GNSS and angle observation combined all-time plumb line deviation measuring device and method

Abstract

The invention provides an all-time plumb line deviation measuring device and method combining GNSS and angle observation. The all-time plumb line deviation measuring device comprises a measuring platform, a high-precision gradienter, an angle measuring device, a prism, a GNSS receiver and a tripod. The measuring platform is installed on a tripod, the high-precision gradienter is installed on the measuring platform, the angle measuring device is installed in the center of the measuring platform, and the GNSS receiver is arranged above the angle measuring device. The number of the prisms is more than two, the prisms are respectively installed on corresponding tripods, and a GNSS receiver is respectively arranged above each prism. According to the invention, related data can be obtained in a high-precision all-day vertical line deviation measurement process, and the method has the advantages of simple measurement mode, high precision, basically no weather influence and the like.

Description

Technical Field

[0001] The invention belongs to the field of geodetic surveying and mapping engineering, and relates to a technical solution for all-day vertical deviation measurement combining GNSS and angle observation. Background Art

[0002] The vertical deviation is the angle between the opposite direction of the gravity direction at a point on the ground or in space and the normal direction of the reference ellipsoid at that point. Since the normal direction of the reference ellipsoid can be determined analytically, the vertical deviation essentially expresses the direction of gravity (plumb line). The vertical deviation is an important feature of the vector field of the earth's gravity field. It mainly reflects the high-frequency information of the earth's gravity field. It is a basic physical quantity in basic disciplines such as geodesy and geophysics. It has important application value and research significance in the fields of geodesy and geophysical inversion.

[0003] In traditional geodetic tasks, observation tasks such as measuring edges, angles and height differences all require the use of plumb lines to determine the leveling state of the instrument. The main function of the plumb line deviation here is to complete the conversion from the natural coordinate system to the ellipsoidal coordinate system. Compared with gravity observation as a scalar, since the direction of the plumb line is the normal direction of the geoid, the plumb line deviation can also be defined as the inclination of the geoid relative to the reference ellipsoid. The geoid is the starting surface of the national elevation datum, and the elevation datum is the basis for all engineering construction. With the proposal of the national elevation datum modernization task, the importance of the plumb line deviation has become increasingly prominent. More importantly, in the field of national security, the plumb line deviation is one of the important geodetic guarantees for the active phase trajectory precision guidance of long-range ballistic missiles.

[0004] Traditional high-precision vertical deviation measurement is mainly achieved through observation of stars at night. It is susceptible to environmental restrictions, and has problems such as high difficulty, low efficiency, and high cost, which seriously restricts the acquisition and widespread application of high-precision vertical deviation data. In view of the above characteristics, researchers have conducted extensive research on vertical deviation measurement and proposed a vertical deviation solution that combines GNSS with hydrostatic leveling; some researchers have proposed a vertical deviation measurement solution that combines inertial navigation technology and GNSS technology; some researchers have proposed a vertical deviation measurement solution based on gravity gradient technology; and some researchers have proposed a solution based on simultaneous measurement of vertical deviation, gravity, and gravity gradient. However, these methods still have problems:

[0005] 1) Some devices and technologies are relatively complex, and it is relatively difficult to implement vertical deviation observation.

[0006] 2) Some devices and technologies have not been able to completely solve the problem of high-precision conversion (directional accuracy better than 1 arc second) from the local coordinate system to the geodetic coordinate system, making it difficult to achieve high-precision vertical deviation measurement.

[0007] 3) The accuracy of inertial navigation technology (laser gyroscope) to maintain the direction of the plumb line (better than 1 arc second) is difficult to guarantee.

[0008] For example, patent document CN104913780A provides a vertical deviation measurement solution integrating GNSS and CCD, which requires observing stars to obtain astronomical coordinates. Due to the influence of weather, it is difficult to achieve vertical deviation measurement throughout the day. CN108317993A provides a vertical deviation measurement device and method integrating GNSS and laser tracker. The device is complex and requires a matching laser tracking device; the GNSS baseline is fixed on the equipment, and with the current technical accuracy, it is difficult to achieve high-precision (better than 1") rotation of the fixed system to the ground; and it is necessary to measure the gravity direction vector through a laser tracking device to calculate the vertical deviation. CN107677242A provides a vertical deviation measurement device and method, which uses the relationship between the geoid height, the level height and the vertical deviation to measure the vertical deviation. The device is complex and requires a static leveling device to measure the level height difference; it requires the use of multiple sets of orthogonal equipment.

