 132; and the bottom of the testing device is connected to the inside of the placement groove 133; the upper end of the testing device is detachably connected to the abutting portion 131. Wherein, as... Figure 1 and 2 As shown, the placement component 130 further includes a clamping assembly 140; the clamping assembly 140 includes a retaining ring 141 and a retaining post 142; the retaining ring 141 is detachably threaded onto the testing equipment; the retaining post 142 is connected to the abutment portion 131; the retaining ring 141 and the retaining post 142 are detachably connected, so that the abutment portion 131 is detachably connected to the testing equipment. This structure ensures the ease of disassembly and assembly of the testing equipment, thereby improving its efficiency.

[0044] Specifically, in some implementations, such as Figure 1 As shown in Figure 3, the testing equipment includes at least two leveling rods 150; the leveling rods 150 are respectively disposed in placement grooves 133 in two of the transport vehicles 110. That is to say, the testing equipment on at least two transport vehicles 110 of the GNSS ranging device is the leveling rod 150, which serves as rover B and rover C respectively, thereby facilitating the construction of corresponding detection local area networks and effectively improving the operational efficiency of leveling surveys.

[0045] Specifically, in some implementations, such as Figure 2 As shown in Figure 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 of the vehicles 110s of the GNSS ranging device, the test equipment is the observation component 160, and serves as the observation base station A; this facilitates the construction of a corresponding detection local area network, thereby effectively improving the operational efficiency of leveling surveys.

[0046] Specifically, in some implementations, such as Figure 2 As shown, the observation component 160 includes an instrument body 161, a height adjustment body 162, and a tripod base 163. The bottom of the instrument body 161 is connected to the height adjustment body 162; the bottom of the height adjustment body 162 is connected to the tripod base 163; the bottom of the tripod base 163 is connected to the placement groove 133; and the instrument body 161 abuts against the placement component 130 (abutment part 131). The instrument body 161 is a total station. The height adjustment body 162 can be a cylinder or a lead screw, etc. Figure 5As shown, the structure of the triangular base 163 is described. The material of the triangular base 163 can be wood, high-strength plastic, alloy, steel, volcanic rock, carbon fiber, and other materials.

[0047] Specifically, in some implementations, such as Figure 1 , 2 As shown in Figure 3, one of the transport vehicles 100 with the leveling rod 150 is positioned 20m to 40m in front of another transport vehicle 100 with the observation component 160; another transport vehicle 100 with the leveling rod 150 is positioned 20m to 40m behind the other transport vehicle 100 with the observation component 160. That is, one of the transport vehicles 100 with the leveling rod 150 is positioned at rover station B; another transport vehicle 100 with the observation component 160 is positioned at base station A; and yet another transport vehicle 100 with the leveling rod 150 is positioned at rover station C, thus forming a local area network for detection; thereby effectively improving the operational efficiency of leveling surveys.

[0048] This invention also proposes a GNSS ranging method for leveling. This method is based on a GNSS ranging device for leveling and executes its steps. The specific structure of the GNSS ranging device for leveling is described in the above embodiments. Since this GNSS ranging method for leveling adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated further here. For example, Figure 4 As shown, GNSS ranging methods applied to leveling include the following:

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

[0050] S2. Construct a local area network for detection; wherein, an RTK high-precision positioning device on a vehicle equipped with observation instruments is used as a base station A, an RTK high-precision positioning device on one of the vehicles equipped with a leveling rod is used as a rover station B, and an RTK high-precision positioning device on one of the vehicles equipped with a leveling rod is used as a rover station C.

[0051] S3. Obtain the first coordinate information of the base station A; and obtain the second coordinate information of the rover B and the third coordinate information of the rover C based on the first coordinate information using a carrier phase differential algorithm.

[0052] S4. Based on the first coordinate information, the second coordinate information, and the third coordinate information, obtain the first distance data and the first altitude difference data between the base station A and the rover B, as well as the second distance data and the second altitude difference data between the base station A and the rover C. That is, by comparing the three-dimensional coordinate data obtained by GNSS with the data from the total station, the actual distance and altitude difference between the rover and the base station are calculated and displayed in real time on the mobile device.

[0053] Specifically, in some embodiments, the step of constructing the detection local area network in S2 includes the following:

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

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

[0056] This method uses the GNSS equipment on the observation instrument vehicle as the base station A, and the GNSS positioning equipment on the front and rear rod vehicles as rover stations B and C, forming a local area network; thus effectively improving the operational efficiency of leveling surveys.

