Multilayer three-dimensional rotary GNSS (Global Navigation Satellite System) positioning and elevation measuring system and control method thereof

Abstract

The invention provides a multilayer three-dimensional rotary GNSS (Global Navigation Satellite System) positioning and elevation measuring system and a control method thereof. The multilayer three-dimensional rotary GNSS positioning and elevation measuring system comprises a plurality of GNSS antennas, a GNSS receiver, a multilayer movement mechanism, a servo control module and a data processing module, the servo control module is used for driving the multi-layer movement mechanism to rotate so as to drive the GNSS antenna of each layer to rotate, so that the multi-layer movement mechanism sequentially arrives at each preset measurement point position, the spatial position of each arrived measurement point position is determined, and a movement space geometry of the multi-layer movement mechanism is obtained after one operation cycle is completed; the data processing module carries out point cloud modeling according to the motion space geometry, and carries out fusion processing based on the geometric feature value of the modeled point cloud space and the original positioning data and the original elevation data calculated at each measurement point by the GNSS receiver. And determining positioning data and elevation data of the feature points of the point cloud space as final positioning data and final elevation data. The system effectively improves the precision and speed of GNSS positioning and elevation data measurement.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of GNSS positioning and elevation measurement, and in particular to a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system and a control method thereof. Background Art

[0002] GNSS (Global Navigation Satellite System) positioning technology is a widely recognized and accepted tracking and positioning technology. This technology can track and locate people, animals, assets, vehicles, etc., and provide data such as heading, speed, and time. The current GNSS positioning technology is mainly divided into two types: ranging code measurement and carrier phase measurement. The ranging code measurement method can achieve meter-level positioning accuracy, while the carrier phase measurement method can theoretically achieve millimeter-level positioning accuracy.

[0003] There are three main factors that affect GNSS positioning accuracy, namely satellite-related errors, propagation path-related errors, and receiver-related errors. As for how to deal with these errors to improve the accuracy of GNSS positioning and elevation data measurement, the mainstream methods studied by domestic and foreign teams can be divided into two major directions: differential methods and non-differential methods. The main representative technology of differential methods is RTK (Real Time Kinematic) technology, and the main representative technology of non-differential methods is PPP (Precise Point Position) technology. During the research, a team combined RTK technology with PPP and proposed a solution that integrates PPP technology and RTK technology, referred to as PPP-RTK technology.

[0004] Under ideal conditions, the positioning accuracy of RTK technology can reach millimeter level, and the positioning accuracy of PPP technology can reach centimeter to decimeter level. The positioning accuracy of PPP-RTK technology is equivalent to that of RTK technology when the network is smooth and the delay is small, and it is downgraded to centimeter to decimeter level when the network is poor or there is no network.

[0005] However, the actual working environment is not ideal. There are many factors that affect the final positioning accuracy. RTK technology, PPP technology and PPP-RTK technology face the following problems:

[0006] 1) In order to implement PPP technology, precise satellite orbit and clock error products need to be provided in real time, which places high demands on the transmission system. When the communication quality of the transmission system fluctuates, the final positioning accuracy will be greatly affected.

[0007] 2) Both RTK and PPP technologies require modeling of the delays caused by signals passing through the ionosphere and troposphere. The models cannot accurately reflect changes in atmospheric conditions at all times, which has a significant impact on positioning accuracy.

[0008] 3) The reflection and refraction of buildings in urban environments will produce multipath effects on GNSS signals, seriously affecting the positioning accuracy of RTK technology and PPP positioning technology.

[0009] 4) In densely populated urban areas or environments with natural obstructions (such as trees and mountains), GNSS signals may be blocked, and the integer ambiguity of the carrier phase needs to be accurately estimated and fixed. In poor signal conditions or dynamic environments, it is difficult to fix the ambiguity, which will affect the continuity and reliability of RTK technology and PPP technology.

[0010] 5) RTK technology relies on data links to transmit base station data, and network delays will affect its real-time performance and reliability. Summary of the invention

[0011] In view of this, the embodiments of the present application propose a multi-layer three-dimensional rotating GNSS positioning and elevation measurement system and a control method thereof, which can effectively eliminate random errors and systematic errors, improve the accuracy of GNSS positioning and elevation measurement, reduce costs, and at the same time greatly shorten the time required for GNSS positioning and elevation measurement. It has broad promotion prospects and significant economic and social benefits.

[0012] In order to achieve the above-mentioned purpose, an embodiment of the present application proposes a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system, which includes: multiple GNSS antennas, GNSS receivers, multi-layer motion mechanisms, servo control modules and data processing modules. The multi-layer motion mechanism is composed of a column and multiple parallel rotating layers fixed on the column. Each rotating layer is provided with multiple mounting positions, and a mounting position is also provided at the top of the column. A GNSS antenna is installed at each mounting position. The bottom end of the column is connected to the servo control module, and communication connections are established between the GNSS receiver and the data processing module and each GNSS antenna respectively; the servo control module is used to drive the multi-layer motion mechanism to rotate based on a preset operating logic, or comply with the driving logic required by the preset AI algorithm, so as to drive the GNSS antennas of each layer to rotate, so that the multi-layer motion mechanism reaches each preset measurement point in turn, and determines the spatial position of each measurement point reached. After completing an operating cycle, the multi-layer motion mechanism is obtained. Motion space geometry; wherein different rotation angles are set in the preset operation logic or the driving logic required by the preset AI algorithm, and different measurement points are determined based on different rotation angles; the GNSS receiver is used to receive the signals transmitted by each GNSS antenna in real time, and solve the original positioning data and original elevation data based on the received signals; the data processing module is used to obtain the original positioning data and original elevation data solved by the GNSS receiver at each measurement point based on the spatial position of each measurement point, perform point cloud modeling according to the motion space geometry of the multi-layer motion mechanism, and perform fusion processing based on the geometric eigenvalues ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measurement point, and the original positioning data and original elevation data solved by the GNSS receiver at each measurement point, determine the positioning data and elevation data corresponding to the feature points of the point cloud space, and use the positioning data and elevation data corresponding to the feature points as the final positioning data and final elevation data.

