Irregular carrier shape and attitude measurement system and measurement method

Abstract

The invention relates to an irregular carrier shape and attitude measurement system. The system comprises measurement elements, a comprehensive processing unit and a power supply unit, the plurality of measurement data receive wireless navigation signals broadcasted by a satellite navigation positioning system and wireless time synchronization signals broadcasted by the comprehensive processing unit so as to realize time synchronization, and provide original measurement information to be wirelessly sent to the comprehensive processing unit; the comprehensive processing unit constructs and broadcasts a time reference to each measurement data, receives high-precision original observation information, and carries out comprehensive calculation processing on the shape of the irregular carrier and the overall and partial attitudes of the irregular carrier; the power supply unit provides a working power supply for the comprehensive processing unit and charges the measuring elements in a wireless charging mode. A satellite navigation system is used for constructing a high-precision position measurement system, a wireless communication link is used for constructing an information interaction channel, a high-precision time synchronization system and a high-precision position measurement system are established, and then shape and attitude measurement of an irregular carrier is completed.

Description

Technical Field

[0001] The invention relates to the field of satellite navigation technology applications, and in particular to a system and method for measuring the shape and attitude of an irregular carrier. Background Art

[0002] Currently, only the overall attitude information of the carrier can be obtained through inertial navigation and satellite navigation. When there are relative position changes between different parts of the carrier, the existing means cannot provide the attitude information of each part of the carrier.

[0003] In the prior art, Chinese invention patent CN20201062 discloses a carrier attitude measurement method and device, which uses the baseline on the carrier to receive satellite signals, uses the space-based opportunity signals on the satellite to calculate the phase difference of the baseline, and calculates the carrier attitude information through the launch position of the target satellite. It mainly uses the space-based opportunity signals that are not navigation signals to measure the carrier attitude information when the GNSS signal is unavailable, so that it is not affected by the radio environment.

[0004] However, the above-mentioned prior art does not involve the measurement of the shape of the carrier. It assumes a regular shape by default and cannot measure irregular-shaped carriers. In addition, the measurement accuracy of the carrier's posture information is also difficult to be accurate and reliable. Moreover, in low-dynamic conditions, the carrier shape after the position changes between different parts of the carrier cannot be measured. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, construct a high-precision position measurement system using a satellite navigation system, construct a wireless information interaction channel using Bluetooth, establish a high-precision time synchronization system and a high-precision position measurement system within the system, and then complete the shape and posture measurement of irregular carriers.

[0006] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0007] A system for measuring the shape and posture of an irregular carrier, the system comprising measuring elements, a comprehensive processing unit and a power supply unit;

[0008] There are multiple measurement elements, each of which is used to receive the wireless navigation signal broadcast by the satellite navigation and positioning system, and receive the wireless time synchronization signal broadcast by the integrated processing unit, so as to achieve high-precision time synchronization with the satellite navigation and positioning system, and provide high-precision original measurement information, which is sent to the integrated processing unit through a wireless communication link;

[0009] The comprehensive processing unit is used to construct and broadcast a time reference to each measurement element, receive high-precision original observation information sent by multiple measurement elements, and perform solution processing, the solution processing includes parsing ephemeris information, parsing the obtained satellite position, speed and clock error information, establishing observation equations and calculating, and azimuth vector information solution operation process. After the solution, the high-precision relative position relationship between the measurement elements is obtained, and then the shape information of the irregular carrier is obtained, and the attitude measurement information of any three elements is obtained, and then the attitude of the irregular carrier as a whole and part is obtained;

[0010] The power supply unit provides working power to the integrated processing unit in a wired manner, and charges the batteries in the measuring elements in a wireless charging manner.

