All-day vertical deviation measurement device and method combining GNSS and angle observation

Abstract

The present invention provides a device and method for measuring vertical deviation around the clock using a combination of GNSS and angle observation. The device comprises a measuring platform, a high-precision level, an angle measuring device, a prism, a GNSS receiver, and a tripod. The measuring platform is mounted on a tripod, the high-precision level is mounted on the measuring platform, the angle measuring device is mounted in the center of the measuring platform, and a GNSS receiver is positioned above the angle measuring device. There are two or more prisms, each mounted on a corresponding tripod, with a GNSS receiver positioned above each prism. This device can acquire relevant data during high-precision, around-the-clock vertical deviation measurement, offering advantages such as a simple measurement method, high accuracy, and virtually no weather influences.

Description

Technical Field

[0001] The present 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] Plumb deviation is the angle between the opposite direction of gravity at a point on the ground or in space and the normal to the reference ellipsoid at that point. Since the normal to the reference ellipsoid can be determined analytically, plumb deviation essentially expresses the direction of gravity (the plumb line). Plumb deviation is a key characteristic of the Earth's gravity field, a vector field. It primarily reflects high-frequency information about the field and is a fundamental physical quantity in fundamental disciplines such as geodesy and geophysics. It has significant application value and research significance in fields such as geodesy and geophysical inversion.

[0003] In traditional geodetic surveying, observation tasks such as side measurement, angle measurement, and height difference measurement all require the use of a plumb line to determine the instrument's leveling. The primary function of plumb line deviation is to convert the natural coordinate system to the ellipsoidal coordinate system. Compared to gravity observations, which are scalar quantities, since the plumb line's direction is the normal to the geoid, plumb line deviation can also be defined as the inclination of the geoid relative to the reference ellipsoid. The geoid is the starting surface for the national elevation datum, which serves as the foundation for all engineering projects. With the modernization of the national elevation datum, the importance of plumb line deviation has become increasingly prominent. More importantly, in the realm of national security, plumb line deviation is a crucial geodetic measurement guarantee for the active-phase 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, has high difficulty, low efficiency, high cost and other problems, which seriously limit 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 scheme combining GNSS with hydrostatic leveling; some researchers have proposed a vertical deviation measurement scheme combining inertial navigation technology and GNSS technology; some researchers have proposed a vertical deviation measurement scheme based on gravity gradient technology; and some researchers have proposed a scheme based on the 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 using 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 solution for measuring the vertical deviation that integrates GNSS and CCD. It requires observing stars to obtain astronomical coordinates. Due to the influence of weather, it is difficult to achieve full-day vertical deviation measurement. CN108317993A provides a device and method for measuring the vertical deviation that integrates GNSS and laser tracker. The device is complex and requires a matching laser tracking device. The GNSS baseline is fixed on the equipment. With the current technical accuracy, it is difficult to achieve high-precision (better than 1") rotation to the ground fixed system. And it is necessary to measure the gravity direction vector through a laser tracking device to calculate the vertical deviation. CN107677242A provides a device and method for measuring the vertical deviation. It 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, this field urgently needs to propose a vertical deviation measurement device and measurement solution 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 deviation throughout the day by combining GNSS and angle observation, so as to obtain vertical deviation with high precision throughout the day.

[0011] To achieve the above objectives, the technical solution of the present invention provides an all-day vertical deviation measurement device that combines GNSS and angle observation, including a measuring 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 set above the angle measuring device;

[0013] There are more than two prisms, each mounted on a corresponding tripod, and a GNSS receiver is provided above each prism.

[0014] On the other hand, the present invention also provides a method for measuring the deviation of a plumb line throughout the day by combining GNSS and angle observation. The method adopts the above-mentioned device for measuring the deviation of a plumb line throughout the day by combining GNSS and angle observation, and uses a high-precision level to express 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 angles and azimuth angles of positions A and B of two sets of prisms and 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 using the direction vectors of the GNSS baseline in different coordinate systems; converts the reverse direction of the plumb line to the WGS84 spatial rectangular coordinate system by using the rotation matrix; and calculates the plumb line deviation by using the reverse conversion results of the geodetic coordinates solved by GNSS and 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 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

[0016] Furthermore, 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) of positions A and B in the instrument fixed coordinate system are observed by the angle measuring device on the measuring platform. 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] Utilization direction and Unit direction vectors in different coordinate systems are used to 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] Furthermore, the rotation matrix R is calculated using the TRIAD algorithm.