[0009] Therefore, the field urgently needs to propose a vertical deviation measurement device and measurement scheme that is simpler to implement and more applicable. Summary of the invention

[0010] In view of the shortcomings of the prior art, the purpose of the present invention is to propose a method and system for measuring vertical line deviation throughout the day by combining GNSS and angle observation, so as to obtain vertical line deviation with high precision throughout the day.

[0011] To achieve the above-mentioned purpose, the technical solution of the present invention provides a full-day vertical deviation measurement device combining GNSS and angle observation, including a measurement platform, a high-precision level, an angle measuring device, a prism, a GNSS receiver and a tripod;

[0012] The measuring platform is installed on a tripod, a high-precision level is installed in the center of the precision measuring platform, an angle measuring device is installed on the precision measuring platform, and a GNSS receiver is arranged above the angle measuring device;

[0013] There are more than two prisms, which are respectively installed on a corresponding tripod, and a GNSS receiver is arranged above each prism.

[0014] On the other hand, the present invention also provides a method for measuring the vertical line deviation throughout the day by combining GNSS and angle observation. The method adopts the device for measuring the vertical line deviation throughout the day by combining GNSS and angle observation as described above, and uses a high-precision level to represent the reverse direction of the plumb line as a direction vector in the instrument fixed coordinate system; uses an angle measuring device on a measuring platform to observe the altitude angle and azimuth angle of two sets of prisms and positions A and B of GNSS receivers in the instrument fixed coordinate system; obtains the baseline vector in the WGS84 spatial rectangular coordinate system by GNSS measurement; calculates the rotation matrix from the instrument fixed coordinate system to the WGS84 spatial rectangular coordinate system by the direction vector of the GNSS baseline in different coordinate systems; converts the reverse direction of the plumb line to the WGS84 spatial rectangular coordinate system by the rotation matrix; and calculates the vertical line deviation by using the geodetic coordinates solved by GNSS and the reverse conversion result of the plumb line.

[0015] Moreover, the reverse direction of the plumb line is expressed as a direction vector in the instrument fixed coordinate system, including selecting a measuring point Po in the measuring area, installing the measuring platform at the measuring point Po; using a high-precision level to align the center of the angle measuring device with the measuring point Po, and adjusting the angle measuring device to be horizontal, the GNSS receiver on the measuring platform is located at the P position, and the reverse direction of the plumb line of the measuring point Po is The direction is the zenith direction of the instrument fixed coordinate system on the measuring platform. The unit direction vector of the direction is expressed in the instrument fixed coordinate system as

[0016] Moreover, the calculation of the rotation matrix of the instrument fixed coordinate system to the WGS84 space rectangular coordinate system is implemented as follows: the elevation angle and azimuth angle (θ A ,α A ) and (θ B ,α B ), according to the observation results, the direction of the instrument fixed coordinate system is and The unit direction vector is expressed as and

[0017] Three GNSS instruments simultaneously perform GNSS static observations at positions A, B, and P to calculate the direction and Baseline vector in WGS84 space rectangular coordinate system and and The unit direction vector is expressed as and

[0018] Direction of use and Unit direction vectors in different coordinate systems, calculate the rotation matrix R from the instrument fixed coordinate system to the WGS84 space rectangular coordinate system;

[0019] The rotation matrix R satisfies:

[0020]

[0021] Moreover, the rotation matrix R is calculated using the TRIAD algorithm.