[0011] In an irregular carrier shape and attitude measurement system of the present invention, each of the measurement elements comprises a first antenna module, a first satellite solution module, a time synchronization module, a first interface module, a wireless charging module and a first battery module, wherein:

[0012] The first antenna module is used to receive multi-frequency navigation signals broadcast by the Beidou and GPS satellite navigation systems, and transmit the received multi-frequency navigation signals to the satellite solution module for processing;

[0013] The first satellite solution module receives the dual-system multi-frequency navigation signal provided by the first antenna module, completes navigation signal demodulation, obtains original observation information of multiple satellites and multiple frequencies under the Beidou and GPS satellite navigation systems, and simultaneously receives the time pulse signal provided by the time synchronization module, completes high-precision timestamp identification for the output original observation information, and improves the measurement accuracy of the original observation information;

[0014] The time synchronization module receives the high-precision time synchronization information sent by the integrated processing unit, and sends the synchronized time pulse signal to the first satellite solution module;

[0015] The first interface module exchanges information with the first satellite solution module and the time synchronization module respectively, and uses Bluetooth as a signal receiving channel between modules to establish a long-distance wireless transmission link between the measurement elements and the integrated processing unit;

[0016] The first battery module provides working power for the first antenna module, the first satellite solution module, the time synchronization module, the first interface module and the wireless charging module in the measurement parameters;

[0017] The wireless charging module can charge the internal first battery module wirelessly and perform battery energy management.

[0018] In an irregular carrier shape and attitude measurement system of the present invention, the comprehensive processing unit includes a second antenna module, a time reference module, a second satellite solution module, a comprehensive processing module, a second interface module and a second power supply module;

[0019] The second antenna module receives multi-frequency navigation signals broadcast by the Beidou and GPS satellite navigation systems, and sends them to the second satellite solution module for processing;

[0020] The second satellite solution module receives the multi-frequency navigation signals of the Beidou and GPS satellite navigation systems provided by the second antenna module, completes the demodulation of the navigation signals, obtains the original observation information of multiple satellites in the Beidou and GPS satellite navigation systems, and simultaneously receives the time pulse signal provided by the time synchronization module, completes the high-precision timestamp identification for the output original observation information, so as to improve the measurement accuracy of the original observation information;

[0021] The time reference module is used to complete the transmission delay measurement between each measurement element and the integrated processing unit, receive the satellite navigation information analyzed by the second satellite solution module, and complete the selection of common-view satellites required for time synchronization according to the on-site visual satellite layout of the Beidou and GPS satellite navigation systems, form a time synchronization strategy, generate a high-precision time reference signal and the time synchronization information of the Beidou and GPS satellite navigation systems, and send them to the second interface module;

[0022] The comprehensive processing module receives the original observation information provided by each measurement element, and after performing a solution processing process including ephemeris information analysis, obtaining satellite position / speed / clock error and other information analysis, observation equation establishment calculation, and azimuth vector information solution, obtains the high-precision relative position relationship between each measurement element, and then obtains the shape information of the irregular carrier; obtains the attitude measurement information of any three elements, and then obtains the attitude of the irregular carrier as a whole and in parts;

[0023] The second interface module exchanges information with the time reference module and the integrated processing module, and uses Bluetooth as a signal receiving channel between modules to establish a long-distance wireless transmission link between the integrated processing unit and the measurement elements;

[0024] The second power supply module receives external power input and provides working power for the second antenna module, the time reference module, the second satellite solution module, the comprehensive processing module and the second interface module in the comprehensive processing unit.

[0025] In an irregular carrier shape and posture measurement system of the present invention, the power supply unit includes an AC / DC input module and a wireless charging module;

[0026] The AC / DC input module receives an external 220V AC power input, or receives an external 20V-30V DC power input, and converts it into a DC working voltage required by the integrated processing unit and the wireless charging module after completing power filtering;

[0027] The wireless charging module is a hardware charging platform for wireless charging of multiple measurement parameters.

[0028] In an irregular carrier shape and posture measurement system of the present invention, multiple measurement elements are arranged simultaneously. The user plans and designs discrete measurement point positions according to the shape measurement requirements of the irregular carrier, and plans and designs measurement point arrays at corresponding parts according to the posture measurement requirements of different parts of the irregular carrier. Each measurement point array includes 3 measurement point positions, and the deployment of all measurement elements is completed at the above measurement point positions.

[0029] In an irregular carrier shape and posture measurement system of the present invention, the irregular carrier that needs to be measured is a carrier arranged in a static state or a low-dynamic state, and the low-dynamic state refers to a speed less than 30 km / h.