[0022] Furthermore, the reverse direction of the plumb line is converted to the WGS84 space rectangular coordinate system by the rotation matrix, which is implemented 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 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 the meridian plane The unit direction vector is expressed as Normal direction of the Maoyou 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 perpendicular deviation u and the two components of the astronomical geodetic perpendicular 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 on the memory and executable on the processor. 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 further 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 that combines GNSS and angle observation, enabling the acquisition of relevant data during high-precision, all-day vertical deviation measurement. Furthermore, the present invention also provides a method for all-day vertical deviation measurement that combines GNSS and angle observation. This method offers advantages such as simple measurement, high accuracy, and virtually no weather influence.

[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, requiring only GNSS and an angle measurement device. The GNSS baseline length can be freely set, enabling high-precision rotation of the local coordinate system to the Earth-fixed system. To ensure both coordinate system rotation accuracy and measurement convenience, a long baseline with adjustable length is used. A minimum of three GNSS receivers is 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 and has strong practicality. It 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 Schematic diagram of the vertical deviation measurement process combining GNSS and angle observation in an embodiment of the present invention.

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

[0039] Figure 4 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 6This is an error diagram of measuring the meridian and azimuth components of the vertical deviation using the method of an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will further illustrate the concept, specific structure and technical effects of the present invention 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 measurement device (for observing altitude and azimuth), a prism, a GNSS receiver, and a tripod;

[0044] Among them, the measuring platform is installed on a tripod;

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

[0046] The angle measuring device is installed in the center 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 fewer than two prisms, each mounted on a separate tripod;

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

[0049] Based on the above device, the present invention proposes a corresponding measurement implementation method: 1) using a high-precision level to set the reverse direction of the plumb line to the (0, 0, 1) direction in the instrument-fixed coordinate system; 2) by obtaining the orientation of the GNSS baseline in different coordinate systems (instrument-fixed coordinate system and WGS84 spatial rectangular coordinate system), the rotation matrix from the instrument-fixed coordinate system to the WGS84 spatial rectangular coordinate system is calculated; 3) the reverse direction of the plumb line is converted to the WGS84 spatial rectangular coordinate system through the rotation matrix; 4) the vertical line deviation is calculated 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. The specific implementation process includes the following steps:

[0051] Step a: Select a measuring point Po in the measuring area and install 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 direction opposite to 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 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 (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 angles (θ A ,α A ) and (θ B ,α B ); At this time, the direction of the instrument fixed 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 Expressed as:

[0060]

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

[0062] Then, the length s of the baseline vector is A and s 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 are used to 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 provided 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, Represents a 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 to Convert to the unit direction vector in the WGS84 space rectangular coordinate system That is, the opposite direction of the plumb line Unit direction vector in the 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] Normal direction of the ellipsoid The unit direction vector can be expressed as

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

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

[0086]

[0087] Step i, using the 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 perpendicular deviation u, and the two components of the astronomical geodetic perpendicular deviation (ξ,η) can be calculated.

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

[0089]

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

[0091]

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

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

[0094] The present invention provides another embodiment, further in step c, the distance between the measuring station and 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] When measuring vertical deviation using the method of the present invention, errors include GNSS baseline error, GNSS positioning error, angle measurement error, and error in the rotation matrix R between the instrument's fixed coordinate system and the WGS coordinate system. GNSS positioning can achieve centimeter-level accuracy, and its impact on geodetic longitude and latitude and vertical deviation is negligible. Since the calculation of the rotation matrix in the present invention is primarily affected by GNSS baseline error and angle measurement error, GNSS baseline error and angle measurement error are the primary errors in the present invention.