[0022] Moreover, the reverse direction of the plumb line is converted to the WGS84 spatial rectangular coordinate system through the rotation matrix, and the implementation method is as follows:

[0023] Using the rotation matrix R, the unit direction vector of the zenith direction in the instrument fixed coordinate system is Convert to the unit direction vector in the WGS84 space rectangular coordinate system

[0024] Furthermore, the vertical line deviation is calculated using the reverse conversion results of the geodetic coordinates and the plumb line solved by GNSS. The implementation method is as follows:

[0025] Using the GNSS static observation data of point P, the geodetic longitude and latitude (L, B) of the measuring point Po is solved. According to the solution result, the normal direction of the ellipsoid surface under the reference ellipsoid of Po at this time is The unit direction vector is expressed as Normal direction of meridian plane The unit direction vector is expressed as Normal direction of the y-plane The unit direction vector is expressed as

[0026] use and The angle between the reverse direction of the plumb line and the normal of the reference ellipsoid is calculated to obtain the astronomical geodetic vertical deviation u and the two components of the astronomical geodetic vertical deviation (ξ,η).

[0027] On the other hand, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the all-day vertical deviation measurement method combining GNSS and angle observation as described above is implemented.

[0028] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the all-day vertical deviation measurement method combining GNSS and angle observation as described above.

[0029] On the other hand, the present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the all-day vertical deviation measurement method combining GNSS and angle observation as described above.

[0030] As described above, the present invention provides a measurement device combining GNSS and angle observation, which can achieve the acquisition of relevant data in the process of high-precision all-day vertical deviation measurement. In addition, the present invention also proposes an all-day vertical deviation measurement method combining GNSS and angle observation, which has the advantages of simple measurement method, high accuracy, and basically not affected by weather.

[0031] Compared with the prior art, the present invention has multiple advantages:

[0032] 1) No need to observe stars; all-day measurement; no need to obtain astronomical coordinates;

[0033] 2) The method is simple and only requires GNSS and an angle measuring device; the GNSS baseline length can be freely set to achieve high-precision rotation of the local coordinate system to the ground fixed system. In order to ensure the accuracy of the coordinate system rotation and the convenience of actual measurement, a long baseline with freely set length is used. At least 3 GNSS receivers are required.

[0034] 3) No need to measure level height difference; no need to set up orthogonal equipment.

[0035] The solution of the present invention is simple and convenient to implement, has strong practicality, solves the problems of low practicality and inconvenience in actual application existing in related technologies, can improve user experience, and has important market value. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of a measurement device combining GNSS and angle observation in an embodiment of the present invention.

[0037] Figure 2 It is a schematic diagram of the vertical deviation measurement process combining GNSS and angle observation in an embodiment of the present invention.

[0038] Figure 3 It is a measurement schematic diagram of combining GNSS and angle observation in an embodiment of the present invention.

[0039] Figure 4 It is a schematic diagram of the altitude angle and azimuth angle observed in the instrument fixed coordinate system in an embodiment of the present invention.

[0040] Figure 5 Schematic diagram of the reference ellipsoid normal, plumb line and other directions in an embodiment of the present invention.

[0041] Figure 6The error diagram is obtained by measuring the meridian and azimuth components of the vertical deviation using the method of an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings and embodiments, so as to fully understand the purpose, characteristics and effects of the present invention.

[0043] See also Figure 1 In one embodiment of the present invention, a high-precision all-day vertical deviation measurement device combining GNSS and angle observation is provided, comprising: a measurement platform, a high-precision level, an angle measuring device (observing altitude angle and azimuth angle), a prism, a GNSS receiver and a tripod;

[0044] Wherein, the measuring platform is mounted on a tripod;

[0045] A high-precision level is installed on the measuring platform, and the level is preferably recommended to have an accuracy of 0.1″;

[0046] The angle measuring device is installed in the middle of the measuring platform. In specific implementation, the center of the angle measuring device can be aligned with the center of the measuring platform.

[0047] There are no less than two prisms, which are mounted on other tripods;

[0048] There are no less than three GNSS receivers, one of which is installed directly above the angle measuring device; the remaining GNSS receivers are installed directly above each prism accordingly;

[0049] Based on the above device, the present invention proposes a corresponding measurement implementation method: 1) Set the reverse direction of the plumb line to the (0, 0, 1) direction in the instrument fixed coordinate system through a high-precision level; 2) Calculate the rotation matrix from the instrument fixed coordinate system to the WGS84 space rectangular coordinate system by obtaining the direction of the GNSS baseline in different coordinate systems (instrument fixed coordinate system and WGS84 space rectangular coordinate system); 3) Convert the reverse direction of the plumb line to the WGS84 space rectangular coordinate system through the rotation matrix; 4) Calculate the vertical line deviation using the geodetic coordinates solved by GNSS and the result of 3).