[0030] In an irregular carrier shape and posture measurement system of the present invention, the comprehensive processing unit and all measurement elements adopt a unified time base, and the unified time base is used to improve the output time accuracy and performance accuracy of the original observation information of the measurement elements.

[0031] In an irregular carrier shape and posture measurement system of the present invention, the time reference module in the integrated processing unit periodically sends a delay measurement signal, which passes through the second interface module of the integrated processing unit, the wireless transmission link and the first interface module of the measurement elements in sequence, and is then received by the time synchronization module of the measurement elements and generates a time synchronization feedback signal. The time synchronization feedback signal is transmitted to the time reference module of the integrated processing unit via the first interface module of the measurement elements, the wireless transmission link and the second interface module of the integrated processing unit to generate a transmission link delay measurement value, which is then sent to the measurement elements respectively to perform time difference correction on the measurement elements.

[0032] In an irregular carrier shape and attitude measurement system of the present invention, the satellite navigation information parsed by the second satellite solution module in the comprehensive processing unit is combined with the on-site visible satellite layout to complete the common view satellite selection required for time synchronization, form a time synchronization strategy, and send it to each measurement element for time synchronization of each measurement element.

[0033] The present invention also relates to a method for measuring the shape and posture of an irregular carrier, which method uses the above-mentioned irregular carrier shape and posture measurement system, and the method includes the following implementation steps:

[0034] First, the user plans and designs the discrete measurement point positions according to the shape measurement requirements of the irregular carrier, and then plans and designs the measurement point array at the corresponding parts according to the posture measurement requirements of different parts of the irregular carrier. Each measurement point array contains 3 measurement point positions;

[0035] Second, arrange the various measurement elements at the planned measurement point positions, and between the irregular carrier and the satellite navigation system. The measurement element antennas must be kept open and unobstructed. After the measurement elements are arranged, start the integrated processing unit and the measurement elements, and automatically complete the Bluetooth connection to establish a wireless data connection channel;

[0036] Third, after the integrated processing unit and the measurement elements start working, the satellite navigation system signal reception and initial positioning are completed first. The integrated processing unit sends out the time synchronization common view satellite selection strategy and link delay calibration signal according to the signal reception status and the status information fed back by each measurement element, and completes high-precision time synchronization with the measurement elements one by one;

[0037] Fourth, after the measurement elements have completed the satellite navigation system signal reception, initial positioning and time synchronization with the integrated processing unit, high-precision ranging is started using the satellite navigation system signal, and high-precision original measurement information is generated according to the information collection time interval requirements of the integrated processing unit, and the generated information is sent to the integrated processing unit through the wireless transmission link in the irregular carrier shape and attitude measurement system;

[0038] Fifth, after the comprehensive processing unit receives the original measurement information reported by each measurement element through the wireless transmission link, it performs comprehensive information solution processing to complete the high-precision relative positioning between the measurement elements in the system, obtain the planned measurement point position, and then form high-precision irregular carrier shape information; at the same time, according to the attitude measurement requirements of different parts of the irregular carrier, complete the attitude measurement of any three measurement elements in the system, obtain the planned measurement array attitude, and then form the overall attitude information and local attitude information of the irregular carrier.

[0039] In the fifth step, when performing comprehensive information solution processing, the solution process includes analyzing the ephemeris information, analyzing the obtained satellite position, speed and clock error information, establishing the observation equation and performing calculations, and then performing the azimuth vector information solution operation process. After the solution, the high-precision relative position relationship between the various measurement elements is obtained, and then the irregular carrier shape information is obtained.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The shape and attitude measurement system of the present invention establishes a high-precision unified time system and generates high-precision measurement information by receiving satellite navigation system signals. At the same time, it completes the deployment of multiple measurement parameters according to the characteristics of the carrier, and can provide shape and attitude measurement for static and low-dynamic carriers through arbitrary combinations of different measurement parameters. It can also perform shape measurement and overall / local attitude measurement for carriers with uncertain shapes.

