Method, device and equipment for determining deviation distance of satellite positioning measurement system

Abstract

The present invention relates to the field of distance measurement technology, and in particular to a method, device and equipment for determining the deviation distance of a satellite positioning measurement system. The method includes: determining the rough deviation distance of the satellite positioning measurement system; controlling the measurement vehicle to move until the measurement point mark is aligned with the target point to be measured; adjusting the azimuth of the measurement vehicle to each azimuth range, obtaining the pitch angle and roll angle of the measurement vehicle within a preset time, and the coordinates of the user terminal antenna location point, and determining the corresponding average value and the average value coordinates; determining intermediate variables; determining the lateral distance and longitudinal distance between the location point corresponding to the rough deviation distance and the user terminal antenna location point; determining the deviation distance of the satellite positioning measurement system. The embodiment of the present invention can accurately determine the deviation distance of the satellite positioning measurement system based on the pitch angle, roll angle, and coordinates obtained when the azimuth of the measurement vehicle is in each azimuth range.

Description

Technical Field

[0001] The present invention relates to the technical field of distance measurement, and in particular to a method, device and equipment for determining a deviation distance of a satellite positioning measurement system. Background Art

[0002] In the process of geodetic surveying, a survey vehicle is usually used to provide coordinate information and orientation information for the points and edges to be measured involved in the surveying process. A survey vehicle is a special vehicle for geodetic surveying. The survey vehicle is equipped with a survey point mark, an inertial positioning and orientation system, and a satellite positioning and measurement system. The survey point mark of the survey vehicle is a mark set at the main driver's door of the survey vehicle. During the measurement process, the survey point mark of the survey vehicle is aligned with the point to be measured and then the vehicle is parked to measure the coordinates of the point to be measured. The inertial positioning and orientation system is a system that can use inertial technology to measure coordinates and horizontal angles. The horizontal angle includes pitch angle and roll angle. The inertial positioning and orientation system is installed at the center of the survey vehicle. The satellite positioning and measurement system is a system that can use satellite signals to measure coordinates. The user terminal antenna in the satellite positioning and measurement system is installed on the left front roof of the survey vehicle. The coordinate system of the measuring vehicle takes the position of the inertial positioning and orientation system as the origin (point O), the front of the vehicle as the positive direction of the longitudinal axis (y axis), the right side of the vehicle as the positive direction of the horizontal axis (x axis), and the upward direction as the positive direction of the vertical axis (z axis). Figure 1 As shown, point O is the location of the inertial positioning and orientation system. Point Q is the location of the user terminal antenna. Point P is the location of the measuring point mark, that is, the point to be measured. The y-axis is the vertical axis of the body coordinate system of the measuring vehicle, and the x-axis is the horizontal axis of the body coordinate system of the measuring vehicle. The coordinates measured by the inertial positioning and orientation system are the coordinates of point O, and the coordinates measured by the satellite positioning measurement system are the coordinates of point Q. What the measuring vehicle needs to obtain is the coordinates of point P, that is, the coordinates of the point to be measured.

[0003] In order to accurately determine the coordinates of each point to be measured involved in the measurement process, it is necessary to determine the deviation distance of the satellite positioning measurement system of the measuring vehicle before the measurement process begins. The deviation distance of the satellite positioning measurement system refers to the deviation distance of the user machine antenna location point in the satellite positioning measurement system relative to the center of the measuring vehicle (i.e., the inertial positioning and orientation system location point). The deviation distance of the satellite positioning measurement system includes the lateral distance and longitudinal distance between the user machine antenna location point and the inertial positioning and orientation system location point. The lateral distance between two location points refers to the distance between the two location points in the horizontal axis direction of the body coordinate system of the measuring vehicle. The longitudinal distance between two location points refers to the distance between the two location points in the longitudinal axis direction of the body coordinate system of the measuring vehicle.

[0004] In the related art, the commonly used solution for determining the deviation distance of the satellite positioning measurement system is: the technician uses a tape measure to measure the deviation distance of the satellite positioning measurement system of the measuring vehicle to determine the deviation distance of the satellite positioning measurement system of the measuring vehicle. The solution for determining the deviation distance of the satellite positioning measurement system in the related art requires manual operation to determine the deviation distance of the satellite positioning measurement system of the measuring vehicle, which is easily affected by the in-vehicle environment, and the accuracy is difficult to guarantee, and cannot meet the measurement accuracy requirements. Summary of the invention

[0005] The present invention provides a method, device and equipment for determining the deviation distance of a satellite positioning measurement system to solve the problem that the accuracy of the deviation distance determination scheme of the satellite positioning measurement system in the related art is difficult to ensure and cannot meet the measurement accuracy requirements.

[0006] According to one aspect of the present invention, a method for determining a deviation distance of a satellite positioning measurement system is provided, comprising:

[0007] Determine a rough deviation distance of the satellite positioning measurement system of the measurement vehicle; wherein the rough deviation distance is the deviation distance of the satellite positioning measurement system with errors, and the deviation distance of the satellite positioning measurement system includes the lateral distance and the longitudinal distance between the position point of the user machine antenna in the satellite positioning measurement system and the position point of the inertial positioning and orientation system;

[0008] Controlling the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured;

[0009] The azimuth of the measuring vehicle is adjusted to each azimuth range respectively and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within each azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value of each coordinate obtained are determined;

[0010] Determine intermediate variables related to the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the antenna of the user machine is located, according to the average pitch angle, the average roll angle and the average coordinates determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, and judge whether the intermediate variables are valid data;

[0011] If the intermediate variable is valid data, determine the horizontal distance and the vertical distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located according to the intermediate variable;

[0012] The deviation distance of the satellite positioning measurement system is determined according to the lateral distance and the longitudinal distance in the rough deviation distance, and the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located.

[0013] According to another aspect of the present invention, there is provided a deviation distance determination device for a satellite positioning measurement system, comprising:

[0014] A rough deviation distance determination module is used to determine a rough deviation distance of a satellite positioning measurement system of a measurement vehicle; wherein the rough deviation distance is a deviation distance of the satellite positioning measurement system with an error, and the deviation distance of the satellite positioning measurement system includes a lateral distance and a longitudinal distance between a position point of a user terminal antenna and a position point of an inertial positioning and orientation system in the satellite positioning measurement system;

[0015] A measuring vehicle control module, used for controlling the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured;

[0016] A measurement data acquisition module, used to adjust the azimuth of the measuring vehicle to each azimuth range and keep the measuring point mark aligned with the target point to be measured, and when the azimuth of the measuring vehicle is within each azimuth range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the user terminal antenna location point measured by the satellite positioning measurement system within a preset time length, and determine the average value of each pitch angle, the average value of each roll angle, and the average value of each coordinate;

[0017] an intermediate variable determination module, for determining intermediate variables related to the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the antenna of the user machine is located, according to the average pitch angle, the average roll angle and the average coordinates determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, and determining whether the intermediate variables are valid data;

[0018] A location point distance determination module, configured to determine, if the intermediate variable is valid data, a horizontal distance and a vertical distance between a location point corresponding to the rough deviation distance and a location point where the antenna of the user machine is located according to the intermediate variable;

[0019] The deviation distance determination module is used to determine the deviation distance of the satellite positioning measurement system according to the lateral distance and longitudinal distance in the rough deviation distance, and the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located.

[0020] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0021] at least one processor;

[0022] and a memory communicatively coupled to the at least one processor;

[0023] The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the deviation distance determination method of the satellite positioning measurement system described in any embodiment of the present invention.

[0024] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the deviation distance determination method of a satellite positioning measurement system described in any embodiment of the present invention when executed.

[0025] The technical solution of the embodiment of the present invention can accurately determine the deviation distance of the satellite positioning measurement system of the measuring vehicle based on the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length when the azimuth angle of the measuring vehicle is within various azimuth angle ranges and the measuring point mark is aligned with the target point to be measured, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length, thereby meeting the measurement accuracy requirements.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 The present invention provides a schematic plan view of a measuring vehicle.

[0029] Figure 2 A flowchart of a method for determining a deviation distance of a satellite positioning measurement system provided by an embodiment of the present invention.

[0030] Figure 3 A schematic plan view of a measuring vehicle provided by an embodiment of the present invention.

[0031] Figure 4 A schematic plan view of a measuring vehicle provided by an embodiment of the present invention when the azimuth angle of the measuring vehicle is within a first azimuth angle range.

[0032] Figure 5 A schematic plan view of a measuring vehicle provided by an embodiment of the present invention when the azimuth angle of the measuring vehicle is within a second azimuth angle range.

[0033] Figure 6 A schematic plan view of a measuring vehicle provided by an embodiment of the present invention when the azimuth angle of the measuring vehicle is within a third azimuth angle range.

[0034] Figure 7 A schematic plan view of a measuring vehicle provided by an embodiment of the present invention when the azimuth angle of the measuring vehicle is within a fourth azimuth angle range.

[0035] Figure 8 A flowchart of a method for determining a deviation distance of a satellite positioning measurement system provided by an embodiment of the present invention.

[0036] Fig. 9 A schematic structural diagram of a deviation distance determination device for a satellite positioning measurement system provided by an embodiment of the present invention.