[0013] In order to achieve the above-mentioned purpose, an embodiment of the present application also proposes a control method for a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system, which is applicable to the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system as described above, and the method includes the following steps: powering on the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system, and after powering on, initializing the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system, and returning the multi-layer motion mechanism to the initial position; wherein, the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system is burned with a program corresponding to a preset operating logic or a driving logic required by a preset AI algorithm; after initialization, the program is run to drive the multi-layer motion mechanism to drive the GNSS antennas of each layer to rotate to different rotation angles, so as to reach each measurement point in turn, and determine the spatial position of each measurement point reached, and after completing an operation cycle, obtain the multi-layer motion mechanism. The method comprises the following steps: obtaining the original positioning data and the original elevation data solved by the GNSS receiver during the rotation of the multi-layer motion mechanism; wherein the GNSS receiver receives the signal transmitted by each GNSS antenna in real time, and solves the original positioning data and the original elevation data based on the received signal; obtaining the original positioning data and the original elevation data solved by the GNSS receiver at each measuring point based on the spatial position of each measuring point, performing point cloud modeling according to the motion space geometry of the multi-layer motion mechanism, and performing fusion processing based on the geometric eigenvalues ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measuring point, and the original positioning data and the original elevation data solved by the GNSS receiver at each measuring point, so as to determine the positioning data and the elevation data corresponding to the feature points of the point cloud space; finally, taking the positioning data and the elevation data corresponding to the feature points as the final positioning data and the final elevation data.

[0014] In order to achieve the above-mentioned purpose, an embodiment of the present application also proposes a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement a control method for a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system as described above.

[0015] The present application proposes a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system and its control method, which uses a multi-layer motion mechanism equipped with multiple GNSS antennas for GNSS positioning and elevation measurement. The servo control module drives the multi-layer motion mechanism to rotate based on the preset operation logic or the driving logic required by the preset AI algorithm to drive the GNSS antennas of each layer to rotate, so that the multi-layer motion mechanism reaches each preset measurement point in turn, and determines the spatial position of each measurement point reached. After completing an operation cycle, the motion space geometry of the multi-layer motion mechanism is obtained. The GNSS receiver receives the signals transmitted by each GNSS antenna in real time, and solves the original positioning data and original elevation data in real time. The data processing module obtains the original positioning data and original elevation data solved by the GNSS receiver at each measurement point based on the spatial position of each measurement point, and then performs point cloud modeling according to the motion space geometry of the multi-layer motion mechanism. Based on the geometric eigenvalues ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measurement point, and the original positioning data and original elevation data solved by the GNSS receiver at each measurement point, the positioning data and elevation data corresponding to the feature points of the point cloud space are determined, and the positioning data and elevation data corresponding to the feature points are used as the final positioning data and final elevation data, so that the original positioning data and original elevation data containing satellite-related errors, propagation path-related errors, receiver-related errors, and motion errors of multi-layer motion mechanisms solved by the GNSS receiver in real time are infinitely close to the modeled point cloud space, thereby effectively eliminating random errors and systematic errors, and greatly improving the accuracy and success rate of GNSS positioning and elevation data measurement. If PPP technology is used, the positioning accuracy and elevation data measurement accuracy can be theoretically improved to the millimeter level. If the equipment uses RTK technology, the positioning accuracy and elevation data measurement accuracy can be theoretically improved to the sub-millimeter level. Compared with RTK technology and PPP-RTK technology, the GNSS positioning and elevation data measurement system proposed in this application greatly reduces the cost of positioning and elevation data measurement, so it has a broad prospect for promotion and has significant economic and social benefits. In addition, one operation cycle of a multi-layer motion mechanism equipped with multiple GNSS antennas is equivalent to multiple operation cycles of a GNSS antenna. Using a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system, the accuracy that traditional GNSS positioning and elevation measurement systems can achieve in tens of minutes can be achieved, which greatly shortens the time required for GNSS positioning and elevation measurement.

[0016] In some optional embodiments, the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system also includes a communication module and a power supply module. A communication connection is established between the GNSS receiver and the data processing module through the communication module; the power supply module is used to power the GNSS antenna, GNSS receiver, servo control module and communication module, and the power supply mode of the power supply module is line power supply or battery power supply; the communication module is used to obtain the original positioning data and original elevation data solved by the GNSS receiver, and send the original positioning data and original elevation data solved by the GNSS receiver to the data processing module. The data processing module needs to have a certain computing power, and it is more appropriate to use a cloud-based data processing module. Therefore, a communication module needs to be set in the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system. The communication module serves as a bridge to send the original positioning data and original elevation data solved by the GNSS receiver to the data processing module. After processing, the positioning accuracy and elevation data measurement accuracy can be further improved.

[0017] In some optional embodiments, the servo control module is composed of a control unit and a rotating motor; the control unit is used to generate a driving signal based on a preset operating logic, or a driving logic that complies with the preset AI algorithm requirements, and send the driving signal to the rotating motor; the rotating motor is used to drive the multi-layer motion mechanism to rotate to drive the GNSS antennas of each layer to rotate, so that the multi-layer motion mechanism reaches the different rotation angles corresponding to the driving signal and hovers, so that the multi-layer motion mechanism reaches each preset measurement point in turn; the control unit is also used to detect whether the multi-layer motion mechanism is hovering stably, and after the multi-layer motion mechanism is hovering stably, determine the spatial position of the current measurement point reached by each GNSS antenna. Hovering stability detection can eliminate motion errors from the root to a certain extent, thereby further improving positioning accuracy and elevation data measurement accuracy.

[0018] In some optional embodiments, the radius of each rotating layer is different, the distance between each rotating layer is different, and the distance between each mounting position and other mounting positions is always greater than half a wavelength during the rotation of the multi-layer motion mechanism. The design that the distance between each mounting position is greater than half a wavelength can ensure that there is no interference between each GNSS antenna.

[0019] In some optional embodiments, the multi-layer motion mechanism is composed of a column and n parallel rotating layers fixed on the column, each rotating layer is provided with m mounting positions, the height difference between the top of the column and the bottom rotating layer is H, the height difference between two adjacent rotating layers is H / n, the height difference between the top of the column and the top rotating layer is also H / n, and the radius of the nth rotating layer is R n; Wherein, n is an integer greater than 1, and m is an integer greater than 1; the point cloud space is divided into n+1 layers by the vertices of the pillars and the rotation layers, including n parallel circular surfaces and 1 vertex, the bottom surface of the point cloud space is the bottom rotation layer, the vertex of the point cloud space is the top of the pillar, and the height of the point cloud space is H; p measurement points are set on each circular surface of the point cloud space, the angles between the p measurement points on the same circular surface are equal, and 1 measurement point is set on the vertex of the point cloud space. The feature point of the point cloud space is the center of the bottom surface of the point cloud space, that is, the axis of the bottom rotation layer.