[0050] See also Figure 2 In one embodiment of the present invention, a high-precision all-day vertical deviation measurement method combining GNSS and angle observation is provided, and the specific implementation process includes the following steps:

[0051] Step a, selecting a measuring point Po in the measuring area, and installing the precision measuring platform at the measuring point Po;

[0052] Step b: Use a high-precision level to align the center of the angle measuring device with the measuring point Po, and adjust the angle measuring device to a horizontal level, that is, to achieve centering and leveling; at this time, the GNSS receiver on the precision measurement platform is at position P, and the reverse direction of the plumb line of the measuring point Po is The direction is the zenith direction of the instrument fixed coordinate system on the precision measurement platform. The unit direction vector of the direction can be expressed in the instrument fixed coordinate system as

[0053]

[0054] The superscript * T Represents the transpose of a vector *;

[0055] Step c, see Figure 3 , install two sets of prisms and GNSS receivers on tripods respectively, and place them at positions Pa and Pb in the measurement area respectively. At this time, the two GNSS receivers are located at positions A and B in the measurement area respectively (points Po, A and B are not collinear);

[0056] Step d, see Figure 4 , use the angle measuring device on the measuring platform to observe the altitude and azimuth (θ) of positions A and B in the instrument fixed coordinate system A ,α A ) and (θ B ,α B ); At this time, the instrument is fixed to the coordinate system. and The unit direction vector can be expressed as and

[0057]

[0058] Step e: The three GNSS instruments simultaneously perform GNSS static observations at positions A, B, and P, and use GNSS data processing software to calculate the direction and Baseline vector in WGS84 space rectangular coordinate system and and The unit direction vector can be expressed as and

[0059] The baseline vector and It is expressed as:

[0060]

[0061] Among them, x A ,y A ,z A The baseline vectors are In the WGS84 space rectangular coordinate system, three components, x B ,y B ,z B The baseline vectors are Three components in the WGS84 rectangular coordinate system.

[0062] Then, the length of the baseline vector s is A and B They are

[0063]

[0064] Unit direction vector and It can be calculated by the following formula:

[0065]

[0066] Step f, using direction and Unit direction vectors in different coordinate systems, calculate the rotation matrix R from the instrument fixed coordinate system to the WGS84 space rectangular coordinate system;

[0067] The rotation matrix R satisfies:

[0068]

[0069] It is recommended to use the classic TRIAD (TRIaxial Attitude Determination) algorithm to calculate the rotation matrix R. For the sake of reference, the specific implementation process is described as follows:

[0070] use and Construct mutually orthogonal vectors and as follows:

[0071]

[0072] and

[0073]

[0074] Then there is

[0075]

[0076] Thus, we can get

[0077]

[0078] Where × represents matrix cross product, || represents the modulus of the vector, Representation vector Transpose

[0079] Step g, using the rotation matrix R obtained in step f, transform the unit direction vector of the zenith direction in the instrument fixed coordinate system in step b Convert to the unit direction vector in the WGS84 space rectangular coordinate system The opposite direction of the plumb line Unit direction vector in WGS84 space rectangular coordinate system, see Figure 5 ; can be expressed as follows,

[0080]

[0081] Step h, using the GNSS static observation data of point P obtained in step e, and using GNSS data processing software to calculate the geodetic longitude and latitude (L, B) of the measuring point Po;

[0082] At this time, under the reference ellipsoid (WGS84) of Po,

[0083] The normal direction of the ellipsoid The unit direction vector can be expressed as

[0084] Normal direction of meridian plane The unit direction vector can be expressed as

[0085] Normal direction of the y-plane The unit direction vector can be expressed as

[0086]

[0087] Step i, using the obtained in step g and step h The angle between the reverse direction of the plumb line and the normal of the reference ellipsoid, i.e., the astronomical geodetic vertical deviation u, and the two components of the astronomical geodetic vertical deviation (ξ,η) can be calculated.