[0042] 2. Through practical application, the irregular carrier shape and attitude measurement system of the present invention has an azimuth measurement accuracy better than 1 mil, a pitch measurement accuracy better than 2 mil, and a shape measurement accuracy better than 20 cm. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a principle block diagram of an embodiment of the present invention;

[0044] Figure 2 It is a principle block diagram of measuring various parameters in one embodiment of the present invention;

[0045] Figure 3 It is a principle block diagram of a comprehensive processing unit in one embodiment of the present invention.

[0046] Figure 4 The figure is a principle block diagram of a control center system in one embodiment of the present invention.

[0047] Figure 5 The figure is a flow chart of a method for measuring the shape and posture of an irregular carrier according to the present invention. DETAILED DESCRIPTION

[0048] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0049] like Figure 1 As shown, an embodiment of an irregular carrier shape and posture measurement system of the present invention, the present invention provides an irregular carrier shape and posture measurement system including measurement elements, a comprehensive processing unit and a dedicated power supply unit. Among them, there are multiple measurement elements, which are represented as measurement element 1, measurement element 2... measurement element N in the figure, and there is only one comprehensive processing unit and power supply unit.

[0050] Among them, multiple measurement elements receive the wireless navigation signal broadcast by the satellite navigation and positioning system on the one hand, and receive the wireless time synchronization signal broadcast by the integrated processing unit on the other hand, so as to realize high-precision time synchronization between the entire measurement system and the satellite navigation and positioning system, and provide high-precision original measurement information to the integrated processing unit, and the high-precision original measurement information is sent to the integrated processing unit via wireless communication links such as Bluetooth.

[0051] The above-mentioned comprehensive processing unit constructs and broadcasts the time reference for the irregular carrier shape and attitude measurement system, and receives high-precision original measurement information sent by multiple measurement elements, obtains the high-precision position of each measurement element after comprehensive solution processing, and then performs ephemeris information analysis, obtains satellite position / speed / clock error and other information analysis, establishes and calculates observation equations, solves azimuth vector information and other solution processing, obtains the high-precision relative position relationship between the measurement elements, and then obtains the irregular carrier shape information; obtains the attitude measurement information of any three elements, and then obtains the attitude of the irregular carrier as a whole and in parts. The specific analysis techniques in the above-mentioned solution processing process are all existing technologies, and the observation equations are also existing technical content, which will not be elaborated here.

[0052] The power supply unit provides working power to the integrated processing unit via a wired method, and charges the batteries in the measuring elements via a wireless charging method, ensuring that the integrated processing unit and each measuring element have sufficient working energy to achieve their set functions.

[0053] like Figure 2 As shown, the measurement elements include a first antenna module, a first satellite solution module, a time synchronization module, a first interface module, a wireless charging module and a first battery module. The first antenna module can receive multi-frequency navigation signals broadcast by the Beidou and GPS satellite navigation systems, and send them to the first satellite solution module for satellite signal analysis and solution processing. The first satellite solution module can receive dual-system multi-frequency navigation signals provided by the first antenna module, complete navigation signal demodulation, obtain original observation information of multiple satellites and multiple frequencies under the dual systems, and receive the time pulse signal provided by the time synchronization module at the same time, complete high-precision timestamp identification for the output original observation information, and improve the measurement accuracy of the original observation information.

[0054] The time synchronization module can receive high-precision time synchronization information sent by the integrated processing unit, and send the synchronized time pulse signal to the first satellite solution module. The first interface module here exchanges information with the first satellite solution module and the time synchronization module, and has two wireless signal receiving modes of Bluetooth / wireless AP to establish a long-distance wireless transmission link between the measurement elements and the integrated processing unit.

[0055] At the same time, the wireless charging module can complete internal battery charging and battery energy management through wireless means or external DC power input; the first battery module provides working power for each measurement module.