[0020] In some optional embodiments, based on the geometric characteristic values ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measurement point, and the original positioning data and original elevation data solved by the GNSS receiver at each measurement point, a fusion process is performed to determine the positioning data and elevation data corresponding to the characteristic points of the point cloud space, including: traversing each circular surface and traversing each measurement point on the current circular surface, based on the radius of the current circular surface, the rotation angle corresponding to the current measurement point and the original positioning data solved by the GNSS receiver at the current measurement point, determining the coarse positioning data of the center of the current circular surface based on the radius of the current circular surface, the rotation angle corresponding to the current measurement point and the original positioning data solved by the GNSS receiver at the current measurement point, and determining the coarse elevation data of the center of the current circular surface based on the original elevation data solved by the GNSS receiver at the current measurement point; the coarse positioning data of the center of the current circular surface determined based on each measurement point on the current circular surface The rough elevation data of the center of the current circular surface determined based on the measuring points on the current circular surface are averaged, and the elevation data of the center of the current circular surface are averaged, and the original positioning data calculated by the GNSS receiver at the vertex are averaged to obtain the positioning data corresponding to the center of the bottom surface of the point cloud space; the elevation data of the center of each circular surface and the original elevation data calculated by the GNSS receiver at the vertex are respectively subtracted from the height of the corresponding layer to obtain the rough elevation data corresponding to the center of the bottom surface of n+1 point cloud spaces; the rough elevation data corresponding to the center of the bottom surface of the n+1 point cloud spaces are averaged to obtain the elevation data corresponding to the center of the bottom surface of the point cloud space. The multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in the present application has a motion scale of tens of centimeters and a motion period of seconds or minutes for the multi-layer motion mechanism. Therefore, the measurement of the original positioning data and the original elevation data can be considered as small-scale, short-period data measurement, which conforms to independent and identical distribution. The accuracy can be greatly improved by using mean processing, and the computing power required for mean processing is relatively low. This enables the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in the present application to take into account both computing cost and accuracy improvement effect.

[0021] In some optional embodiments, the positioning data and elevation data corresponding to the feature points are used as the final positioning data and final elevation data, including: the servo control module, the GNSS receiver and the data processing module repeatedly work for k operation cycles to obtain the positioning data corresponding to the center of the bottom surface of the point cloud space for k operation cycles and the elevation data corresponding to the center of the bottom surface of the point cloud space for k operation cycles; wherein k is an integer greater than 1; the positioning data corresponding to the center of the bottom surface of the point cloud space for k operation cycles and the elevation data corresponding to the center of the bottom surface of the point cloud space for k operation cycles are respectively averaged to obtain the average positioning data of k operation cycles and the average elevation data of k operation cycles, and the average positioning data of k operation cycles and the average elevation data of k operation cycles are used as the fusion data layer of the final positioning data and the final elevation data. For applications that do not require high speed, the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in this application can perform multiple-cycle measurements, and perform average processing on the positioning data and elevation data corresponding to the center of the bottom surface of the point cloud space determined by multiple cycles, thereby further improving the positioning accuracy and elevation data measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related technologies, the drawings required for use in the embodiments of the present application or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system provided in one embodiment of the present application;

[0024] Figure 2 is a structural schematic diagram of a multi-layer motion mechanism provided in one embodiment of the present application;

[0025] Figure 3 In one embodiment of the present application, a Figure 2 A schematic diagram of the motion space geometry of the multi-layer motion mechanism obtained by the multi-layer motion mechanism shown;

[0026] Figure 4 is a schematic structural diagram of another multi-layer motion mechanism provided in one embodiment of the present application;

[0027] Figure 5 In one embodiment of the present application, a Figure 4 A schematic diagram of the motion space geometry of the multi-layer motion mechanism obtained by the multi-layer motion mechanism shown;

[0028] Figure 6 is a schematic diagram of a point cloud space provided in one embodiment of the present application;

[0029] Figure 7 is a structural schematic diagram of a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system provided in another embodiment of the present application;

[0030] Figure 8 It is a flow chart of a control method of a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system provided in another embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. In the various embodiments of the present application, many technical details are proposed in order to make the reader better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is only for the convenience of description, and the specific implementation mode of the present application should not constitute any limitation. The various embodiments can be combined with each other and referenced to each other under the premise of no contradiction.

[0032] There are three main factors that affect the accuracy of GNSS positioning, namely satellite-related errors, propagation path-related errors, and receiver-related errors. Satellite-related errors include ephemeris errors, satellite clock errors, satellite internal signal delays, and satellite antenna phase center deviations. Propagation path-related errors include ionospheric radiation, tropospheric radiation, and multipath effects. Receiver-related errors include receiver internal signal delays, receiver clock errors, and receiver phase center deviations. On the issue of how to deal with these errors to improve the accuracy of GNSS positioning and elevation data measurement, various research teams at home and abroad have successively proposed RTK technology, PPP technology, and PPP-RTK technology. In order to facilitate the elaboration of the technical solution of this application, the relevant contents of RTK technology, PPP technology, and PPP-RTK technology are first introduced here.

[0033] 1) RTK technology

[0034] Since the three major types of errors, satellite-related errors, propagation path-related errors, and receiver-related errors, except for the multipath effect, all have strong spatial correlation, the observation values ​​of two receivers in a certain space can be subtracted to eliminate these spatial correlation errors. RTK technology mainly adopts the carrier phase difference solution. The entire system includes satellites, base stations, mobile stations (various types of GNSS receivers), radio stations, etc. When working, both the base station and the mobile station are responsible for observing the satellite carrier signal. The base station broadcasts the observed satellite carrier model through the radio station. After receiving the signal sent by the base station, the mobile station performs double difference ambiguity resolution and baseline vector resolution with the carrier signal observed by itself, so as to accurately calculate the spatial relative position relationship between the mobile station and the base station. Subsequently, the relative position relationship is converted into the coordinates required by the user through coordinate transformation. After RTK technology processing, the satellite positioning accuracy can reach 1cm+D.1ppm, and the elevation can reach 2cm+D.1ppm. D represents the distance between the mobile station and the base station, and 1ppm is one part per million. That is, theoretically, if the mobile station increases by 1km from the base station, the positioning accuracy and elevation data measurement accuracy will increase by 1mm.

[0035] 2) PPP technology

[0036] PPP technology uses the precise ephemeris and satellite clock errors released by organizations such as IGS (International GNSS Service) to perform positioning and calculation for a single GNSS receiver to obtain high-precision coordinates of the measurement point. The system consists of a ground monitoring network, a ground master control station, an uplink station, a mobile station, a low-orbit communication satellite, and a navigation satellite. For ephemeris errors and satellite clock errors, a ground monitoring network is built around the world to continuously observe navigation satellites, and the observation data is sent to the ground master control station through the network. The ground master control station integrates other information to calculate the precise satellite orbit and satellite clock error, and generates orbit and clock correction information according to the protocol, which is transmitted by the uplink station to the low-orbit communication satellite, and the low-orbit communication satellite broadcasts the correction information to the mobile station through satellite signals. For other errors, the mobile station uses reasonable parameter estimation strategies (such as least squares, Kalman filtering, etc.) and model methods such as fractional deviation, integer clock, and decoupled clock to eliminate them based on the precise correction of various errors of comprehensive probability. A single receiver can achieve global centimeter-level to decimeter-level absolute positioning accuracy.