[0088] The astronomical geodetic vertical deviation u is calculated as follows:

[0089]

[0090] The two components of the astronomical geodetic vertical deviation (ξ,η) are calculated as follows:

[0091]

[0092] Where ξ is the meridian component of the astronomical geodetic perpendicular deviation, and η is the meridian component of the astronomical geodetic perpendicular deviation.

[0093] The present invention provides another embodiment, further in step c, in the actual observation process, in addition to station A and station B, more observation stations can be set to improve the calculation accuracy and stability of the rotation matrix R. For example, by increasing the number of observation stations, the observation amount of the baseline vector is increased, and the accuracy and stability of solving the rotation matrix R are improved.

[0094] The present invention provides another embodiment, further in step c, the distance from the measuring station to the measuring point Po is not less than 500m, so as to improve the calculation accuracy and stability of the rotation matrix R.

[0095] In addition, in order to improve the accuracy of the final vertical deviation results, in the actual observation process, in addition to station A and station B, more observation stations can be set up to improve the calculation accuracy and stability of the rotation matrix R.

[0096] The accuracy that can be achieved by the method of the present invention is described below:

[0097] In the process of measuring the vertical deviation using the method of the present invention, the errors that exist include GNSS baseline error, GNSS positioning error, angle measurement error, and the error of the rotation matrix R between the instrument fixed coordinate system and the WGS coordinate system. The accuracy of GNSS positioning can reach the cm level, and the influence on the longitude and latitude of the earth and the vertical deviation can be ignored. Since the calculation of the rotation matrix in the present invention is mainly affected by the GNSS baseline error and the angle measurement error, the GNSS baseline error and the angle measurement are the main errors of the present invention.

[0098] Assume that each GNSS baseline is added with a random error with a mean of 0 and a standard deviation of 1 mm; the baseline distance is 500 m; the altitude angle measurement is added with a random error with a mean of 0 and a standard deviation of 0.1″, 0.2″, and 0.5″ respectively. Measure the vertical deviation according to the method described above. The average of every three observations is recorded as one observation result. The accuracy of the vertical deviation measurement is calculated.

[0099] The simulation repeats the above experiment 10,000 times, and the results are as follows Figure 6 The statistical results are shown in Table 1.

[0100] Table 1 Statistics of vertical line deviation measurement errors (unit / ″)

[0101]

[0102] pass Figure 6It can be found from Table 1 that under the conditions of a baseline length of 500m, a baseline error of 1mm, and angle measurement errors of 0.1″, 0.2″, and 0.5″ respectively, the errors of the vertical deviation meridian and the azimuth direction obtained by the present invention are 0.139″, 0.166″, 0.297″ and 0.167″, 0.202″, 0.358″ respectively. Therefore, the present invention can achieve high-precision vertical deviation measurement. In addition, the present invention also has the advantages of simple measurement method, free station setting, high precision, and basically not affected by weather.

[0103] In specific implementation, the method proposed in the technical solution of the present invention can be implemented by technical personnel in this field using computer software technology to realize automatic operation process. System devices for implementing the method, such as computer-readable storage media storing the corresponding computer program of the technical solution of the present invention and computer equipment running the corresponding computer program, should also be within the scope of protection of the present invention.

[0104] The electronic device for measuring the vertical line deviation throughout the day by combining GNSS and angle observation provided by the present invention is described below. The electronic device for measuring the vertical line deviation throughout the day by combining GNSS and angle observation described below and the method for measuring the vertical line deviation throughout the day by combining GNSS and angle observation described above can be referenced to each other.

[0105] The electronic device may include: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. The processor may call the logic instructions in the memory to execute the all-day vertical deviation measurement method combining GNSS and angle observation, which mainly includes the software processing part in the above steps.

[0106] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0107] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the software processing part of the all-day vertical deviation measurement method combining GNSS and angle observation provided by the above-mentioned methods.

[0108] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the software processing part of the all-day vertical deviation measurement method combining GNSS and angle observation provided by the above-mentioned methods.

[0109] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0110] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for measuring vertical deviation all day long combining GNSS and angle observation, characterized in that: Includes measuring platform, high-precision level, angle measuring device, prism, GNSS receiver and tripod; The measuring platform is installed on a tripod, a high-precision level is installed on the measuring platform, an angle measuring device is installed in the middle of the measuring platform, and a GNSS receiver is arranged above the angle measuring device; There are more than two prisms, which are respectively installed on a corresponding tripod, and a GNSS receiver is arranged above each prism.