[0037] Fig.10 A schematic diagram of the structure of an electronic device for implementing a method for determining a deviation distance of a satellite positioning measurement system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the technical personnel in the technical field better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work should belong to the scope of protection of the present invention. It should be noted that the terms "target", "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprise", "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] Figure 2 A flowchart of a method for determining a deviation distance of a satellite positioning measurement system provided in an embodiment of the present invention. This embodiment is applicable to the case where the deviation distance of a satellite positioning measurement system of a measurement vehicle is determined before the measurement process begins. The method can be executed by a deviation distance determination device of a satellite positioning measurement system, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. The electronic device can be a terminal device provided on the measurement vehicle for controlling the measurement vehicle. Figure 2 As shown, the method includes:

[0040] Step 101: Determine a rough deviation distance of a satellite positioning measurement system of a measurement vehicle.

[0041] Among them, the rough deviation distance is the deviation distance of the satellite positioning measurement system with errors, and the deviation distance of the satellite positioning measurement system includes the lateral distance and longitudinal distance between the location point of the user terminal antenna in the satellite positioning measurement system and the location point of the inertial positioning and orientation system.

[0042] Optionally, the measuring vehicle is a special vehicle for the field of geodetic surveying that is about to undergo a measurement process. The measuring vehicle is provided with a measuring point mark, an inertial positioning and orientation system, and a satellite positioning and measurement system. The measuring point mark of the measuring vehicle is a mark set at the main driver's door of the measuring vehicle. The driver of the measuring vehicle can control the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the point to be measured. The point to be measured can be a position point where coordinates need to be measured. The inertial positioning and orientation system of the measuring vehicle can be a hardware system set on the measuring vehicle for coordinate measurement and horizontal angle measurement using inertial technology. The inertial positioning and orientation system is installed at the center of the measuring vehicle. The center position of the measuring vehicle can refer to the center of mass of the measuring vehicle. The inertial positioning and orientation system can measure the coordinates of the position point where the inertial positioning and orientation system is located in the body coordinate system of the measuring vehicle and the horizontal angle of the measuring vehicle at a preset time interval. The horizontal angle of the measuring vehicle includes a pitch angle and a roll angle. The pitch angle of the measuring vehicle can refer to the angle between the longitudinal axis of the measuring vehicle and the horizontal plane. The roll angle of the measuring vehicle can refer to the rotation angle of the measuring vehicle around the longitudinal axis of the measuring vehicle. Exemplarily, the preset time interval is 1 second. The inertial positioning and orientation system measures the coordinates of the position point of the inertial positioning and orientation system in the body coordinate system of the measuring vehicle, the pitch angle of the measuring vehicle, and the roll angle of the measuring vehicle every 1 second. The electronic device can obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system from the inertial positioning and orientation system.

[0043] Optionally, the satellite positioning measurement system of the measuring vehicle can be a hardware system set on the measuring vehicle for coordinate measurement using satellite signals. The satellite positioning measurement system includes a user terminal and a base station, and can realize differential measurement. The base station includes a base station receiver and a base station antenna, and the user terminal includes a user terminal receiver and a user terminal antenna. The base station antenna is an antenna for sending satellite differential positioning signals. The user terminal antenna is an antenna for receiving satellite differential positioning signals. Satellite positioning chips are installed inside the base station receiver and the user terminal receiver. The satellite positioning chip can be a chip for coordinate measurement using satellite signals sent by the base station antenna and satellite signals received by the user terminal antenna. The base station receiver is connected to the base station antenna, and the user terminal receiver is connected to the user terminal antenna. The user terminal antenna is installed on the left front roof of the measuring vehicle. The user terminal receiver is installed inside the measuring vehicle. The satellite positioning measurement system can measure the coordinates of the user terminal antenna in the CGCS2000 geodetic coordinate system at a preset time interval. Exemplarily, the preset time interval is 1 second. The satellite positioning measurement system measures the coordinates of the user machine antenna location in the CGCS2000 geodetic coordinate system every 1 second. Electronic equipment can obtain the coordinates of the user machine antenna location from the satellite positioning measurement system.

[0044] Optionally, before the measurement process begins, it is necessary to determine the deviation distance of the satellite positioning measurement system of the measuring vehicle. After receiving the deviation distance determination instruction, the electronic device can determine the rough deviation distance of the satellite positioning measurement system of the measuring vehicle, thereby starting to execute the process of determining the deviation distance of the satellite positioning measurement system of the measuring vehicle. The deviation distance determination instruction can be a pre-set instruction for instructing the electronic device to execute the process of determining the deviation distance of the satellite positioning measurement system of the measuring vehicle. The deviation distance determination instruction can be sent to the electronic device by a technician through a terminal device. The deviation distance of the satellite positioning measurement system of the measuring vehicle includes the lateral distance and longitudinal distance between the user machine antenna location point and the inertial positioning and orientation system location point in the satellite positioning measurement system of the measuring vehicle. The lateral distance between the user machine antenna location point and the inertial positioning and orientation system location point refers to the distance between the user machine antenna location point and the inertial positioning and orientation system location point in the horizontal axis direction of the body coordinate system of the measuring vehicle. The longitudinal distance between the user machine antenna location point and the inertial positioning and orientation system location point refers to the distance between the user machine antenna location point and the inertial positioning and orientation system location point in the longitudinal axis direction of the body coordinate system of the measuring vehicle.

[0045] Optionally, the rough deviation distance of the satellite positioning measurement system of the measuring vehicle is the deviation distance of the satellite positioning measurement system of the measuring vehicle with errors. The rough deviation distance of the satellite positioning measurement system of the measuring vehicle may be the deviation distance of the satellite positioning measurement system of the measuring vehicle with errors measured by a technician using a tape measure, or may be the deviation distance of the satellite positioning measurement system of other measuring vehicles of the same model as the measuring vehicle. The deviation distance of the satellite positioning measurement system of other measuring vehicles may be the deviation distance of the satellite positioning measurement system measured during a completed measurement process. There is a certain deviation between the deviation distance of the satellite positioning measurement system of other measuring vehicles and the deviation distance of the satellite positioning measurement system of the measuring vehicle, and it is the deviation distance of the satellite positioning measurement system of the measuring vehicle with errors.

[0046] Optionally, a local database of the electronic device stores a rough deviation distance of the satellite positioning measurement system of the measuring vehicle. Determining the rough deviation distance of the satellite positioning measurement system of the measuring vehicle includes: obtaining the rough deviation distance of the satellite positioning measurement system of the measuring vehicle from the local database. The electronic device can read the rough deviation distance of the satellite positioning measurement system of the measuring vehicle from the local database.

[0047] Optionally, the position point corresponding to the rough deviation distance is a position point whose lateral distance and longitudinal distance from the position point where the inertial positioning and orientation system is located are the lateral distance and longitudinal distance in the rough deviation distance of the satellite positioning measurement system. The position point corresponding to the rough deviation distance will be a position point at a certain distance from the position point where the user machine antenna is located. Figure 3 A schematic diagram of a measuring vehicle provided by an embodiment of the present invention. Point O is the location of the inertial positioning and orientation system. Point Q is the location of the user terminal antenna. Point is the position point corresponding to the rough deviation distance. The y-axis is the longitudinal axis of the body coordinate system of the measuring vehicle, and the x-axis is the transverse axis of the body coordinate system of the measuring vehicle. Normally, the lateral distance in the rough deviation distance and the lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located are added together to obtain the accurate lateral distance in the deviation distance of the satellite positioning measurement system. The longitudinal distance in the rough deviation distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located are added together to obtain the accurate longitudinal distance in the deviation distance of the satellite positioning measurement system. Thus, the accurate deviation distance of the satellite positioning measurement system is obtained.

[0048] Step 102: Control the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured.

[0049] Optionally, the target point to be measured is a pre-set point to be measured. The target point to be measured is located in an open field. A ground nail for marking the target point to be measured is set at the target point to be measured. A target installation point is also set in the open field. The target installation point is a location point where a base station of a satellite positioning measurement system is set. The distance between the target point to be measured and the target installation point is between 150 meters and 300 meters. When the measuring vehicle moves until the measuring point mark of the measuring vehicle is aligned with the target point to be measured, the satellite positioning measurement system can normally measure the coordinates of the location point of the user terminal antenna in the satellite positioning measurement system in the CGCS2000 geodetic coordinate system.

[0050] Optionally, controlling the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured includes: sending a first movement instruction text to a terminal device of a driver of the measuring vehicle, so that the driver of the measuring vehicle controls the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured. The first movement instruction text may be a pre-set text for instructing the driver of the measuring vehicle to control the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured. The driver's terminal device is a terminal device used by the driver.

[0051] Optionally, the electronic device may send the first movement instruction text to the terminal device of the driver of the measuring vehicle after determining the rough deviation distance of the satellite positioning measurement system of the measuring vehicle. After receiving the first movement instruction text, the driver's terminal device will display the first movement instruction text on the display screen of the terminal device. After browsing the first movement instruction text displayed on the display screen of the terminal device, the driver will control the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured, and then send the first movement completion text to the electronic device through the terminal device. The first movement completion text may be a pre-set text used to characterize that the measuring vehicle has been controlled to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured. When the electronic device receives the first movement completion text, it determines that the measuring vehicle has been controlled to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured. After the measuring vehicle moves until the measuring point mark of the measuring vehicle is aligned with the target point to be measured, the electronic device can control the inertial positioning and orientation system to align using the coordinates measured by the satellite positioning and measurement system to ensure the validity of the pitch angle and roll angle measured by the inertial positioning and orientation system.