[0037] 3) PPP-RTK technology

[0038] Due to the influence of various participating errors such as phase deviation, tropospheric and ionospheric delays, the initialization time of the PPP technology fixed solution takes at least 20 minutes to achieve fixation. Therefore, some research teams have proposed a solution that integrates PPP technology and RTK technology, adding a communication link between the PPP facility and the RTK base station facility. The PPP facility uses the precise data and correction data provided by the base station to refine the error parameters and achieve fast and accurate positioning.

[0039] However, neither RTK technology, PPP technology, nor PPP-RTK technology can effectively eliminate random errors and systematic errors.

[0040] In order to solve the technical problem that RTK technology, PPP technology, and PPP-RTK technology cannot effectively eliminate random errors and systematic errors, an embodiment of the present application proposes a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system. The implementation details of the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in this embodiment are described in detail below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0041] The specific composition structure of a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in this embodiment is as follows: Figure 1 As shown, the system includes: multiple GNSS antennas ( Figure 1 , a GNSS antenna 101 is marked in FIG. 1 ), a GNSS receiver 200, a multi-layer motion mechanism 300, a servo control module 400 and a data processing module 500. The multi-layer motion mechanism 300 is composed of a column 301 and a plurality of parallel rotating layers ( Figure 1 A rotation layer 302 is marked in FIG. Figure 1 The column 301 is composed of three rotating layers (three rotating layers in total), the length of the column 301 is precisely known, the height of each rotating layer (i.e., the distance from the bottom of the column 301) is also precisely known, and the radius of each rotating layer is also precisely known. Multiple mounting positions are set on each rotating layer, and a mounting position is also set on the top of the column 301. A GNSS antenna is installed in each mounting position. The bottom of the column 301 is connected to the servo control module 400, and communication connections are established between the GNSS receiver 200, the data processing module 500 and each GNSS antenna.

[0042] The servo control module 400 is used to drive the multi-layer motion mechanism 300 to rotate based on the preset operation logic or the driving logic required by the preset AI algorithm (which can be selected according to actual needs) to drive the GNSS antennas of each layer to rotate, so that the multi-layer motion mechanism 300 reaches the preset measurement points in turn, and determines the spatial position of each measurement point reached. After completing an operation cycle, the motion space geometry of the multi-layer motion mechanism is obtained. Among them, different rotation angles are set in the preset operation logic or the driving logic required by the preset AI algorithm, and different measurement points are determined based on different rotation angles.

[0043] It is worth noting that the measurement point mentioned in this embodiment is a posture, not a fixed point in space. When the multi-layer motion mechanism rotates to reach a measurement point, the spatial positions of different GNSS antennas are different, but after the multi-layer motion mechanism completes an operation cycle, each GNSS antenna has undergone the same number of measurements (the GNSS antenna located at the top of the column is a special case and is not taken into account). Assuming that the multi-layer motion mechanism rotates one circle to complete an operation cycle, then after the multi-layer motion mechanism rotates one circle, each GNSS antenna also rotates one circle.

[0044] The GNSS receiver 200 is used to receive signals transmitted by each GNSS antenna in real time, and calculate original positioning data and original elevation data based on the received signals.

[0045] The data processing module 500 is used to obtain the original positioning data and original elevation data solved by the GNSS receiver 200 at each measuring point based on the spatial position of each measuring point, and then perform point cloud modeling according to the motion space geometry of the multi-layer motion mechanism. Based on the geometric eigenvalues ​​of the point cloud space obtained by modeling, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measuring point, and the original positioning data and original elevation data solved by the GNSS receiver 200 at each measuring point, a fusion process is performed to determine the positioning data and elevation data corresponding to the feature points of the point cloud space, and the positioning data and elevation data corresponding to the feature points are used as the final positioning data and final elevation data.

[0046] It is worth noting that the original positioning data and original elevation data calculated by the GNSS receiver contain satellite-related errors, propagation path-related errors, receiver-related errors, and motion errors of multi-layer motion mechanisms. Satellite-related errors and receiver-related errors have been well resolved through RTK technology and PPP technology, while propagation path-related errors are mostly random errors that cannot be well resolved by RTK technology and PPP technology. The fusion processing process is actually to make the propagation path-related errors and the motion errors of the additionally introduced multi-layer motion mechanisms tend to infinitesimal, so as to achieve the purpose of eliminating random errors and systematic errors.

[0047] It is worth noting that the preset operating logic or the driving logic that complies with the preset AI algorithm requirements is reasoned based on the idea of ​​correcting static with dynamic and inverting dynamic with static. Dynamic refers to the servo drive module driving the multi-layer motion mechanism to rotate to drive the GNSS antennas of each layer to rotate. The original positioning data and original elevation data calculated by the GNSS receiver are dynamic data, and static refers to the characteristic points of the motion space geometry of the multi-layer motion mechanism. The system uses dynamic data to correct static data, and the static data can provide good positive feedback on the measurement (collection) of dynamic data, so that the dynamic data is infinitely close to the motion space geometry (contour) of the multi-layer motion mechanism.

[0048] In one example, the number of rotating layers of the multi-layer motion mechanism is adjustable, and the number of rotating layers can be adjusted according to actual needs.

[0049] In one example, a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system can be equipped with multiple rotating layers with different radii. During measurement, a suitable rotating layer is selected and installed on the column according to actual measurement needs.

[0050] In one example, the GNSS receiver can be set inside the servo control module or outside the servo control module, and the GNSS receiver and each GNSS antenna can be connected by a cable or wirelessly. If a cable connection is used, it is necessary to pre-open a wiring slot on the column and the rotating layer, and all cables are gathered to the rotating center (column) through the wiring slot.

[0051] In one example, the servo control module consists of a control unit and a rotating motor. The control unit is used to generate a drive signal based on a preset operating logic or a drive logic that complies with the preset AI algorithm requirements, and send a drive signal to the rotating motor. The rotating motor is used to drive the multi-layer motion mechanism to rotate to drive the GNSS antennas of each layer to rotate, so that the multi-layer motion mechanism reaches different rotation angles corresponding to the drive signal and hovers, so that the multi-layer motion mechanism reaches each preset measurement point in turn. The control unit is also used to detect whether the multi-layer motion mechanism is hovering stably, and after the multi-layer motion mechanism is hovering stably, determine the spatial position of the current measurement point reached by each GNSS antenna. Hovering stability detection can eliminate motion errors from the root to a certain extent, thereby further improving positioning accuracy and elevation data measurement accuracy.