[0056] like Figure 3As shown, the comprehensive processing unit includes a second antenna module, a time reference module, a second satellite solution module, a comprehensive processing module, a second interface module and a second power supply module. Among them, the second antenna module can receive multi-frequency navigation signals broadcast by the Beidou and GPS satellite navigation systems, and send them to the second satellite solution module for satellite signal analysis and solution processing. The second satellite solution module receives the dual-system multi-frequency navigation signal provided by the second antenna module, completes navigation signal demodulation, obtains the original observation information of multiple satellites and multiple frequencies under the dual system, and receives the time pulse signal provided by the time synchronization module at the same time, completes the high-precision timestamp identification for the output original observation information, and improves the measurement accuracy of the original observation information.

[0057] The time reference module completes the transmission delay measurement between each measurement element and the integrated processing unit, receives the satellite navigation information analyzed by the second satellite solution module, and completes the selection of common-view satellites required for time synchronization according to the system's on-site visible satellite layout, forms a time synchronization strategy, and thus generates a high-precision time reference signal and system time synchronization information, and sends them to the second interface module.

[0058] The above-mentioned comprehensive processing module receives the original observation information provided by each measurement element. When performing comprehensive information solution processing, the solution process includes parsing the ephemeris information, parsing the obtained satellite position, speed and clock error information, establishing the observation equation and performing calculations, and then performing the azimuth vector information solution operation process. After the solution, the high-precision relative position relationship between the various measurement elements is obtained, and then the irregular carrier shape information is obtained.

[0059] The second interface module exchanges information with the time reference module and the integrated processing module, and has two wireless signal receiving modes: Bluetooth / wireless AP, to establish a long-distance wireless transmission link between the integrated processing unit and the measurement elements. The second power supply module receives external power input to provide working power for each module of the integrated processing unit.

[0060] like Figure 4 As shown, the power supply unit includes an AC / DC input module and a wireless charging module. The AC / DC input module receives an external 220V AC power input, or receives an external 20V-30V DC power input, and converts it into the DC working voltage required by the integrated processing unit and the wireless charging module after power filtering; the wireless charging module provides a hardware charging platform for wireless charging of measurement parameters.

[0061] like Figure 5 As shown, in one embodiment of the present invention, the specific steps of measuring the shape and posture of an irregular carrier are:

[0062] First, an integrated processing unit and multiple measurement elements are set up in the irregular carrier shape and attitude measurement system. According to the irregular carrier shape and attitude measurement requirements, the measurement elements are arranged at a specific position between the irregular carrier and the satellite navigation system. The measurement element antenna needs to be kept open and unobstructed. After the measurement elements are arranged, the integrated processing unit and the measurement elements are started, and the wireless data connection channel is established after the Bluetooth connection is automatically completed.

[0063] Second, after the integrated processing unit and the measurement elements start working, the satellite navigation system signal reception and initial positioning are completed first. The integrated processing unit sends out the time synchronization common view satellite selection strategy and link delay calibration signal based on the signal reception status and the status information fed back by the measurement elements, completes high-precision time synchronization with the measurement elements one by one, and summarizes the time synchronization error evaluation of each measurement element.

[0064] Third, after the measurement elements complete the satellite navigation system signal reception, initial positioning and time synchronization with the integrated processing unit, start high-precision ranging using the satellite navigation system signal, generate high-precision original measurement information according to the system information output time interval requirements, and send the generated information to the integrated processing unit through the wireless transmission link within the system.

[0065] Fourth, after the comprehensive processing unit receives the original measurement information reported by each measurement element through the wireless transmission link, it performs comprehensive information solution processing to complete the high-precision relative positioning between the measurement elements in the system, generate high-precision carrier shape information, and at the same time, according to the external carrier attitude measurement setting requirements, automatically select the corresponding number of measurement elements to complete the overall attitude and local attitude measurement.

[0066] In addition, the above-mentioned measurement elements have two power supply modes: wired power supply and wireless charging. The corresponding power supply mode can be selected according to the carrier conditions and the measurement cycle.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modification or equivalent replacement that does not deviate from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention. 。

Claims

1. A system for measuring the shape and posture of an irregular carrier, characterized in that: The system includes measuring elements, a comprehensive processing unit and a power supply unit; There are multiple measurement elements, each of which is used to receive the wireless navigation signal broadcast by the satellite navigation and positioning system, and receive the wireless time synchronization signal broadcast by the integrated processing unit, so as to achieve high-precision time synchronization with the satellite navigation and positioning system, and provide high-precision original measurement information, which is sent to the integrated processing unit through a wireless communication link; The comprehensive processing unit is used to construct and broadcast a time reference to each measurement element, receive high-precision original observation information sent by multiple measurement elements, perform calculation processing to obtain high-precision relative position relationship between each measurement element, and then obtain shape information of the irregular carrier, obtain attitude measurement information of any three elements, and then obtain the attitude of the irregular carrier as a whole and its parts; The power supply unit provides working power to the integrated processing unit in a wired manner, and charges the batteries in the measuring elements in a wireless charging manner.