[0052] Step 103, respectively adjust the azimuth angle of the measuring vehicle to each azimuth angle range and keep the measuring point mark aligned with the target point to be measured. When the azimuth angle of the measuring vehicle is within each azimuth angle range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length, and determine the average value of each pitch angle, the average value of each roll angle, and the average value of each coordinate.

[0053] Optionally, the azimuth of the measuring vehicle may refer to the horizontal angle between the north direction in the clockwise direction and the forward direction of the measuring vehicle, based on the north direction. The forward direction of the measuring vehicle is directly in front of the vehicle. Each azimuth range may be a plurality of pre-set azimuth ranges. Each azimuth range may include a first azimuth range, a second azimuth range, a third azimuth range, and a fourth azimuth range. The first azimuth range is The second azimuth range is The third-party azimuth range is The fourth azimuth range is .

[0054] Optionally, the azimuth of the measuring vehicle is adjusted to each azimuth range and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within each azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the user terminal antenna position point measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle, the average value of each roll angle and the average value of each coordinate are determined, including: adjusting the azimuth of the measuring vehicle to a first azimuth range; The method comprises the steps of: adjusting the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time period, and obtaining the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time period, and determining the average value of each pitch angle, the average value of each roll angle, and the average value coordinates of each coordinate, to obtain a first pitch angle average value, a first roll angle average value, and a first average value coordinates; adjusting the azimuth angle of the measuring vehicle to the first azimuth angle range and the first azimuth angle range; obtaining the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time period, and obtaining the coordinates of the user terminal antenna located by the satellite positioning measurement system within a preset time period, and obtaining the first pitch angle average value, the first roll angle average value, and the first average value coordinates; adjusting the azimuth angle of the measuring vehicle to the first azimuth angle range and the first azimuth angle range; ... Adjust to within the second azimuth range and keep the measuring point mark aligned with the target point to be measured. When the azimuth of the measuring vehicle is within the second azimuth range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length, and determine the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value coordinates of each coordinate obtained, to obtain a second pitch angle average value, a second roll angle average value, and a second average value coordinates; The azimuth of the vehicle is adjusted to within the third azimuth range and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within the third azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value coordinates of each coordinate obtained are determined to obtain a third pitch angle average value, a third roll angle average value, and a third average value coordinates;The azimuth of the measuring vehicle is adjusted to within the fourth azimuth range and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within the fourth azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the user terminal antenna position point measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value coordinates of each coordinate obtained are determined to obtain a fourth pitch angle average value, a fourth roll angle average value, and a fourth average value coordinates. ;

[0055] Optionally, the second movement instruction text is sent to the terminal device of the driver of the measuring vehicle, so that the driver of the measuring vehicle adjusts the azimuth of the measuring vehicle to within the first azimuth range and keeps the measuring point mark aligned with the target point to be measured. When the second movement completion text is received, it is determined that the azimuth of the measuring vehicle has been adjusted to within the first azimuth range and the measuring point mark is aligned with the target point to be measured, wait for a preset time, and then obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within the preset time, and the coordinates of the user terminal antenna position point measured by the satellite positioning measurement system within the preset time. Calculate the average value of each pitch angle obtained to obtain a first pitch angle average value. Calculate the average value of each roll angle obtained to obtain a first roll angle average value. Calculate the average value coordinates of each coordinate obtained to obtain a first average value coordinate. The average value coordinate includes a horizontal coordinate, a vertical coordinate and a vertical coordinate. The horizontal coordinate of the average value coordinate is the average value of the horizontal coordinates of each coordinate obtained, the vertical coordinate of the average value coordinate is the average value of the vertical coordinates of each coordinate obtained, and the vertical coordinate of the average value coordinate is the average value of the vertical coordinates of each coordinate obtained.

[0056] Optionally, the second movement instruction text may be a pre-set text for instructing the driver of the measuring vehicle to adjust the azimuth of the measuring vehicle to within the first azimuth range and keep the measuring point mark aligned with the target point to be measured. The electronic device may send the second movement instruction text to the terminal device of the driver of the measuring vehicle after determining that the measuring vehicle has been controlled to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured. After receiving the second movement instruction text, the driver's terminal device will display the second movement instruction text on the display screen of the terminal device. After browsing the second movement instruction text displayed on the display screen of the terminal device, the driver will adjust the azimuth of the measuring vehicle to within the first azimuth range and keep the measuring point mark aligned with the target point to be measured, and then send the second movement completion text to the electronic device through the terminal device. The second movement completion text may be a pre-set text for indicating that the azimuth of the measuring vehicle has been adjusted to within the first azimuth range and the measuring point mark has been aligned with the target point to be measured. When the electronic device receives the second movement completion text, it determines that the azimuth of the measuring vehicle has been adjusted to within the first azimuth range and the measuring point mark has been aligned with the target point to be measured.

[0057] Optional, Figure 4 A schematic diagram of a measuring vehicle provided by an embodiment of the present invention when the azimuth angle of the measuring vehicle is within a first azimuth angle range. Point O is the location point of the inertial positioning and orientation system. Point Q is the location point of the user terminal antenna. Point A is the position point corresponding to the rough deviation distance. Point A is the target point to be measured. Point B is the target installation point. Point P is the position point where the measuring point mark is located. Point A coincides with point P. The y-axis is the vertical axis of the body coordinate system of the measuring vehicle, and the x-axis is the horizontal axis of the body coordinate system of the measuring vehicle.

[0058] Optionally, the preset duration can be a pre-set duration. Exemplarily, the preset duration is 10 seconds. After determining that the azimuth of the measuring vehicle has been adjusted to the first azimuth range and the measuring point mark is aligned with the target point to be measured, the electronic device waits for the preset duration, and then obtains the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within the preset duration from the inertial positioning and orientation system, and obtains the coordinates of the user machine antenna position point measured by the satellite positioning and orientation system within the preset duration from the satellite positioning and orientation system. The coordinates of the user machine antenna position point in the satellite positioning and orientation system measured by the satellite positioning and orientation system in the CGCS2000 geodetic coordinate system are the coordinates of the user machine antenna position point measured by the satellite positioning and orientation system. The first pitch angle average value is the average value of each pitch angle obtained when the azimuth of the measuring vehicle is within the first azimuth range. The electronic device can calculate the average value of each pitch angle obtained when the azimuth of the measuring vehicle is within the first azimuth range to obtain the first pitch angle average value. The first roll angle average value is the average value of each roll angle obtained when the azimuth angle of the measuring vehicle is within the first azimuth angle range. The electronic device can calculate the average value of each roll angle obtained when the azimuth angle of the measuring vehicle is within the first azimuth angle range to obtain the first roll angle average value. The first average value coordinate is the average value coordinate of each coordinate obtained when the azimuth angle of the measuring vehicle is within the first azimuth angle range. The average value coordinate includes a horizontal coordinate, a vertical coordinate and a vertical coordinate, the horizontal coordinate of the average value coordinate is the average value of the horizontal coordinates of each coordinate obtained, the vertical coordinate of the average value coordinate is the average value of the vertical coordinates of each coordinate obtained, and the vertical coordinate of the average value coordinate is the average value of the vertical coordinates of each coordinate obtained. The electronic device can calculate the average value coordinate of each coordinate obtained when the azimuth angle of the measuring vehicle is within the first azimuth angle range to obtain the first average value coordinate.

[0059] Optionally, after obtaining the first pitch angle average value, the first roll angle average value, and the first average value coordinates, the third movement instruction text is sent to the terminal device of the driver of the measuring vehicle, so that the driver of the measuring vehicle adjusts the azimuth of the measuring vehicle to the second azimuth range and keeps the measuring point mark aligned with the target point to be measured. When the third movement completion text is received, it is determined that the azimuth of the measuring vehicle has been adjusted to the second azimuth range and the measuring point mark is aligned with the target point to be measured, wait for a preset time, and then obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within the preset time, and the coordinates of the user terminal antenna position point measured by the satellite positioning measurement system within the preset time. Calculate the average value of each pitch angle obtained to obtain the second pitch angle average value; calculate the average value of each roll angle obtained to obtain the second roll angle average value. Calculate the average value coordinates of each coordinate obtained to obtain the second average value coordinates.

[0060] Optionally, the third movement instruction text may be a pre-set text for instructing the driver of the measuring vehicle to adjust the azimuth of the measuring vehicle to within the second azimuth range and keep the measuring point mark aligned with the target point to be measured. The electronic device may send the third movement instruction text to the terminal device of the driver of the measuring vehicle after obtaining the first pitch angle average value, the first roll angle average value and the first average value coordinate. After receiving the third movement instruction text, the driver's terminal device will display the third movement instruction text on the display screen of the terminal device. After browsing the third movement instruction text displayed on the display screen of the terminal device, the driver will adjust the azimuth of the measuring vehicle to within the second azimuth range and keep the measuring point mark aligned with the target point to be measured, and then send the third movement completion text to the electronic device through the terminal device. The third movement completion text may be a pre-set text for indicating that the azimuth of the measuring vehicle has been adjusted to within the second azimuth range and the measuring point mark has been aligned with the target point to be measured. When the electronic device receives the third movement completion text, it determines that the azimuth of the measuring vehicle has been adjusted to within the second azimuth range and the measuring point mark has been aligned with the target point to be measured.