2. A method for measuring vertical deviation of a whole day by combining GNSS and angle observation, using the device for measuring vertical deviation of a whole day by combining GNSS and angle observation as claimed in claim 1, characterized in that: The reverse direction of the plumb line is expressed as the direction vector in the instrument fixed coordinate system by a high-precision level; the elevation angle and azimuth angle of the two sets of prisms and the positions A and B of the GNSS receiver in the instrument fixed coordinate system are observed by the angle measuring device on the measuring platform; Obtain the baseline vector in the WGS84 space rectangular coordinate system through GNSS measurement; calculate the rotation matrix from the instrument fixed coordinate system to the WGS84 space rectangular coordinate system through the direction vector of the GNSS baseline in different coordinate systems; The reverse direction of the plumb line is transformed into the WGS84 spatial rectangular coordinate system through the rotation matrix; The vertical line deviation is calculated using the reverse conversion results of the geodetic coordinates solved by GNSS and the plumb line.

3. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 2 is characterized in that: The reverse direction of the plumb line is expressed as a direction vector in the instrument fixed coordinate system, including selecting a measuring point Po in the measuring area, installing the measuring platform at the measuring point Po; using a high-precision level to align the center of the angle measuring device with the measuring point Po, and adjusting the angle measuring device to be horizontal, the GNSS receiver on the measuring platform is located at position P, and the reverse direction of the plumb line at the measuring point Po is The direction is the zenith direction of the instrument fixed coordinate system on the measuring platform. The unit direction vector of the direction is expressed in the instrument fixed coordinate system as 4. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 3 is characterized in that: The calculation process of the rotation matrix of the instrument fixed coordinate system to the WGS84 space rectangular coordinate system is as follows: The angle measuring device on the measuring platform is used to observe the altitude and azimuth (θ) of positions A and B in the instrument fixed coordinate system. A ,α A ) and (θ B ,α B ), according to the observation results, the direction of the instrument fixed coordinate system is and The unit direction vector is expressed as and Three GNSS instruments simultaneously perform GNSS static observations at positions A, B, and P to calculate the direction and Baseline vector in WGS84 space rectangular coordinate system and and The unit direction vector is expressed as and Direction of use and Unit direction vectors in different coordinate systems, calculate the rotation matrix R from the instrument fixed coordinate system to the WGS84 space rectangular coordinate system; The rotation matrix R satisfies:

5. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 4 is characterized in that: The rotation matrix R is calculated using the TRIAD algorithm.

6. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 4 is characterized in that: The reverse direction of the plumb line is converted to the WGS84 spatial rectangular coordinate system through the rotation matrix, and the implementation method is as follows: Using the rotation matrix R, the unit direction vector of the zenith direction in the instrument fixed coordinate system is Convert to the unit direction vector in the WGS84 space rectangular coordinate system 7. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 6 is characterized in that: The vertical line deviation is calculated by using the reverse conversion results of the geodetic coordinates and the plumb line solved by GNSS. The implementation method is as follows: Using the GNSS static observation data of point P, the geodetic longitude and latitude (L, B) of the measuring point Po is solved. According to the solution result, the normal direction of the ellipsoid surface under the reference ellipsoid of Po at this time is The unit direction vector is expressed as Normal direction of meridian plane The unit direction vector is expressed as Normal direction of the y-plane The unit direction vector is expressed as use and The angle between the reverse direction of the plumb line and the normal of the reference ellipsoid is calculated to obtain the astronomical geodetic vertical deviation u and the two components of the astronomical geodetic vertical deviation (ξ,η).

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the all-day vertical deviation measurement method combining GNSS and angle observation is implemented as described in any one of claims 2 to 7.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for measuring vertical deviation in a daytime by combining GNSS and angle observation is implemented as claimed in any one of claims 2 to 7.

10. A computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, the method for measuring vertical deviation in a daytime by combining GNSS and angle observation is implemented as claimed in any one of claims 2 to 7.

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