2. The irregular carrier shape and posture measurement system according to claim 1, characterized in that: Each of the measurement elements comprises a first antenna module, a first satellite solution module, a time synchronization module, a first interface module, a wireless charging module and a first battery module, wherein: The first antenna module is used to receive multi-frequency navigation signals broadcast by the Beidou and GPS satellite navigation systems, and transmit the received multi-frequency navigation signals to the satellite solution module for processing; The first satellite solution module receives the dual-system multi-frequency navigation signal provided by the first antenna module, completes navigation signal demodulation, obtains original observation information of multiple satellites and multiple frequencies under the Beidou and GPS satellite navigation systems, and simultaneously receives the time pulse signal provided by the time synchronization module, completes high-precision timestamp identification for the output original observation information, and improves the measurement accuracy of the original observation information; The time synchronization module receives the high-precision time synchronization information sent by the integrated processing unit, and sends the synchronized time pulse signal to the first satellite solution module; The first interface module exchanges information with the first satellite solution module and the time synchronization module respectively, and uses Bluetooth as a signal receiving channel between modules to establish a long-distance wireless transmission link between the measurement elements and the integrated processing unit; The first battery module provides working power for the first antenna module, the first satellite solution module, the time synchronization module, the first interface module and the wireless charging module in the measurement parameters; The wireless charging module can charge the internal first battery module wirelessly and perform battery energy management.

3. The irregular carrier shape and posture measurement system according to claim 1, characterized in that: The comprehensive processing unit includes a second antenna module, a time reference module, a second satellite solution module, a comprehensive processing module, a second interface module and a second power supply module; The second antenna module receives multi-frequency navigation signals broadcast by the Beidou and GPS satellite navigation systems, and sends them to the second satellite solution module for processing; The second satellite solution module receives the multi-frequency navigation signals of the Beidou and GPS satellite navigation systems provided by the second antenna module, completes the demodulation of the navigation signals, obtains the original observation information of multiple satellites in the Beidou and GPS satellite navigation systems, and simultaneously receives the time pulse signal provided by the time synchronization module, completes the high-precision timestamp identification for the output original observation information, so as to improve the measurement accuracy of the original observation information; The time reference module is used to complete the transmission delay measurement between each measurement element and the integrated processing unit, receive the satellite navigation information analyzed by the second satellite solution module, and complete the selection of common-view satellites required for time synchronization according to the on-site visual satellite layout of the Beidou and GPS satellite navigation systems, form a time synchronization strategy, generate a high-precision time reference signal and the time synchronization information of the Beidou and GPS satellite navigation systems, and send them to the second interface module; The comprehensive processing module receives the original observation information provided by each measurement element, performs ephemeris information analysis, obtains information analysis including satellite position, speed and clock error, establishes observation equations for calculation and azimuth vector information solution processing, obtains high-precision relative position relationship between each measurement element, and then obtains irregular carrier shape information, obtains attitude measurement information of any three elements, and then obtains the attitude of the irregular carrier as a whole and in part; The second interface module exchanges information with the time reference module and the integrated processing module, and uses Bluetooth as a signal receiving channel between modules to establish a long-distance wireless transmission link between the integrated processing unit and the measurement elements; The second power supply module receives external power input and provides working power for the second antenna module, the time reference module, the second satellite solution module, the comprehensive processing module and the second interface module in the comprehensive processing unit.