[0061] Optional, Figure 5 A schematic diagram of a measuring vehicle provided by an embodiment of the present invention when the azimuth angle of the measuring vehicle is within a second azimuth angle range. Point O is the location point of the inertial positioning and orientation system. Point Q is the location point of the user terminal antenna. Point A is the position point corresponding to the rough deviation distance. Point A is the target point to be measured. Point B is the target installation point. Point P is the position point where the measuring point mark is located. Point A coincides with point P. The y-axis is the vertical axis of the body coordinate system of the measuring vehicle, and the x-axis is the horizontal axis of the body coordinate system of the measuring vehicle.

[0062] Optionally, after determining that the azimuth of the measuring vehicle has been adjusted to within the second azimuth range and the measuring point mark is aligned with the target point to be measured, the electronic device waits for a preset time, then obtains the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within the preset time from the inertial positioning and orientation system, and obtains the coordinates of the user terminal antenna position point measured by the satellite positioning and orientation system within the preset time from the satellite positioning and measurement system. The second pitch angle average value is the average value of each pitch angle obtained when the azimuth of the measuring vehicle is within the second azimuth range. The electronic device calculates the average value of each pitch angle obtained when the azimuth of the measuring vehicle is within the second azimuth range to obtain the second pitch angle average value. The second roll angle average value is the average value of each roll angle obtained when the azimuth of the measuring vehicle is within the second azimuth range. The electronic device calculates the average value of each roll angle obtained when the azimuth of the measuring vehicle is within the second azimuth range to obtain the second roll angle average value. The second average value coordinate is the average value coordinate of each coordinate obtained when the azimuth of the measuring vehicle is within the second azimuth range. The electronic device calculates the average value coordinates of the coordinates acquired when the azimuth angle of the measuring vehicle is within the second azimuth angle range, thereby obtaining the second average value coordinates.

[0063] Optionally, after obtaining the second pitch angle average value, the second roll angle average value, and the second average value coordinates, the fourth movement instruction text is sent to the terminal device of the driver of the measuring vehicle, so that the driver of the measuring vehicle adjusts the azimuth of the measuring vehicle to within the third azimuth range and keeps the measuring point mark aligned with the target point to be measured. When the fourth movement completion text is received, it is determined that the azimuth of the measuring vehicle has been adjusted to within the third azimuth range and the measuring point mark is aligned with the target point to be measured, wait for a preset time, and then obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within the preset time, and the coordinates of the user terminal antenna position point measured by the satellite positioning measurement system within the preset time. Calculate the average value of each pitch angle obtained to obtain a third pitch angle average value; calculate the average value of each roll angle obtained to obtain a third roll angle average value. Calculate the average value coordinates of each coordinate obtained to obtain the third average value coordinates.

[0064] Optionally, the fourth movement instruction text may be a pre-set text for instructing the driver of the measuring vehicle to adjust the azimuth of the measuring vehicle to within the third azimuth range and keep the measuring point mark aligned with the target point to be measured. The electronic device may send the fourth movement instruction text to the terminal device of the driver of the measuring vehicle after obtaining the second pitch angle average value, the second roll angle average value and the second average value coordinate. After receiving the fourth movement instruction text, the driver's terminal device will display the fourth movement instruction text on the display screen of the terminal device. After browsing the fourth movement instruction text displayed on the display screen of the terminal device, the driver will adjust the azimuth of the measuring vehicle to within the third azimuth range and keep the measuring point mark aligned with the target point to be measured, and then send the fourth movement completion text to the electronic device through the terminal device. The fourth movement completion text may be a pre-set text for indicating that the azimuth of the measuring vehicle has been adjusted to within the third azimuth range and the measuring point mark has been aligned with the target point to be measured. When the electronic device receives the fourth movement completion text, it determines that the azimuth of the measuring vehicle has been adjusted to within the third azimuth range and the measuring point mark has been aligned with the target point to be measured.

[0065] Optional, Figure 6 A schematic diagram of a measuring vehicle provided by an embodiment of the present invention when the azimuth of the measuring vehicle is within a third azimuth range. Point O is the location of the inertial positioning and orientation system. Point Q is the location of the user terminal antenna. Point A is the position point corresponding to the rough deviation distance. Point A is the target point to be measured. Point B is the target installation point. Point P is the position point where the measuring point mark is located. Point A coincides with point P. The y-axis is the vertical axis of the body coordinate system of the measuring vehicle, and the x-axis is the horizontal axis of the body coordinate system of the measuring vehicle.

[0066] Optionally, after determining that the azimuth of the measuring vehicle has been adjusted to within the third azimuth range and the measuring point mark is aligned with the target point to be measured, the electronic device waits for a preset time, then obtains the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within the preset time from the inertial positioning and orientation system, and obtains the coordinates of the user terminal antenna position point measured by the satellite positioning and orientation system within the preset time from the satellite positioning and measurement system. The third pitch angle average value is the average value of each pitch angle obtained when the azimuth of the measuring vehicle is within the third azimuth range. The electronic device calculates the average value of each pitch angle obtained when the azimuth of the measuring vehicle is within the third azimuth range to obtain the third pitch angle average value. The third roll angle average value is the average value of each roll angle obtained when the azimuth of the measuring vehicle is within the third azimuth range. The electronic device calculates the average value of each roll angle obtained when the azimuth of the measuring vehicle is within the third azimuth range to obtain the third roll angle average value. The third average value coordinate is the average value coordinate of each coordinate obtained when the azimuth of the measuring vehicle is within the third azimuth range. The electronic device calculates the average value coordinates of the coordinates acquired when the azimuth angle of the measuring vehicle is within the third azimuth angle range, thereby obtaining the third average value coordinates.

[0067] Optionally, after obtaining the third pitch angle average value, the third roll angle average value, and the third average value coordinates, the fifth movement instruction text is sent to the terminal device of the driver of the measuring vehicle, so that the driver of the measuring vehicle adjusts the azimuth of the measuring vehicle to within the fourth azimuth range and keeps the measuring point mark aligned with the target point to be measured. When the fifth movement completion text is received, it is determined that the azimuth of the measuring vehicle has been adjusted to within the fourth azimuth range and the measuring point mark is aligned with the target point to be measured, wait for a preset time, and then obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within the preset time, and the coordinates of the user terminal antenna position point measured by the satellite positioning measurement system within the preset time. Calculate the average value of each pitch angle obtained to obtain the fourth pitch angle average value. Calculate the average value of each roll angle obtained to obtain the fourth roll angle average value. Calculate the average value coordinates of each coordinate obtained to obtain the fourth average value coordinates.

[0068] Optionally, the fifth movement instruction text may be a pre-set text for instructing the driver of the measuring vehicle to adjust the azimuth of the measuring vehicle to within the fourth azimuth range and keep the measuring point mark aligned with the target point to be measured. The electronic device may send the fifth movement instruction text to the terminal device of the driver of the measuring vehicle after obtaining the third pitch angle average value, the third roll angle average value and the third average value coordinate. After receiving the fifth movement instruction text, the driver's terminal device will display the fifth movement instruction text on the display screen of the terminal device. After browsing the fifth movement instruction text displayed on the display screen of the terminal device, the driver will adjust the azimuth of the measuring vehicle to within the fourth azimuth range and keep the measuring point mark aligned with the target point to be measured, and then send the fifth movement completion text to the electronic device through the terminal device. The fifth movement completion text may be a pre-set text for indicating that the azimuth of the measuring vehicle has been adjusted to within the fourth azimuth range and the measuring point mark has been aligned with the target point to be measured. When the electronic device receives the fifth movement completion text, it determines that the azimuth of the measuring vehicle has been adjusted to within the fourth azimuth range and the measuring point mark has been aligned with the target point to be measured.

[0069] Optional, Figure 7 A schematic diagram of a measuring vehicle provided by an embodiment of the present invention when the azimuth angle of the measuring vehicle is within the fourth azimuth angle range. Point O is the location point of the inertial positioning and orientation system. Point Q is the location point of the user terminal antenna. Point A is the position point corresponding to the rough deviation distance. Point A is the target point to be measured. Point B is the target installation point. Point P is the position point where the measuring point mark is located. Point A coincides with point P. The y-axis is the vertical axis of the body coordinate system of the measuring vehicle, and the x-axis is the horizontal axis of the body coordinate system of the measuring vehicle.

[0070] Optionally, after determining that the azimuth of the measuring vehicle has been adjusted to within the fourth azimuth range and the measuring point mark is aligned with the target point to be measured, the electronic device waits for a preset time, then obtains the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within the preset time from the inertial positioning and orientation system, and obtains the coordinates of the user terminal antenna position point measured by the satellite positioning and orientation system within the preset time from the satellite positioning and measurement system. The fourth pitch angle average value is the average value of each pitch angle obtained when the azimuth of the measuring vehicle is within the fourth azimuth range. The electronic device calculates the average value of each pitch angle obtained when the azimuth of the measuring vehicle is within the fourth azimuth range to obtain the fourth pitch angle average value. The fourth roll angle average value is the average value of each roll angle obtained when the azimuth of the measuring vehicle is within the fourth azimuth range. The electronic device calculates the average value of each roll angle obtained when the azimuth of the measuring vehicle is within the fourth azimuth range to obtain the fourth roll angle average value. The fourth average value coordinate is the average value coordinate of each coordinate obtained when the azimuth of the measuring vehicle is within the fourth azimuth range. The electronic device calculates the average value coordinate of each coordinate acquired when the azimuth angle of the measuring vehicle is within the fourth azimuth angle range, thereby obtaining a fourth average value coordinate.