[0057] Specifically, in some embodiments, step S3, which involves obtaining the first coordinate information of the base station A and obtaining the second coordinate information of the rover B and the third coordinate information of the rover C based on the first coordinate information using a carrier phase differential algorithm, includes the following:

[0058] The RTK high-precision positioning equipment of the base station A, the RTK high-precision positioning equipment of the rover B, and the RTK high-precision positioning equipment of the rover C communicate with the data server and share satellite number, terminal number, positioning data, and differential data information.

[0059] The GNSS terminal calculates the difference between the satellite positioning value and the actual position value to obtain the difference term, and simultaneously packages and publishes the satellite number and GNSS terminal number used; all published information is stored in real time on the data server; rover B and rover C are matched with a base station using the same set of satellites to obtain the difference term and calculate the differentially corrected positioning value.

[0060] Further, the GNSS terminal's determination of whether the differential positioning result indicates that the preset conditions are met 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 a threshold; if 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, then the differential positioning result is determined to indicate that the preset conditions are met; if 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, then the differential positioning result is determined to indicate that the preset conditions are not met. When the differential positioning result indicates that the preset conditions are not met, the GNSS terminal analyzes the detected satellite signals through its built-in second positioning module to obtain first satellite observation data, corrects the first satellite observation data for errors according to a pre-established multipath error correction model and time delay correction model to obtain positioning data, and outputs the positioning data.

[0061] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0062] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments described above, and any obvious improvements, substitutions, or modifications made by those skilled in the art based on the present invention are within the scope of protection of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A GNSS ranging method for leveling, comprising an apparatus for performing the GNSS ranging method for leveling, characterized in that: The device includes at least one vehicle and a placement component, GNSS equipment, testing equipment, and a measuring pad mounted on the vehicle; the vehicle is provided with a support platform; the measuring pad is disposed on the support platform. The GNSS equipment is connected to the support platform; The placement component is connected to the support platform; Furthermore, the placement component is provided with a placement groove; The testing equipment is disposed in the placement groove; Furthermore, the GNSS ranging method applied to leveling includes: S1. Conduct a pre-test inspection of all vehicles and instruments mounted on the vehicles. S2. Construct a local area network for detection; wherein, an RTK high-precision positioning device on a vehicle equipped with observation instruments is used as a base station A, an RTK high-precision positioning device on one of the vehicles equipped with a leveling rod is used as a rover station B, and an RTK high-precision positioning device on one of the vehicles equipped with a leveling rod is used as a rover station C. S3. Obtain the first coordinate information of the base station A; and obtain the second coordinate information of the rover B and the third coordinate information of the rover C based on the first coordinate information using a carrier phase differential algorithm. S4. Based on the first coordinate information, the second coordinate information, and the third coordinate information, obtain the first distance data and the first altitude difference data between the base station A and the rover B, as well as the second distance data and the second altitude difference data between the base station A and the rover C.

2. The GNSS ranging method for leveling according to claim 1, characterized in that: The means of transport is an electric vehicle or a bicycle.

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

4. The GNSS ranging method 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 clamping protrusions is at least three, and all of them are connected to the bottom of the base plate; the supporting block is disposed 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 ranging method for leveling according to claim 1, characterized in that: The placement component includes a support portion and a limiting portion; the support portion and the limiting portion are vertically arranged; and the support portion is connected to the side end of the support platform; the placement groove is disposed inside the limiting portion; and the bottom of the testing device is connected to the inside of the placement groove; the upper end of the testing device is detachably connected to the support portion.

6. The GNSS ranging method for leveling according to claim 1, characterized in that: The testing equipment includes at least two leveling rods; the leveling rods are respectively set in placement grooves in two of the vehicles.

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

8. The GNSS ranging method 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. The GNSS ranging method for leveling according to claim 1, characterized in that: The steps of obtaining the first coordinate information of the base station A, and obtaining the second coordinate information of the rover B and the third coordinate information of the rover C based on the first coordinate information using a carrier phase differential algorithm, include the following: The RTK high-precision positioning equipment of the base station A, the RTK high-precision positioning equipment of the rover B, and the RTK high-precision positioning equipment of the rover C communicate with the data server and share satellite number, terminal number, positioning data, and differential data information. The GNSS terminal calculates the difference between the satellite positioning value and the actual position value to obtain the difference term, and at the same time packages and publishes the satellite number and the GNSS terminal number used. All published information is stored in real time on the data server; Rover B and Rover C are matched with a base station using the same set of satellites to obtain differential terms and calculate the differentially corrected positioning value.

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