4. The irregular carrier shape and posture measurement system according to claim 1, characterized in that: The power supply unit includes an AC / DC input module and a wireless charging module; The AC / DC input module receives an external 220V AC power input, or receives an external 20V-30V DC power input, and converts it into a DC working voltage required by the integrated processing unit and the wireless charging module after completing power filtering; The wireless charging module is a hardware charging platform for wireless charging of multiple measurement parameters.

5. The irregular carrier shape and posture measurement system according to claim 1, characterized in that: The measurement elements are arranged at the same time. The user plans and designs the discrete measurement point positions according to the shape measurement requirements of the irregular carrier, and plans and designs the measurement point array at the corresponding parts according to the posture measurement requirements of different parts of the irregular carrier. Each measurement point array contains 3 measurement point positions, and all measurement elements are deployed at the measurement point positions.

6. The irregular carrier shape and posture measurement system according to claim 1, characterized in that: The irregular carrier that needs to be measured is a carrier arranged in a static state or a low-dynamic state, and the low-dynamic state refers to a speed less than 30 km / h.

7. The irregular carrier shape and posture measurement system according to claim 1, characterized in that: The comprehensive processing unit and all measurement elements adopt a unified time base, and the unified time base is used to improve the output time accuracy and performance accuracy of the original observation information of the measurement elements.

8. The irregular carrier shape and posture measurement system according to claim 1, characterized in that: The time reference module in the integrated processing unit periodically sends a delay measurement signal, which passes through the second interface module of the integrated processing unit, the wireless transmission link and the first interface module of the measurement elements in sequence, and is then received by the time synchronization module of the measurement elements and generates a time synchronization feedback signal. The time synchronization feedback signal is transmitted to the time reference module of the integrated processing unit via the first interface module of the measurement elements, the wireless transmission link and the second interface module of the integrated processing unit to generate a transmission link delay measurement value, which is then sent to the measurement elements respectively, and the time difference correction has been performed on the measurement elements.

9. The irregular carrier shape and posture measurement system according to claim 1, characterized in that: The satellite navigation information parsed by the second satellite solution module in the integrated processing unit is combined with the on-site visible satellite layout to complete the selection of common-view satellites required for time synchronization, form a time synchronization strategy, and send it to each measurement element for time synchronization of each measurement element.

10. A method for measuring the shape and posture of an irregular carrier, characterized in that: The method uses the irregular carrier shape and posture measurement system according to any one of claims 1 to 9, and the method comprises the following implementation steps: First, the user plans and designs the discrete measurement point positions according to the shape measurement requirements of the irregular carrier, and then plans and designs the measurement point array at the corresponding parts according to the posture measurement requirements of different parts of the irregular carrier. Each measurement point array contains 3 measurement point positions; Second, arrange the various measurement elements at the planned measurement point positions, and between the irregular carrier and the satellite navigation system. The measurement element antennas must be kept open and unobstructed. After the measurement elements are arranged, start the integrated processing unit and the measurement elements, and automatically complete the Bluetooth connection to establish a wireless data connection channel; Third, after the integrated processing unit and the measurement elements start working, the satellite navigation system signal reception and initial positioning are completed first. The integrated processing unit sends out the time synchronization common view satellite selection strategy and link delay calibration signal according to the signal reception status and the status information fed back by each measurement element, and completes high-precision time synchronization with the measurement elements one by one; Fourth, after the measurement elements have completed the satellite navigation system signal reception, initial positioning and time synchronization with the integrated processing unit, high-precision ranging is started using the satellite navigation system signal, and high-precision original measurement information is generated according to the information collection time interval requirements of the integrated processing unit, and the generated information is sent to the integrated processing unit through the wireless transmission link in the irregular carrier shape and attitude measurement system; Fifth, after the comprehensive processing unit receives the original measurement information reported by each measurement element through the wireless transmission link, it performs comprehensive information solution processing to complete the high-precision relative positioning between the measurement elements in the system, obtain the planned measurement point position, and then form high-precision irregular carrier shape information; at the same time, according to the attitude measurement requirements of different parts of the irregular carrier, complete the attitude measurement of any three measurement elements in the system, obtain the planned measurement array attitude, and then form the overall attitude information and local attitude information of the irregular carrier.

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