[0071] Step 104: determine intermediate variables related to the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located, based on the average pitch angle, the average roll angle and the average coordinates determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, and determine whether the intermediate variables are valid data.

[0072] Optionally, the intermediate variables related to the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located can be data for calculating the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located, which are determined based on the pitch angle average, the roll angle average, and the average coordinates determined when the azimuth of the measuring vehicle is within each azimuth range. The intermediate variables related to the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located may include: a first matrix corresponding to the first average coordinates and the third average coordinates, a second matrix corresponding to the first average coordinates and the third average coordinates, a third matrix corresponding to the second average coordinates and the fourth average coordinates, a fourth matrix corresponding to the second average coordinates and the fourth average coordinates, a first angle corresponding to the first pitch angle average and the third pitch angle average, a second angle corresponding to the second pitch angle average and the fourth pitch angle average, a third angle corresponding to the first roll angle average and the third roll angle average, and a fourth angle corresponding to the second roll angle average and the fourth roll angle average. The first matrix and the second matrix are two different matrices calculated based on the first average coordinates and the third average coordinates. The third matrix and the fourth matrix are two different matrices calculated based on the second average coordinates and the fourth average coordinates. The first angle is an angle calculated based on the first pitch angle average and the third pitch angle average. The second angle is an angle calculated based on the second pitch angle average and the fourth pitch angle average. The third angle is an angle calculated based on the first roll angle average and the third roll angle average. The fourth angle is an angle calculated based on the second roll angle average and the fourth roll angle average. The unit of all angles is radians.

[0073] Optionally, according to the pitch angle average value, the roll angle average value and the average value coordinates determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, determining the intermediate variables related to the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located, including: determining, according to the first average value coordinates and the third average value coordinates, a first matrix corresponding to the first average value coordinates and the third average value coordinates, and a second matrix corresponding to the first average value coordinates and the third average value coordinates; determining, according to the second average value coordinates and the fourth average value coordinates, a third matrix corresponding to the second average value coordinates and the fourth average value coordinates, and a second matrix corresponding to the second average value coordinates and the fourth average value coordinates. a fourth matrix corresponding to the value coordinates and the fourth average value coordinates; determining a first angle corresponding to the first pitch angle average value and the third pitch angle average value according to the first pitch angle average value and the third pitch angle average value; determining a second angle corresponding to the second pitch angle average value and the fourth pitch angle average value according to the second pitch angle average value and the fourth pitch angle average value; determining a third angle corresponding to the first roll angle average value and the third roll angle average value according to the first roll angle average value and the third roll angle average value; determining a fourth angle corresponding to the second roll angle average value and the fourth roll angle average value according to the second roll angle average value and the fourth roll angle average value.

[0074] Optionally, the following first calculation formula is used to calculate a first matrix corresponding to the first average value coordinate and the third average value coordinate:

[0075] ,

[0076] in, is the first matrix corresponding to the first mean coordinate and the third mean coordinate, is the abscissa in the first mean coordinate, is the abscissa in the third mean coordinate, is the ordinate in the first mean coordinate, is the ordinate in the third average coordinate. The first calculation formula is a formula preset in the electronic device for determining a first matrix corresponding to the first average coordinate and the third average coordinate according to the first average coordinate and the third average coordinate.

[0077] Optionally, the second matrix corresponding to the first average value coordinate and the third average value coordinate is calculated using the following second calculation formula:

[0078] ,

[0079] in, is the second matrix corresponding to the first mean coordinate and the third mean coordinate, is the abscissa in the first mean coordinate, is the abscissa in the third mean coordinate, is the ordinate in the first mean coordinate, is the ordinate in the third average coordinate. The second calculation formula is a formula preset in the electronic device for determining a second matrix corresponding to the first average coordinate and the third average coordinate according to the first average coordinate and the third average coordinate.

[0080] Optionally, the following third calculation formula is used to calculate a third matrix corresponding to the second average value coordinates and the fourth average value coordinates:

[0081] ,

[0082] in, is the third matrix corresponding to the second mean coordinate and the fourth mean coordinate, is the abscissa in the second mean coordinate, is the abscissa in the fourth mean coordinate, is the ordinate in the second mean coordinate, is the ordinate in the fourth average coordinate. The third calculation formula is a formula preset in the electronic device for determining a third matrix corresponding to the second average coordinate and the fourth average coordinate according to the second average coordinate and the fourth average coordinate.

[0083] Optionally, the fourth matrix corresponding to the second average value coordinates and the fourth average value coordinates is calculated using the following fourth calculation formula:

[0084] ,

[0085] in, is the fourth matrix corresponding to the second mean coordinate and the fourth mean coordinate, is the abscissa in the second mean coordinate, is the abscissa in the fourth mean coordinate, is the ordinate in the second mean coordinate, is the ordinate in the fourth average coordinate. The fourth calculation formula is a formula preset in the electronic device for determining a fourth matrix corresponding to the second average coordinate and the fourth average coordinate according to the second average coordinate and the fourth average coordinate.

[0086] Optionally, the following fifth calculation formula is used to calculate a first angle corresponding to the first pitch angle average value and the third pitch angle average value:

[0087] ,

[0088] in, is the first angle corresponding to the first average pitch angle and the third average pitch angle, is the first pitch angle average, The fifth calculation formula is a formula preset in the electronic device for determining a first angle corresponding to the first pitch angle average value and the third pitch angle average value according to the first pitch angle average value and the third pitch angle average value.

[0089] Optionally, the following sixth calculation formula is used to calculate a second angle corresponding to the second pitch angle average value and the fourth pitch angle average value:

[0090] ,

[0091] in, is the second angle corresponding to the second average pitch angle and the fourth average pitch angle, is the second pitch angle average, The sixth calculation formula is a formula preset in the electronic device for determining a second angle corresponding to the second pitch angle average value and the fourth pitch angle average value according to the second pitch angle average value and the fourth pitch angle average value.

[0092] Optionally, the following seventh calculation formula is used to calculate a third angle corresponding to the first rolling angle average value and the third rolling angle average value:

[0093] ,

[0094] in, is the third angle corresponding to the first average rolling angle and the third average rolling angle, is the first average rolling angle, The seventh calculation formula is a formula preset in the electronic device for determining a third angle corresponding to the first roll angle average value and the third roll angle average value according to the first roll angle average value and the third roll angle average value.

[0095] Optionally, the following eighth calculation formula is used to calculate a fourth angle corresponding to the second average rolling angle and the fourth average rolling angle:

[0096] ,

[0097] in, is a fourth angle corresponding to the second average rolling angle and the fourth average rolling angle, is the second average rolling angle, The eighth calculation formula is a formula preset in the electronic device for determining a fourth angle corresponding to the second roll angle average value and the fourth roll angle average value according to the second roll angle average value and the fourth roll angle average value.

[0098] Optionally, judging whether the intermediate variable is valid data includes: determining criterion variables corresponding to the first matrix, the second matrix, the third matrix, the fourth matrix, the first angle, the second angle, the third angle and the fourth angle in the intermediate variable, and judging whether the intermediate variable is valid data based on the criterion variables.

[0099] Optionally, valid data may refer to an intermediate variable that can be used to accurately calculate the horizontal distance and the vertical distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located. The criterion variable corresponding to the first matrix, the second matrix, the third matrix, the fourth matrix, the first angle, the second angle, the third angle and the fourth angle in the intermediate variable may be data determined based on the first matrix, the second matrix, the third matrix, the fourth matrix, the first angle, the second angle, the third angle and the fourth angle in the intermediate variable for determining whether the intermediate variable is valid data. The criterion variable includes: a first value, a second value and a third value. The first value may be a value calculated based on the second matrix, the fourth matrix, the third angle and the fourth angle. The second value may be a value calculated based on the second matrix, the fourth matrix, the first angle and the second angle. The third value may be a value calculated based on the first matrix and the third matrix.

[0100] Optionally, the first value is determined according to the second matrix, the fourth matrix, the third angle and the fourth angle in the intermediate variable. The second value is determined according to the second matrix, the fourth matrix, the first angle and the second angle in the intermediate variable. The third value is determined according to the first matrix and the third matrix in the intermediate variable. Whether the intermediate variable is valid data is determined according to the first value, the second value and the third value.

[0101] Optionally, the first value is calculated using the following ninth calculation formula:

[0102] ,

[0103] in, is the first value, is the second matrix in the intermediate variable , is the third angle among the intermediate variables, is the fourth matrix in the intermediate variable , is the fourth angle in the intermediate variable. The ninth calculation formula is a formula preset in the electronic device for determining the first value according to the second matrix, the fourth matrix, the third angle and the fourth angle in the intermediate variable.

[0104] Optionally, the second value is calculated using the following tenth calculation formula:

[0105] ,

[0106] in, is the second value, is the second matrix in the intermediate variable , is the first angle among the intermediate variables, is the fourth matrix in the intermediate variable , is the second angle in the intermediate variable. The tenth calculation formula is a formula preset in the electronic device for determining the second value according to the second matrix, the fourth matrix, the first angle and the second angle in the intermediate variable.