[0052] The hovering time of the multi-layer motion mechanism at each rotation angle can be set by a person skilled in the art according to actual needs, and can generally be set to 0.5 seconds to 1.5 seconds.

[0053] In one example, the multi-layer motion mechanism does not need to hover at the corresponding rotation angle, and it is sufficient to determine the spatial position of each measurement point reached by the multi-layer motion mechanism. The choice of hovering or continuous is related to the processing speed of the GNSS antenna and the GNSS receiver. If the processing speed is slow, it is more appropriate to choose hovering, and if the processing speed is fast, continuous can be chosen.

[0054] In one example, the rotary motor can control the reciprocating rotation of the multi-layer motion mechanism, and the rotation angle is greater than 360°, which can avoid excessive winding and damage of the cable caused by continuous rotation. If the budget is sufficient, the rotary motor can also use a slip ring device to achieve 360° continuous rotation.

[0055] In one example, the radii of each rotating layer of the multi-layer motion mechanism can be the same or different, the distances between each rotating layer can be the same or different, and the number of mounting positions set on each rotating layer can be the same or different.

[0056] In one example, the distance between each installation position of the multi-layer motion mechanism and other installation positions is always greater than half a wavelength (optimally greater than 3 times the wavelength) during the rotation of the multi-layer motion mechanism. Such a design can ensure that there is no interference between the GNSS antennas.

[0057] In one example, the radii of the rotating layers of the multi-layer motion mechanism are the same. After completing one operation cycle, the main part of the motion space geometric body of the multi-layer motion mechanism is a cylinder.

[0058] In one example, a multi-layer motion mechanism such as Figure 2 As shown, there are three rotating layers in total. The radius of the middle rotating layer is the largest, the radius of the top rotating layer is the second largest, and the radius of the bottom rotating layer is the smallest. After completing a running cycle, the motion space geometry of the multi-layer motion mechanism can be obtained as follows: Figure 3 As shown, the main body is wide in the middle and narrow at both ends.

[0059] In one example, a multi-layer motion mechanism such as Figure 4 As shown in the figure, there are three rotating layers in total. The radius of the top rotating layer is the largest, the radius of the bottom rotating layer is the second largest, and the radius of the middle rotating layer is the smallest. After completing a running cycle, the motion space geometry of the multi-layer motion mechanism can be obtained as follows: Figure 5 As shown, the main body is narrow in the middle and wide at both ends.

[0060] In one example, the feature point of the point cloud space is selected based on the geometric feature value of the point cloud space (the motion space geometry of the multi-layer motion mechanism), and can generally be selected as the center of the bottom surface (the bottom rotation surface).

[0061] In one example, the multi-layer motion mechanism is composed of a column and n parallel rotating layers fixed on the column. Each rotating layer is provided with m mounting positions. The height difference between the top of the column and the bottom rotating layer is H, the height difference between two adjacent rotating layers is H / n, the height difference between the top of the column and the top rotating layer is also H / n, and the radius of the nth rotating layer is R n , where n is an integer greater than 1, and m is an integer greater than 1. The point cloud space is divided into n+1 layers by the vertices of the pillars and the rotation layers, including n parallel circular surfaces and 1 vertex. The bottom surface of the point cloud space is the bottom rotation layer, the vertex of the point cloud space is the top of the pillar, and the height of the point cloud space is H. There are p measurement points set on each circular surface of the point cloud space, and the angles (angle intervals) between the p measurement points on the same circular surface are equal. There is 1 measurement point set on the vertex of the point cloud space. The feature point of the point cloud space is the center of the bottom surface of the point cloud space, that is, the axis of the bottom rotation layer, where p is an integer greater than 1.

[0062] In one example, n is generally set to an integer greater than 2, and m is generally set to an integer greater than 3. Figure 2 and Figure 4 As shown, the multi-layer motion mechanism consists of a column and three parallel rotating layers fixed on the column. Each rotating layer consists of four branches. The angle intervals between the four branches are the same, all 90°. One end of the four branches is fixed on the column, and the other end is used as a mounting position for installing the GNSS antenna.

[0063] In one example, p=9, and the angle difference between two adjacent rotation angles is equal, so it can be known that the angle difference between each rotation angle is 45 degrees.

[0064] In one example, the data processing module traverses each circular surface and each measurement point on the current circular surface, and determines the coarse positioning data of the center of the current circular surface based on the radius of the current circular surface, the rotation angle corresponding to the current measurement point, and the original positioning data solved by the GNSS receiver at the current measurement point, and determines the coarse elevation data of the center of the current circular surface based on the original elevation data solved by the GNSS receiver at the current measurement point. Subsequently, the coarse positioning data of the center of the current circular surface determined based on each measurement point on the current circular surface are averaged, and the positioning data of the center of the current circular surface are obtained by fusion through geometric methods, and the coarse elevation data of the center of the current circular surface determined based on each measurement point on the current circular surface are averaged, and the elevation data of the center of the current circular surface are obtained by fusion through geometric methods. Then, based on the positioning data of the center of each circular surface and the original positioning data solved by the GNSS receiver at the vertex, mean processing is performed to obtain the positioning data corresponding to the center of the bottom surface of the point cloud space, and the elevation data of the center of each circular surface and the original elevation data solved by the GNSS receiver at the vertex are respectively subtracted from the height of the corresponding layer to obtain the rough elevation data corresponding to the center of the bottom surface of n+1 point cloud spaces. Finally, the rough elevation data corresponding to the center of the bottom surface of the n+1 point cloud spaces are mean processed to obtain the elevation data corresponding to the center of the bottom surface of the point cloud space.

[0065] It is worth noting that the multi-layer motion mechanism of the mechanical arm in the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system has a motion scale of tens of centimeters and an operating cycle of seconds or minutes. Therefore, the measurement of the original positioning data and the original elevation data can be considered as small-scale, short-cycle data measurement, which conforms to independent and identical distribution. The accuracy can be greatly improved by using mean processing, and the computing power required for mean processing is relatively low. This enables the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system to take into account both computing costs and accuracy improvement effects. In addition, for data that conforms to independent and identical distribution, the standard deviation of the mean is 2.5 times the standard deviation of a single measurement. p represents the number of sampling times (that is, the number of rotation angles). When the number of sampling times increases, the mean is closer to the true value. However, based on statistical results, when p increases to greater than 10, the improvement in accuracy is very slow, and the increase in the number of times is difficult to ensure the constant measurement conditions. Therefore, it is usually more appropriate to take p less than or equal to 10.