[0098] Assume that each GNSS baseline is subject to a random error with a mean of 0 and a standard deviation of 1 mm. The baseline distance is 500 m. For each elevation angle measurement, a random error with a mean of 0 and a standard deviation of 0.1", 0.2", and 0.5" is added. The vertical deviation is measured using the method described above. The average of three observations is recorded as one observation. 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 deviation measurement errors (unit / ″)

[0101]

[0102] pass Figure 6As shown in Table 1, 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 in the meridian and meridian directions obtained by the present invention are 0.139", 0.166", and 0.297", and 0.167", 0.202", and 0.358", respectively. Therefore, the present invention can achieve high-precision vertical deviation measurement. In addition, the present invention has the advantages of simple measurement method, free station setting, high precision, and being basically unaffected by weather.

[0103] In specific implementation, the method proposed in the technical solution of the present invention can be automatically run by those skilled in the art using computer software technology. System devices that implement the method, such as computer-readable storage media that store the corresponding computer program of the technical solution of the present invention and computer equipment that runs the corresponding computer program, should also be within the scope of protection of the present invention.

[0104] The electronic device for measuring the vertical deviation of the entire day by combining GNSS and angle observation provided by the present invention is described below. The electronic device for measuring the vertical deviation of the entire day by combining GNSS and angle observation described below and the method for measuring the vertical deviation of the entire day by combining GNSS and angle observation described above can be referred to in correspondence with each other.

[0105] The electronic device may include a processor, a communications interface, memory, and a communications bus. The processor, communications interface, and memory communicate with each other via the communications bus. The processor may invoke logic instructions in the memory to execute a method for measuring vertical deviation using combined GNSS and angle observations, primarily including the software processing described in the aforementioned steps.

[0106] In addition, the logical instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute 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, which 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 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 of combined GNSS and angle observation provided by the above-mentioned methods.

[0109] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0110] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain 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 various embodiments of the present invention.

Claims

1. A method for measuring vertical deviation all day long using a combination of GNSS and angle observation, characterized by: The setup includes a measuring platform, a high-precision level, an angle measuring device, a prism, a GNSS receiver, and a tripod; The measuring platform is mounted on a tripod, a high-precision level is mounted on the measuring platform, an angle measuring device is mounted in the center of the measuring platform, and a GNSS receiver is arranged above the angle measuring device; There are more than two prisms, each mounted on a corresponding tripod, and a GNSS receiver is provided above each prism; Use a high-precision level to indicate the reverse direction of the plumb line as the direction vector in the instrument-fixed coordinate system. Use the angle measuring device on the measurement platform to observe the elevation and azimuth angles of the two prisms and the GNSS receiver at locations A and B in the instrument-fixed coordinate system. Obtain the baseline vector in the WGS84 rectangular coordinate system through GNSS measurement; calculate the rotation matrix from the instrument's fixed coordinate system to the WGS84 rectangular coordinate system using the direction vectors of the GNSS baseline in different coordinate systems; The reverse direction of the plumb line is transformed into the WGS84 rectangular coordinate system through the rotation matrix; The vertical deviation is calculated using the reverse conversion results of the geodetic coordinates solved by GNSS and the plumb line.

2. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 1 is characterized by: 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, aligning the center of the angle measuring device with the measuring point Po using a high-precision level, and adjusting the angle measuring device to be horizontal, and the GNSS receiver on the measuring platform is located at position P. 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 3. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 2 is characterized by: The calculation process of the rotation matrix of the instrument fixed coordinate system to the WGS84 space rectangular coordinate system is as follows: Use the angle measuring device on the measuring platform to observe the altitude and azimuth angles (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 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 Utilization direction and Unit direction vectors in different coordinate systems are used to calculate the rotation matrix R from the instrument fixed coordinate system to the WGS84 space rectangular coordinate system; The rotation matrix R satisfies:

4. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 3 is characterized by: The rotation matrix R is calculated using the TRIAD algorithm.

5. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 3 is characterized by: The reverse direction of the plumb line is converted to the WGS84 space 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 6. The all-day vertical deviation measurement method combining GNSS and angle observation according to claim 5, characterized in that: The vertical deviation is calculated using the reverse conversion results of the geodetic coordinates and 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 the meridian plane The unit direction vector is expressed as Normal direction of the Maoyou 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 perpendicular deviation u and the two components of the astronomical geodetic perpendicular deviation (ξ,η).

7. 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 1 to 6.

8. 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 1 to 6.

9. 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 1 to 6.

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