[0107] Optionally, the third value is calculated using the following eleventh calculation formula:

[0108] ,

[0109] in, is the third value, is the first matrix in the intermediate variable , is the third matrix in the intermediate variable , is the first matrix in the intermediate variable , is the third matrix in the intermediate variable The eleventh calculation formula is a formula preset in the electronic device for determining the third value according to the first matrix and the third matrix in the intermediate variables.

[0110] Optionally, judging whether the intermediate variable is valid data according to the first value, the second value and the third value includes: if the absolute value of the first value is less than or equal to the first threshold, the absolute value of the second value is less than or equal to the second threshold, and the third value is less than or equal to the third threshold, then determining that the intermediate variable is valid data; if the absolute value of the first value is greater than the first threshold, then determining that the intermediate variable is not valid data; if the absolute value of the second value is greater than the second threshold, then determining that the intermediate variable is not valid data; if the third value is greater than the third threshold, then determining that the intermediate variable is not valid data. The first threshold, the second threshold and the third threshold can be three preset values. Exemplarily, the first threshold is 0.1, the second threshold is 0.1, and the third threshold is 0.2. If the intermediate variable is not valid data, return to step 103 until the intermediate variable is valid data.

[0111] Step 105: If the intermediate variable is valid data, determine the horizontal distance and the vertical distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located according to the intermediate variable.

[0112] Optionally, based on the intermediate variables, the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located are determined, including: based on the first matrix, second matrix, third matrix, fourth matrix, first angle, second angle, third angle and fourth angle in the intermediate variables, determining the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located.

[0113] Optionally, the following twelfth calculation formula is used to calculate the lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located:

[0114] ,

[0115] in, It is the horizontal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located. is the second matrix in the intermediate variable , is the third angle among the intermediate variables, is the fourth matrix in the intermediate variable , is the fourth angle in the intermediate variable. The twelfth calculation formula is a formula preset in the electronic device for calculating the lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located.

[0116] Optionally, the following thirteenth calculation formula is used to calculate the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located:

[0117] ,

[0118] in, It is the longitudinal distance between the location point corresponding to the rough deviation distance and the location point of the user machine antenna. is the second matrix in the intermediate variable , is the first angle among the intermediate variables, is the fourth matrix in the intermediate variable , is the second angle in the intermediate variable. The thirteenth calculation formula is a formula preset in the electronic device for calculating the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located.

[0119] Step 106: Determine the deviation distance of the satellite positioning measurement system according to the lateral distance and the longitudinal distance in the rough deviation distance, and the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located.

[0120] Optionally, the deviation distance of the satellite positioning measurement system is determined based on the lateral distance and the longitudinal distance in the rough deviation distance, and the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located, including: determining the sum of the lateral distance in the rough deviation distance and the lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located as the lateral distance in the deviation distance of the satellite positioning measurement system, and determining the sum of the longitudinal distance in the rough deviation distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located as the longitudinal distance in the deviation distance of the satellite positioning measurement system, thereby obtaining the deviation distance of the satellite positioning measurement system; judging whether the obtained deviation distance of the satellite positioning measurement system is a valid deviation distance; if so, storing the obtained deviation distance of the satellite positioning measurement system.

[0121] Optionally, the lateral distance in the rough deviation distance is The lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located is The lateral distance in the deviation distance of the satellite positioning measurement system is . Change the lateral distance in the rough deviation distance to The horizontal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located The sum is determined as the lateral distance in the deviation distance of the satellite positioning measurement system. The longitudinal distance in the rough deviation distance is The longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located is The lateral distance in the deviation distance of the satellite positioning measurement system is . The longitudinal distance in the rough deviation distance The longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located The sum is determined as the longitudinal distance in the deviation distance of the satellite positioning measurement system. Thus, the deviation distance of the satellite positioning measurement system is obtained.

[0122] Optionally, the effective deviation distance may refer to a deviation distance of a satellite positioning measurement system whose accuracy can meet the precision requirement. Determining whether the deviation distance of the satellite positioning measurement system is a valid deviation distance comprises: adjusting the azimuth of the measuring vehicle to each azimuth range and keeping the measuring point mark aligned with the target point to be measured, and when the azimuth of the measuring vehicle is within each azimuth range, obtaining the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length, and determining the average value of each pitch angle, the average value of each roll angle, and the average value coordinates of each coordinate; wherein the determined average value coordinates include: a first average value coordinate, a second average value coordinate, a third average value coordinate, and a fourth average value coordinate; calculating a deviation distance detection value according to the first average value coordinate, the second average value coordinate, the third average value coordinate, and the fourth average value coordinate; determining whether the deviation distance detection value is less than or equal to a target value; if so, determining that the deviation distance of the satellite positioning measurement system is a valid deviation distance; if not, determining that the deviation distance of the satellite positioning measurement system is not a valid deviation distance.

[0123] Optionally, the deviation distance detection value can be a value calculated based on the determined first average value coordinate, the second average value coordinate, the third average value coordinate and the fourth average value coordinate, which can be used to characterize whether the deviation distance of the obtained satellite positioning measurement system is a valid deviation distance. The target value is a pre-set value. Exemplarily, the target value is 0.15. Normally, if the deviation distance detection value is less than or equal to the target value, it can be determined that the deviation distance of the obtained satellite positioning measurement system is a valid deviation distance. If the deviation distance detection value is greater than the target value, it can be determined that the deviation distance of the obtained satellite positioning measurement system is not a valid deviation distance.

[0124] Optionally, the deviation distance detection value is calculated according to the following deviation distance detection value calculation formula:

[0125] ,

[0126] in, is the deviation distance detection value, is the difference between the abscissa with the largest value and the abscissa with the smallest value among the abscissas in the first average value coordinate, the abscissas in the second average value coordinate, the abscissas in the third average value coordinate, and the abscissas in the fourth average value coordinate, , is the abscissa in the first mean value coordinate, is the abscissa in the second mean value coordinate, is the abscissa in the third mean value coordinate, is the abscissa in the fourth mean value coordinate, is the difference between the ordinate with the largest value and the ordinate with the smallest value among the ordinates in the first average coordinate, the ordinate in the second average coordinate, the ordinate in the third average coordinate, and the ordinate in the fourth average coordinate, , is the ordinate in the first mean value coordinate, is the ordinate in the second mean coordinate, is the ordinate in the third mean coordinate, is the ordinate in the fourth average coordinate. The deviation distance detection value calculation formula is a formula set in the electronic device for calculating the deviation distance detection value according to the first average coordinate, the second average coordinate, the third average coordinate and the fourth average coordinate.

[0127] Optionally, storing the obtained deviation distance of the satellite positioning measurement system includes: storing the obtained deviation distance of the satellite positioning measurement system in a local database of the electronic device.

[0128] Optionally, if the obtained deviation distance of the satellite positioning measurement system is not a valid deviation distance, the process returns to step 104 until the obtained deviation distance of the satellite positioning measurement system is a valid deviation distance.

[0129] The technical solution of the embodiment of the present invention is to determine the rough deviation distance of the satellite positioning measurement system of the measuring vehicle; then control the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured; respectively adjust the azimuth of the measuring vehicle to each azimuth range and keep the measuring point mark aligned with the target point to be measured, and when the azimuth of the measuring vehicle is within each azimuth range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the user terminal antenna position point measured by the satellite positioning measurement system within a preset time length, and determine the average value of each pitch angle, the average value of each roll angle, and the average value coordinates of each coordinate; according to the average value of the pitch angle, the average value of the roll angle, and the average value coordinates determined when the azimuth of the measuring vehicle is within each azimuth range, determine the intermediate variables related to the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located, and judge the whether the intermediate variable is valid data; if the intermediate variable is valid data, then according to the intermediate variable, determine the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located; finally, determine the deviation distance of the satellite positioning measurement system according to the lateral distance and the longitudinal distance in the rough deviation distance, and the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located, so as to solve the problem that the accuracy of the deviation distance determination scheme of the satellite positioning measurement system in the related art is difficult to ensure and cannot meet the measurement accuracy requirement, and can accurately determine the deviation distance of the satellite positioning measurement system of the measuring vehicle based on the pitch angle and the roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length when the azimuth of the measuring vehicle is within various azimuth ranges and the measuring point mark is aligned with the target to be measured, and the coordinates of the position point where the user machine antenna is located measured by the satellite positioning measurement system within the preset time length, so as to meet the measurement accuracy requirement.

[0130] In a specific example, the lateral distance in the rough deviation distance is -0.505 meters, and the longitudinal distance in the rough deviation distance is 0.929 meters. The abscissa in the first average value coordinate is 3829045.566 meters, the ordinate is 19418113.020 meters, and the vertical coordinate is 229.833 meters. The first pitch angle average value is 0.3690°. The first roll angle average value is -0.7210°. The abscissa in the second average value coordinate is 3829045.569 meters, the ordinate is 19418113.066 meters, and the vertical coordinate is 299.836 meters. The second pitch angle average value is 0.7050°. The second roll angle average value is 0.3510°. The abscissa in the third average value coordinate is 3829045.518 meters, the ordinate is 19418113.069 meters, and the vertical coordinate is 229.830 meters. The second average pitch angle is -0.3370°. The second average roll angle is 0.7320°. The abscissa of the fourth average coordinate is 3829045.507 meters, the ordinate is 19418113.018 meters, and the vertical coordinate is 229.823 meters. The fourth average pitch angle is -0.7100°. The second average roll angle is -0.3420°. The first matrix is The second matrix is The third matrix is The fourth matrix is . The first angle is 0.3530°. The second angle is 0.7075°. The third angle is -0.7265°. The fourth angle is 0.3465°. The first value is 0.006. The second value is 0.000. The third value is 0.005. The lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located is -0.028. The longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located is 0.024. The lateral distance in the deviation distance of the satellite positioning measurement system is -0.533. The longitudinal distance in the deviation distance of the satellite positioning measurement system is -0.953. The abscissa in the newly determined first average value coordinate is 3829045.546 meters, and the ordinate is 19418113.042 meters. The abscissa in the newly determined second average value coordinate is 3829045.544 meters, and the ordinate is 19418113.046 meters. The abscissa of the newly determined third average value coordinate is 3829045.538 meters, and the ordinate is 19418113.047 meters. The abscissa of the newly determined fourth average value coordinate is 3829045.533 meters, and the ordinate is 19418113.038 meters. The deviation distance detection value is 0.016 meters.