[0066] In one example, in order to further improve the positioning accuracy and elevation data measurement accuracy, the data processing module can also select other advanced data processing algorithms when working to calculate the final positioning data and final elevation data, such as weighted average, harmonic mean, neural radiation field and other algorithms for processing.

[0067] In one example, the data processing module can also conduct deep learning on the continuously accumulated data in order to train the artificial intelligence data processing model, more efficiently and accurately eliminate the impact of error factors, and further improve the positioning accuracy and elevation data measurement accuracy.

[0068] In one example, the data processing module performs point cloud modeling according to the motion space geometry of the multi-layer motion mechanism. The point cloud space obtained by modeling is a hemisphere. Figure 6 As shown. The point cloud space is divided into 4 layers, including 3 parallel circular surfaces and 1 vertex. For the measurement point A1, the original positioning data calculated by the GNSS receiver at A1 is (x, y), then the coarse positioning data of the center of the current circular surface O1 is (x+R1·cosα, y-R1·sinα), where α is the rotation angle corresponding to A1.

[0069] In one example, the servo control module, the GNSS receiver and the data processing module can all repeat k operation cycles to obtain the positioning data corresponding to the center of the bottom surface of the point cloud space of k operation cycles and the elevation data corresponding to the center of the bottom surface of the point cloud space of k operation cycles, wherein k is an integer greater than 1. The data processing module performs mean processing on the positioning data corresponding to the center of the bottom surface of the point cloud space of k operation cycles and the elevation data corresponding to the center of the bottom surface of the point cloud space of k operation cycles, respectively, to obtain the average positioning data of k operation cycles and the average elevation data of k operation cycles, and uses the average positioning data of k operation cycles and the average elevation data of k operation cycles as the fusion data layer of the final positioning data and the final elevation data. For applications that do not require high speed, the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in this application can perform multiple cycle measurements, and perform mean processing on the positioning data and elevation data corresponding to the center of the bottom surface of the point cloud space determined by multiple cycles, thereby further improving the positioning accuracy and elevation data measurement accuracy.

[0070] In one example, the data processing module is also used to send the final positioning data and final elevation data to a preset data center for storage, and send the final positioning data and final elevation data to each user terminal that is authenticated with the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system and its control method. Among them, the final positioning data and final elevation data stored in the data center allow the authenticated user terminal to query and read, and allow the final positioning data and final elevation data to be actively transmitted to each authenticated user terminal according to task requirements. The data center is also used for user terminal management (including user terminal authentication). After determining the final positioning data and final elevation data, the data processing module can distribute them to each authenticated user terminal as needed to facilitate subsequent applications.

[0071] In this embodiment, a multi-layer motion mechanism is used to carry multiple GNSS antennas for GNSS positioning and elevation measurement. The servo control module drives the multi-layer motion mechanism to rotate based on the preset operation logic or the driving logic required by the preset AI algorithm to drive the GNSS antennas of each layer to rotate, so that the multi-layer motion mechanism can reach the preset measurement points in turn and determine the spatial position of each measurement point reached. After completing an operation cycle, the motion space geometry of the multi-layer motion mechanism can be obtained. The GNSS receiver receives the signals transmitted by each GNSS antenna in real time, and solves the original positioning data and original elevation data in real time. The data processing module obtains the original positioning data and original elevation data solved by the GNSS receiver at each measurement point based on the spatial position of each measurement point, and then performs point cloud modeling according to the motion space geometry of the multi-layer motion mechanism. Based on the geometric eigenvalues ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measurement point, and the original positioning data and original elevation data solved by the GNSS receiver at each measurement point, the positioning data and elevation data corresponding to the feature points of the point cloud space are determined, and the positioning data and elevation data corresponding to the feature points are used as the final positioning data and final elevation data, so that the original positioning data and original elevation data containing satellite-related errors, propagation path-related errors, receiver-related errors, and motion errors of multi-layer motion mechanisms solved by the GNSS receiver in real time are infinitely close to the modeled point cloud space, thereby effectively eliminating random errors and systematic errors, and greatly improving the accuracy and success rate of GNSS positioning and elevation data measurement. If PPP technology is used, the positioning accuracy and elevation data measurement accuracy can be theoretically improved to the millimeter level. If the equipment uses RTK technology, the positioning accuracy and elevation data measurement accuracy can be theoretically improved to the sub-millimeter level. Compared with RTK technology and PPP-RTK technology, the GNSS positioning and elevation data measurement system proposed in this application greatly reduces the cost of positioning and elevation data measurement, so it has a broad prospect for promotion and has significant economic and social benefits. In addition, one operation cycle of a multi-layer motion mechanism equipped with multiple GNSS antennas is equivalent to multiple operation cycles of a GNSS antenna. Using a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system, the accuracy that traditional GNSS positioning and elevation measurement systems can achieve in tens of minutes can be achieved, which greatly shortens the time required for GNSS positioning and elevation measurement.

[0072] Another embodiment of the present application proposes a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system. The implementation details of the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in this embodiment are described in detail below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0073] The specific composition structure of a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in this embodiment is as follows: Figure 7 As shown, the system includes: multiple GNSS antennas ( Figure 7 , a GNSS antenna 101 is marked in the figure), a GNSS receiver 200, a multi-layer motion mechanism 300, a servo control module 400, a data processing module 500, a communication module 600 and a power supply module 700. The multi-layer motion mechanism 300 consists of a column 301 and a plurality of parallel rotating layers ( Figure 7 A rotation layer 302 is marked in FIG. Figure 7 A total of three rotating layers are provided, each rotating layer is provided with multiple installation positions, a installation position is also provided at the top of the column 301, each installation position is installed with a GNSS antenna, the bottom end of the column 301 is connected to the servo control module 400, and communication connections are established between the GNSS receiver 200 and each GNSS antenna respectively, and a communication connection is established between the GNSS receiver 200 and the data processing module 500 through the communication module 600.

[0074] The power supply module 700 is used to supply power to the GNSS antenna, the GNSS receiver 200 , the servo control module 400 and the communication module 600 . The power supply module 700 is powered by line power or battery power.

[0075] The communication module 600 is used to obtain the original positioning data and the original elevation data calculated by the GNSS receiver 200 , and send the original positioning data and the original elevation data calculated by the GNSS receiver 200 to the data processing module 500 .