[0131] Figure 8The present invention provides a flowchart of a method for determining a deviation distance of a satellite positioning measurement system. The present invention can be combined with each optional solution in one or more of the above embodiments. Figure 8 As shown, the method includes:

[0132] Step 201: Determine a rough deviation distance of a satellite positioning measurement system of a measurement vehicle.

[0133] Step 202: Control the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured.

[0134] Step 203, respectively adjust the azimuth angle of the measuring vehicle to each azimuth angle range and keep the measuring point mark aligned with the target point to be measured. When the azimuth angle of the measuring vehicle is within each azimuth angle range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the user terminal antenna location point measured by the satellite positioning measurement system within a preset time length, and determine the average value of each pitch angle, the average value of each roll angle, and the average value of each coordinate.

[0135] Step 204: determine intermediate variables related to the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located, based on the average pitch angle, the average roll angle and the average coordinates determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, and determine whether the intermediate variables are valid data.

[0136] Step 205: If the intermediate variable is valid data, determine the horizontal distance and the vertical distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located according to the intermediate variable.

[0137] Step 206: Determine the sum of the lateral distance in the rough deviation distance and the lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located as the lateral distance in the deviation distance of the satellite positioning measurement system; determine the sum of the longitudinal distance in the rough deviation distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located as the longitudinal distance in the deviation distance of the satellite positioning measurement system, thereby obtaining the deviation distance of the satellite positioning measurement system.

[0138] Step 207: Determine whether the obtained deviation distance of the satellite positioning measurement system is a valid deviation distance.

[0139] Step 208: If the obtained deviation distance of the satellite positioning measurement system is a valid deviation distance, the obtained deviation distance of the satellite positioning measurement system is stored.

[0140] The technical solution of the embodiment of the present invention can accurately determine the deviation distance of the satellite positioning measurement system of the measuring vehicle based on the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length when the azimuth angle of the measuring vehicle is within various azimuth angle ranges and the measuring point mark is aligned with the target point to be measured, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length, thereby meeting the measurement accuracy requirements.

[0141] Fig. 9 The present invention provides a schematic diagram of a device for determining a deviation distance of a satellite positioning measurement system according to an embodiment of the present invention. The device can be configured in an electronic device. Fig. 9As shown, the device includes: a rough deviation distance determination module 301 , a measuring vehicle control module 302 , a measurement data acquisition module 303 , an intermediate variable determination module 304 , a position point distance determination module 305 and a deviation distance determination module 306 . Among them, the rough deviation distance determination module 301 is used to determine the rough deviation distance of the satellite positioning measurement system of the measuring vehicle; wherein the rough deviation distance is the deviation distance of the satellite positioning measurement system with errors, and the deviation distance of the satellite positioning measurement system includes the lateral distance and the longitudinal distance between the location point of the user machine antenna in the satellite positioning measurement system and the location point of the inertial positioning and orientation system; the measuring vehicle control module 302 is used to control the movement of the measuring vehicle until the measuring point mark of the measuring vehicle is aligned with the target point to be measured; the measurement data acquisition module 303 is used to adjust the azimuth angle of the measuring vehicle to each azimuth angle range and keep the measuring point mark aligned with the target point to be measured, and when the azimuth angle of the measuring vehicle is within each azimuth angle range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the location point of the user machine antenna measured by the satellite positioning measurement system within a preset time length, and determine the acquired an average value of the pitch angle, an average value of each roll angle obtained, and an average value coordinate of each coordinate obtained; an intermediate variable determination module 304, used to determine the intermediate variables related to the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located, according to the average value of the pitch angle, the average value of the roll angle, and the average value coordinate determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, and to judge whether the intermediate variable is valid data; a position point distance determination module 305, used to determine the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located according to the intermediate variable if the intermediate variable is valid data; a deviation distance determination module 306, used to determine the deviation distance of the satellite positioning measurement system according to the lateral distance and the longitudinal distance in the rough deviation distance, and the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located.

[0142] The technical solution of the embodiment of the present invention can accurately determine the deviation distance of the satellite positioning measurement system of the measuring vehicle based on the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length when the azimuth angle of the measuring vehicle is within various azimuth angle ranges and the measuring point mark is aligned with the target point to be measured, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length, thereby meeting the measurement accuracy requirements.

[0143] In an optional implementation of the embodiment of the present invention, optionally, the rough deviation distance determination module 301 is specifically used to: obtain the rough deviation distance of the satellite positioning measurement system of the measurement vehicle from a local database.

[0144] In an optional implementation of an embodiment of the present invention, optionally, the measurement data acquisition module 303 is specifically used to: adjust the azimuth of the measuring vehicle to within a first azimuth range and keep the measuring point mark aligned with the target point to be measured, and when the azimuth of the measuring vehicle is within the first azimuth range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user machine antenna is located measured by the satellite positioning measurement system within a preset time length, and determine the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value of each coordinate obtained. A first pitch angle average value, a first roll angle average value, and first average value coordinates are obtained; the azimuth of the measuring vehicle is adjusted to within a second azimuth range and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within the second azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the user terminal antenna location point measured by the satellite positioning measurement system within a preset time length are obtained, and the average values ​​of the obtained pitch angles, the average values ​​of the obtained roll angles, and the average value coordinates of the obtained coordinates are determined to obtain a second pitch angle average value. , a second roll angle average value and a second average value coordinate; adjust the azimuth of the measuring vehicle to within the third azimuth range and keep the measuring point mark aligned with the target point to be measured, when the azimuth of the measuring vehicle is within the third azimuth range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user machine antenna is located measured by the satellite positioning measurement system within a preset time length, and determine the average value of each pitch angle, the average value of each roll angle and the average value coordinates of each coordinate, to obtain a third pitch angle average value and a third roll angle average value. and a third average value coordinate; adjusting the azimuth of the measuring vehicle to within a fourth azimuth range and keeping the measuring point mark aligned with the target point to be measured, when the azimuth of the measuring vehicle is within the fourth azimuth range, obtaining the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length, and determining the average value of each pitch angle, the average value of each roll angle, and the average value coordinates of each coordinate, to obtain a fourth pitch angle average value, a fourth roll angle average value, and a fourth average value coordinates.

[0145] In an optional implementation manner of the embodiment of the present invention, optionally, the intermediate variable determination module 304 is specifically used to: determine a first matrix corresponding to the first average value coordinate and the third average value coordinate, and a second matrix corresponding to the first average value coordinate and the third average value coordinate according to the first average value coordinate and the third average value coordinate; determine a third matrix corresponding to the second average value coordinate and the fourth average value coordinate, and a fourth matrix corresponding to the second average value coordinate and the fourth average value coordinate according to the second average value coordinate and the fourth average value coordinate; determine a first angle corresponding to the first pitch angle average value and the third pitch angle average value according to the first pitch angle average value and the third pitch angle average value; determine a second angle corresponding to the second pitch angle average value and the fourth pitch angle average value according to the second pitch angle average value and the fourth pitch angle average value; determine a third angle corresponding to the first roll angle average value and the third roll angle average value according to the first roll angle average value and the third roll angle average value; determine a fourth angle corresponding to the second roll angle average value and the fourth roll angle average value according to the second roll angle average value and the fourth roll angle average value.

[0146] In an optional implementation manner of an embodiment of the present invention, optionally, the intermediate variable determination module 304 is specifically used to: determine the criterion variables corresponding to the first matrix, the second matrix, the third matrix, the fourth matrix, the first angle, the second angle, the third angle and the fourth angle in the intermediate variables, and judge whether the intermediate variables are valid data according to the criterion variables.

[0147] In an optional implementation manner of an embodiment of the present invention, optionally, the location point distance determination module 305 is specifically used to determine the horizontal distance and the vertical distance between the location point corresponding to the rough deviation distance and the location point where the user machine antenna is located based on the first matrix, the second matrix, the third matrix, the fourth matrix, the first angle, the second angle, the third angle and the fourth angle in the intermediate variables.

[0148] In an optional implementation of an embodiment of the present invention, optionally, the deviation distance determination module 306 is specifically used to: determine the sum of the lateral distance in the rough deviation distance and the lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located as the lateral distance in the deviation distance of the satellite positioning measurement system, and determine the sum of the longitudinal distance in the rough deviation distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located as the longitudinal distance in the deviation distance of the satellite positioning measurement system, thereby obtaining the deviation distance of the satellite positioning measurement system; determine whether the obtained deviation distance of the satellite positioning measurement system is a valid deviation distance; if so, store the obtained deviation distance of the satellite positioning measurement system.

[0149] The deviation distance determination device of the satellite positioning measurement system provided in the embodiment of the present invention can execute the deviation distance determination method of the satellite positioning measurement system provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0150] Fig.10 The schematic diagram of the structure of the electronic device 10 that can be used to implement the deviation distance determination method of the satellite positioning measurement system of the embodiment of the present invention is shown. The components shown herein, their connections and relationships, and their functions are only for example, and are not intended to limit the implementation of the present invention described and / or required herein.

[0151] like Fig.10 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11 in communication, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program built from the storage unit 18 to the random access memory (RAM) 13. In the random access memory (RAM) 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the read-only memory (ROM) 12, and the random access memory (RAM) 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0152] Multiple components in the electronic device 10 are connected to an input / output (I / O) interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks. The processor 11 can be various general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a deviation distance determination method for a satellite positioning measurement system.

[0153] In some embodiments, the deviation distance determination method of the satellite positioning measurement system can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via a read-only memory (ROM) 12 and / or a communication unit 19. When the computer program is built into a random access memory (RAM) 13 and executed by the processor 11, one or more steps of the deviation distance determination method of the satellite positioning measurement system described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the deviation distance determination method of the satellite positioning measurement system in any other appropriate manner (for example, by means of firmware).

[0154] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] The computer program for implementing the deviation distance determination method of the satellite positioning measurement system of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or the block diagram are implemented. The computer program can be executed completely on the machine, partially on the machine, partially on the machine as an independent software package and partially on a remote machine, or completely on a remote machine or server.

[0156] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0157] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0158] The systems and techniques described herein may be implemented in a computing system including a backend component (e.g., as a data server), or a computing system including a middleware component (e.g., an application server), or a computing system including a frontend component (e.g., a user computer with a graphical user interface or a web browser, through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet. A computing system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client and server relationship is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in a cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0159] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0160] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining a deviation distance of a satellite positioning measurement system, characterized in that: include: Determine a rough deviation distance of the satellite positioning measurement system of the measurement vehicle; wherein the rough deviation distance is the deviation distance of the satellite positioning measurement system with errors, and the deviation distance of the satellite positioning measurement system includes the lateral distance and the longitudinal distance between the position point of the user machine antenna in the satellite positioning measurement system and the position point of the inertial positioning and orientation system; Controlling the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured; The azimuth of the measuring vehicle is adjusted to each azimuth range respectively and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within each azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value of each coordinate obtained are determined; Determine intermediate variables related to the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the antenna of the user machine is located, according to the average pitch angle, the average roll angle and the average coordinates determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, and judge whether the intermediate variables are valid data; If the intermediate variable is valid data, determine the horizontal distance and the vertical distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located according to the intermediate variable; The deviation distance of the satellite positioning measurement system is determined according to the lateral distance and the longitudinal distance in the rough deviation distance, and the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located.

2. The method for determining the deviation distance of a satellite positioning measurement system according to claim 1, characterized in that: Determine the rough deviation distance of the satellite positioning measurement system of the survey vehicle, including: The rough deviation distance of the satellite positioning measurement system of the survey vehicle is obtained from the local database.

3. The method for determining the deviation distance of a satellite positioning measurement system according to claim 1, characterized in that: The azimuth of the measuring vehicle is adjusted to each azimuth range respectively and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within each azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the user terminal antenna position point measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle, the average value of each roll angle, and the average value of each coordinate are determined, including: The azimuth of the measuring vehicle is adjusted to within a first azimuth range and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within the first azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value coordinates of each coordinate obtained are determined to obtain a first pitch angle average value, a first roll angle average value, and a first average value coordinates; The azimuth of the measuring vehicle is adjusted to within a second azimuth range and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within the second azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value coordinates of each coordinate obtained are determined to obtain a second pitch angle average value, a second roll angle average value, and a second average value coordinates; The azimuth of the measuring vehicle is adjusted to within a third azimuth range and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within the third azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value coordinates of each coordinate obtained are determined to obtain a third pitch angle average value, a third roll angle average value, and a third average value coordinates; The azimuth of the measuring vehicle is adjusted to within a fourth azimuth range and the measuring point mark is kept aligned with the target point to be measured. When the azimuth of the measuring vehicle is within the fourth azimuth range, the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the position point where the user terminal antenna is located measured by the satellite positioning measurement system within a preset time length are obtained, and the average value of each pitch angle obtained, the average value of each roll angle obtained, and the average value coordinates of each coordinate obtained are determined to obtain a fourth pitch angle average value, a fourth roll angle average value, and a fourth average value coordinates.

4. The method for determining the deviation distance of a satellite positioning measurement system according to claim 3, characterized in that: Determining intermediate variables related to the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the antenna of the user machine is located according to the average pitch angle, the average roll angle and the average coordinates determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, including: According to the first average value coordinate and the third average value coordinate, determine a first matrix corresponding to the first average value coordinate and the third average value coordinate, and a second matrix corresponding to the first average value coordinate and the third average value coordinate; According to the second average value coordinates and the fourth average value coordinates, determine a third matrix corresponding to the second average value coordinates and the fourth average value coordinates, and a fourth matrix corresponding to the second average value coordinates and the fourth average value coordinates; Determine, according to the first pitch angle average value and the third pitch angle average value, a first angle corresponding to the first pitch angle average value and the third pitch angle average value; Determine, according to the second pitch angle average value and the fourth pitch angle average value, a second angle corresponding to the second pitch angle average value and the fourth pitch angle average value; Determine, according to the first roll angle average value and the third roll angle average value, a third angle corresponding to the first roll angle average value and the third roll angle average value; According to the second roll angle average value and the fourth roll angle average value, a fourth angle corresponding to the second roll angle average value and the fourth roll angle average value is determined.

5. The method for determining the deviation distance of a satellite positioning measurement system according to claim 4, characterized in that: Determining whether the intermediate variable is valid data includes: Determine criterion variables corresponding to the first matrix, the second matrix, the third matrix, the fourth matrix, the first angle, the second angle, the third angle and the fourth angle in the intermediate variables, and judge whether the intermediate variables are valid data according to the criterion variables.

6. The method for determining the deviation distance of a satellite positioning measurement system according to claim 5, characterized in that: Determining, according to the intermediate variable, a horizontal distance and a vertical distance between a position point corresponding to the rough deviation distance and a position point where the antenna of the user machine is located, comprising: According to the first matrix, the second matrix, the third matrix, the fourth matrix, the first angle, the second angle, the third angle and the fourth angle in the intermediate variables, the horizontal distance and the vertical distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located are determined.

7. The method for determining the deviation distance of a satellite positioning measurement system according to claim 1, characterized in that: Determining the deviation distance of the satellite positioning measurement system according to the lateral distance and the longitudinal distance in the rough deviation distance, and the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the antenna of the user machine is located, includes: The sum of the lateral distance in the rough deviation distance and the lateral distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located is determined as the lateral distance in the deviation distance of the satellite positioning measurement system, and the sum of the longitudinal distance in the rough deviation distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user machine antenna is located is determined as the longitudinal distance in the deviation distance of the satellite positioning measurement system, thereby obtaining the deviation distance of the satellite positioning measurement system; Determining whether the obtained deviation distance of the satellite positioning measurement system is a valid deviation distance; If so, the obtained deviation distance of the satellite positioning measurement system is stored.

8. A deviation distance determination device for a satellite positioning measurement system, characterized in that: include: A rough deviation distance determination module is used to determine a rough deviation distance of a satellite positioning measurement system of a measurement vehicle; wherein the rough deviation distance is a deviation distance of the satellite positioning measurement system with an error, and the deviation distance of the satellite positioning measurement system includes a lateral distance and a longitudinal distance between a position point of a user terminal antenna and a position point of an inertial positioning and orientation system in the satellite positioning measurement system; A measuring vehicle control module, used for controlling the measuring vehicle to move until the measuring point mark of the measuring vehicle is aligned with the target point to be measured; A measurement data acquisition module, used to adjust the azimuth of the measuring vehicle to each azimuth range and keep the measuring point mark aligned with the target point to be measured, and when the azimuth of the measuring vehicle is within each azimuth range, obtain the pitch angle and roll angle of the measuring vehicle measured by the inertial positioning and orientation system within a preset time length, and the coordinates of the user terminal antenna location point measured by the satellite positioning measurement system within a preset time length, and determine the average value of each pitch angle, the average value of each roll angle, and the average value of each coordinate; an intermediate variable determination module, for determining intermediate variables related to the lateral distance and the longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the antenna of the user machine is located, according to the average pitch angle, the average roll angle and the average coordinates determined when the azimuth angle of the measuring vehicle is within each azimuth angle range, and determining whether the intermediate variables are valid data; A location point distance determination module, configured to determine, if the intermediate variable is valid data, a horizontal distance and a vertical distance between a location point corresponding to the rough deviation distance and a location point where the antenna of the user machine is located according to the intermediate variable; The deviation distance determination module is used to determine the deviation distance of the satellite positioning measurement system according to the lateral distance and longitudinal distance in the rough deviation distance, and the lateral distance and longitudinal distance between the position point corresponding to the rough deviation distance and the position point where the user terminal antenna is located.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the deviation distance determination method of the satellite positioning measurement system according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the deviation distance determination method of a satellite positioning measurement system according to any one of claims 1 to 7 when executed.

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