[0076] It is understandable that the data processing module needs to have a certain computing power, and it is more appropriate to use a cloud-based data processing module. Therefore, a communication module needs to be set up in the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system. The communication module serves as a bridge to send the original positioning data and original elevation data calculated by the GNSS receiver to the data processing module. After processing, the positioning accuracy and elevation data measurement accuracy can be further improved.

[0077] Another embodiment of the present application proposes a control method for a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system, which is applicable to the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system as described in the above embodiment. The details of the control method for a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in this embodiment are described in detail below. The following content is only the implementation details provided for ease of understanding and is not necessary for the implementation of this embodiment.

[0078] The specific process of the control method of the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system proposed in this embodiment can be as follows: Figure 8 As shown, including:

[0079] Step 801, power on the multi-layer stereoscopic rotational GNSS positioning and elevation measurement system. After power-on, initialize the multi-layer stereoscopic rotational GNSS positioning and elevation measurement system, and return the multi-layer motion mechanism to the initial position. The multi-layer stereoscopic rotational GNSS positioning and elevation measurement system is burned with a program corresponding to the preset operating logic or the driving logic required by the preset AI algorithm.

[0080] It is worth noting that the program can also control the servo drive module to obtain the spatial position of each measurement point.

[0081] Step 802, after initialization is completed, the program is run to drive the multi-layer motion mechanism to drive the GNSS antennas of each layer to rotate to different rotation angles, so as to reach each measurement point in turn, and determine the spatial position of each measurement point reached. After completing one operation cycle, the motion space geometry of the multi-layer motion mechanism is obtained.

[0082] Step 803, during the rotation of the multi-layer motion mechanism, the original positioning data and the original elevation data calculated by the GNSS receiver are obtained, wherein the GNSS receiver receives the signals transmitted by each GNSS antenna in real time, and calculates the original positioning data and the original elevation data based on the received signals.

[0083] Step 804, based on the spatial position of each measuring point, the original positioning data and original elevation data solved by the GNSS receiver at each measuring point are obtained, point cloud modeling is performed according to the motion space geometry of the multi-layer motion mechanism, and fusion processing is performed based on the geometric eigenvalues ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measuring point, and the original positioning data and original elevation data solved by the GNSS receiver at each measuring point to determine the positioning data and elevation data corresponding to the feature points of the point cloud space.

[0084] Step 805: taking the positioning data and elevation data corresponding to the feature points as final positioning data and final elevation data.

[0085] In one example, a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system is placed at a standard measurement location with high-precision positioning data and elevation information certified by an authoritative certification organization. After the positioning data and elevation data corresponding to the feature points are used as the final positioning data and final elevation data, the final positioning data can be compared with the certified positioning data measured by the authoritative certification organization at the standard measurement location, and the final elevation data can be compared with the certified elevation data measured by the authoritative certification organization at the standard measurement location to determine the system error of the multi-layer stereoscopic rotating GNSS positioning and elevation measurement system. When the subsequent multi-layer stereoscopic rotating GNSS positioning and elevation measurement system works in different scenarios, the system error can be taken into account, thereby further improving the positioning accuracy and elevation measurement accuracy.

[0086] The step division of the above methods is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this application; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this application.

[0087] It is not difficult to find that this embodiment is a method embodiment corresponding to the above-mentioned system embodiment, and this embodiment can be implemented in conjunction with the above-mentioned system embodiment. The relevant technical details and technical effects mentioned in the above-mentioned embodiments are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above-mentioned embodiments.

[0088] Another embodiment of the present application proposes a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement a control method for a multi-layer stereoscopic rotating GNSS positioning and elevation measurement system as described in the above method embodiments.

[0089] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM (Read-Only Memory), RAM (Random Access Memory), disk or optical disk and other media that can store program codes.

[0090] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A multi-layer stereoscopic rotating GNSS positioning and elevation measurement system, characterized in that: include: Multiple GNSS antennas, GNSS receivers, multi-layer motion mechanisms, servo control modules and data processing modules. The multi-layer motion mechanism is composed of a column and multiple parallel rotating layers fixed on the column. Multiple mounting positions are arranged on each rotating layer. A mounting position is also arranged on the top of the column. A GNSS antenna is installed on each mounting position. The bottom end of the column is connected to the servo control module. Communication connections are established between the GNSS receiver, the data processing module and each GNSS antenna. The servo control module is used to drive the multi-layer motion mechanism to rotate based on the preset operation logic or the driving logic required by the preset AI algorithm to drive the GNSS antennas of each layer to rotate, so that the multi-layer motion mechanism reaches each preset measurement point in turn, and determines the spatial position of each measurement point reached, and obtains the motion space geometry of the multi-layer motion mechanism after completing one operation cycle; wherein different rotation angles are set in the preset operation logic or the driving logic required by the preset AI algorithm, and different measurement points are determined based on different rotation angles; The GNSS receiver is used to receive the signals transmitted by each GNSS antenna in real time, and calculate the original positioning data and original elevation data based on the received signals; The data processing module is used to obtain the original positioning data and original elevation data solved by the GNSS receiver at each measuring point based on the spatial position of each measuring point, perform point cloud modeling according to the motion space geometry of the multi-layer motion mechanism, and perform fusion processing based on the geometric eigenvalues ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measuring point, and the original positioning data and original elevation data solved by the GNSS receiver at each measuring point to determine the positioning data and elevation data corresponding to the feature points of the point cloud space, and use the positioning data and elevation data corresponding to the feature points as the final positioning data and final elevation data.

2. A multi-layer stereoscopic rotating GNSS positioning and elevation measurement system according to claim 1, characterized in that: The multi-layer stereoscopic rotating GNSS positioning and elevation measurement system also includes a communication module and a power supply module. A communication connection is established between the GNSS receiver and the data processing module through the communication module. The power supply module is used to power the GNSS antenna, GNSS receiver, servo control module and communication module. The power supply mode of the power supply module is line power supply or battery power supply; The communication module is used to obtain the original positioning data and original elevation data calculated by the GNSS receiver, and send the original positioning data and original elevation data calculated by the GNSS receiver to the data processing module.

3. The multi-layer stereoscopic rotating GNSS positioning and elevation measurement system according to claim 1 is characterized in that: The servo control module consists of a control unit and a rotating motor; The control unit is used to generate a drive signal based on a preset operation logic or a drive logic that complies with a preset AI algorithm requirement, and send the drive signal to the rotating motor; The rotary motor is used to drive the multi-layer motion mechanism to rotate so as to drive the GNSS antennas of each layer to rotate, so that the multi-layer motion mechanism reaches different rotation angles corresponding to the driving signal and hovers, thereby making the multi-layer motion mechanism reach each measuring point in turn; The control unit is also used to detect whether the multi-layer motion mechanism is hovering stably, and after the multi-layer motion mechanism is hovering stably, determine the spatial position of the current measurement point reached by each GNSS antenna.

4. The multi-layer stereoscopic rotating GNSS positioning and elevation measurement system according to claim 1, characterized in that: The radii of the rotating layers are different, and the distances between the rotating layers are different. The distance between each mounting position and other mounting positions is always greater than half the wavelength during the rotation of the multi-layer motion mechanism.

5. The multi-layer stereoscopic rotating GNSS positioning and elevation measurement system according to claim 1, characterized in that: The multi-layer motion mechanism consists of a column and n parallel rotating layers fixed on the column. Each rotating layer is provided with m mounting positions. The height difference between the top of the column and the bottom rotating layer is H, the height difference between two adjacent rotating layers is H / n, the height difference between the top of the column and the top rotating layer is also H / n, and the radius of the nth rotating layer is R n ; Wherein, n is an integer greater than 1, and m is an integer greater than 1; The point cloud space is divided into n+1 layers by the vertices of the pillars and each rotation layer, including n parallel circular surfaces and 1 vertex. The bottom surface of the point cloud space is the bottom rotation layer, the vertex of the point cloud space is the top of the pillar, and the height of the point cloud space is H; There are p measurement points set on each circular surface of the point cloud space, the angles between the p measurement points on the same circular surface are equal, and one measurement point is set on the vertex of the point cloud space. The feature point of the point cloud space is the center of the bottom surface of the point cloud space, that is, the axis of the bottommost rotation layer; where p is an integer greater than 1.

6. A multi-layer stereoscopic rotating GNSS positioning and elevation measurement system according to claim 5, characterized in that: Based on the geometric eigenvalues ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measurement point, and the original positioning data and original elevation data calculated by the GNSS receiver at each measurement point, the positioning data and elevation data corresponding to the feature points of the point cloud space are determined, including: Traverse each circular surface and each measuring point on the current circular surface, determine the coarse positioning data of the center of the current circular surface based on the radius of the current circular surface, the rotation angle corresponding to the current measuring point and the original positioning data solved by the GNSS receiver at the current measuring point, and determine the coarse elevation data of the center of the current circular surface based on the original elevation data solved by the GNSS receiver at the current measuring point; The rough positioning data of the center of the current circular surface determined based on the measurement points on the current circular surface are averaged, and the positioning data of the center of the current circular surface are obtained by geometric fusion, and the rough elevation data of the center of the current circular surface determined based on the measurement points on the current circular surface are averaged, and the elevation data of the center of the current circular surface are obtained by geometric fusion; Based on the positioning data of the center of each circular surface and the original positioning data solved by the GNSS receiver at the vertex, the positioning data corresponding to the center of the bottom surface of the point cloud space is obtained; The height of the corresponding layer is subtracted from the elevation data of the center of each circular surface and the original elevation data calculated by the GNSS receiver at the vertex, and the rough elevation data corresponding to the center of the bottom surface of the n+1 point cloud space is obtained; The rough elevation data corresponding to the center of the bottom surface of the n+1 point cloud spaces are averaged to obtain the elevation data corresponding to the center of the bottom surface of the point cloud space.

7. A multi-layer stereoscopic rotating GNSS positioning and elevation measurement system according to claim 6, characterized in that: The positioning data and elevation data corresponding to the feature points are used as the final positioning data and final elevation data, including: The servo control module, the GNSS receiver and the data processing module repeatedly work for k operation cycles to obtain positioning data corresponding to the center of the bottom surface of the point cloud space of k operation cycles and elevation data corresponding to the center of the bottom surface of the point cloud space of k operation cycles; wherein k is an integer greater than 1; The positioning data corresponding to the center of the bottom surface of the point cloud space of k operating cycles and the elevation data corresponding to the center of the bottom surface of the point cloud space of k operating cycles are averaged to obtain the average positioning data of k operating cycles and the average elevation data of k operating cycles. The average positioning data of k operating cycles and the average elevation data of k operating cycles are used as the fusion data layer of the final positioning data and the final elevation data.

8. A control method for a multi-layer stereoscopic rotating GNSS positioning and height measurement system, applicable to the multi-layer stereoscopic rotating GNSS positioning and height measurement system as claimed in any one of claims 1 to 7, characterized in that: include: The multi-layer stereoscopic rotating GNSS positioning and height measurement system is powered on. After the power-on is completed, the multi-layer stereoscopic rotating GNSS positioning and height measurement system is initialized, and the multi-layer motion mechanism is returned to the initial position; wherein the multi-layer stereoscopic rotating GNSS positioning and height measurement system is burned with a program corresponding to a preset operation logic or a driving logic required by a preset AI algorithm; After the initialization is completed, the program is run to drive the multi-layer motion mechanism to drive the GNSS antennas of each layer to rotate to different rotation angles, so as to reach each measurement point in turn, and determine the spatial position of each measurement point reached. After completing one operation cycle, the motion space geometry of the multi-layer motion mechanism is obtained; During the rotation of the multi-layer motion mechanism, the original positioning data and the original elevation data calculated by the GNSS receiver are obtained; wherein the GNSS receiver receives the signals transmitted by each GNSS antenna in real time, and calculates the original positioning data and the original elevation data based on the received signals; Based on the spatial position of each measuring point, the original positioning data and original elevation data solved by the GNSS receiver at each measuring point are obtained, and point cloud modeling is performed according to the motion space geometry of the multi-layer motion mechanism. Based on the geometric eigenvalues ​​of the modeled point cloud space, the radius of each rotation layer, the height of each rotation layer, the spatial position of each measuring point, and the original positioning data and original elevation data solved by the GNSS receiver at each measuring point, fusion processing is performed to determine the positioning data and elevation data corresponding to the characteristic points of the point cloud space; The positioning data and elevation data corresponding to the feature points are used as the final positioning data and final elevation data.

9. The control method of a multi-layer stereoscopic rotating GNSS positioning and height measurement system according to claim 8, characterized in that: The multi-layer stereoscopic rotating GNSS positioning and elevation measurement system is placed at a standard measurement location with high-precision positioning data and elevation information certified by an authoritative certification organization, and after the positioning data and elevation data corresponding to the feature points are used as the final positioning data and final elevation data, it also includes: The final positioning data is compared with the certified positioning data measured by an authoritative certification organization at a standard measurement location, and the final elevation data is compared with the certified elevation data measured by an authoritative certification organization at a standard measurement location to determine the systematic error of the multi-layer stereo rotational GNSS positioning and elevation measurement system.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it can implement a control method for a multi-layer stereoscopic rotating GNSS positioning and height measurement system as described in any one of claims 8 to 9.

Images