Calibration device and calibration method of satellite positioning displacement measurement system

Abstract

The invention discloses a calibration device and method for a satellite positioning displacement measurement system, and the device comprises a first leveling mechanism and a second leveling mechanism, and the first leveling mechanism is provided with a first linear motion mechanism and a second linear motion mechanism. A first receiver and a first laser tracker target ball are arranged on the first linear motion mechanism, a second laser tracker target ball is arranged on the second linear motion mechanism, and a laser tracker matched with the first laser tracker target ball or the second laser tracker target ball is arranged on the second leveling mechanism. Compared with the prior art, when the indicating value of the receiver in the horizontal direction is calibrated, the measured value of the receiver in the horizontal direction is calculated through the formula # imgabs0 #, and then the measured value is calibrated. According to the calibration mode, the workload is reduced by half in the horizontal direction, and the detection efficiency is improved. And secondly, the device is simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite positioning receiver calibration, and in particular to a calibration device and a calibration method for a satellite positioning displacement measurement system. Background Art

[0002] At present, users have put forward higher and higher requirements for the accuracy of metrological characteristics and value traceability of satellite navigation remote displacement measurement systems, so the development of calibration devices for such displacement measurement systems is very critical. The patent application with publication number CN118129676A discloses a calibration device and calibration method for a satellite navigation remote displacement measurement system, including a rotating platform, a plurality of height adjustment mechanisms are provided at the lower end of the rotating platform, a mounting platform is rotatably provided at the upper end of the rotating platform, an X-axis moving mechanism, a Z-axis moving mechanism and a receiver are provided above the mounting platform, the receiver moves along the X-axis direction and the Z-axis direction respectively through the X-axis moving mechanism and the Z-axis moving mechanism, the X-axis moving mechanism and the Z-axis moving mechanism are both provided with displacement sensors, and a level and a compass are fixed on the mounting platform; the receiver moves along the Y-axis direction under the cooperation of the rotating platform and the X-axis moving mechanism. When calibrating the horizontal indication of the receiver, the indication of the receiver in the X-axis direction and the Y-axis direction are calibrated respectively by adjusting the movement direction of the X-axis moving mechanism through the rotating platform. In this calibration method, there may be an angle error when adjusting the movement direction of the X-axis moving mechanism, which affects the calibration accuracy. Summary of the invention

[0003] The invention provides a calibration device and a calibration method for a satellite positioning displacement measurement system, which are used to solve the problem that the calibration accuracy is affected by the rotation angle error when the receiver is calibrating the indication in the horizontal direction.

[0004] The present invention provides a calibration device for a satellite positioning displacement measurement system, comprising a first leveling mechanism and a second leveling mechanism, wherein the first leveling mechanism is provided with a first linear motion mechanism and a second linear motion mechanism, the first linear motion mechanism is provided with a first receiver and a first laser tracker target ball, the second linear motion mechanism is provided with a second laser tracker target ball, the first linear motion mechanism is used to drive the first laser tracker target ball to move up and down, the second linear motion mechanism is used to drive the second laser tracker target ball to move horizontally, and the second leveling mechanism is provided with a laser tracker that cooperates with the first laser tracker target ball or the second laser tracker target ball.

[0005] Preferably, the first linear motion mechanism is a screw slider linear motion module, and two vertically arranged levels are provided at the upper end of the guide rail of the first linear motion mechanism.

[0006] Preferably, a first support plate is fixed on the slider of the first linear motion mechanism, the first receiver is mounted on the first support plate, the first laser tracker target ball is fixed on the first support plate through a first support plate, and both the first support plate and the first support plate are L-shaped plates.

[0007] Preferably, the second linear motion mechanism is a screw slider linear motion module, and a plurality of levels are provided at the upper end of the guide rail of the second linear motion mechanism.

[0008] Preferably, a second support plate is fixed on the slider of the second linear motion mechanism, and the target ball of the second laser tracker is fixed on the second support plate through a second support plate, and the second support plate is an L-shaped plate.

[0009] Preferably, a level is installed on both the first support plate and the second support plate.

[0010] Preferably, the first leveling mechanism comprises a mounting plate, and a plurality of height-adjusting legs are provided at the lower end of the mounting plate.

[0011] Preferably, the structure of the second leveling mechanism is the same as that of the first leveling mechanism.

[0012] The present invention also provides a calibration method for a calibration device including the above satellite positioning displacement measurement system, comprising the following steps:

[0013] Calibrate the vertical and horizontal indications of displacement measuring systems

[0014] Among them, the indication calibration of the displacement measurement system in the elevation direction includes the following steps:

[0015] S1: By observing the level meter on the first linear motion mechanism and the level meter on the first support plate, the height adjustment legs below the mounting plate are adjusted so that the guide rail of the first linear motion mechanism is perpendicular to the horizontal plane;

[0016] S2: adjusting the light outlet of the laser tracker and the receiving angle of the first laser tracker target ball so that the first laser tracker target ball can receive the measuring laser beam of the laser tracker when moving up and down;

[0017] S3: driving the first receiver to move to the measuring point V0 through the first linear motion mechanism. At the measuring point V0, the indication value of the first receiver in the Z direction is h0, and the reading of the laser tracker in the vertical direction is reset to zero;

[0018] S4: The first receiver is driven to move to the measuring point V1 by the first linear motion mechanism. At the measuring point V1, the indication value of the first receiver in the Z direction is h1, and the moving distance reading of the laser tracker in the vertical direction is z1; the indication error of the first receiver at the measuring point V1 is: (h1-h0-z1);

[0019] S5: The first linear motion mechanism drives the first receiver to move to complete the calibration of the remaining 8 measuring points. i In the example, the first receiver indicates h in the Z direction. i , the vertical movement distance reading of the laser tracker is z i ; The first receiver is at the measuring point V i The indication error is: (h i -h0-z i ), where 2≤i≤10;

[0020] S6: The calibration of the first receiver in the elevation direction is completed;

[0021] S7: repeat steps S3-S6 to complete the calibration of the indication errors of other receivers of the displacement measurement system at each measuring point in the elevation direction;

[0022] The horizontal indication calibration of the displacement measurement system includes the following steps:

[0023] S1: By observing the level meter on the second linear motion mechanism and the level meter on the second support plate, the height adjustment legs below the mounting plate are adjusted so that the guide rail of the second linear motion mechanism is parallel to the horizontal plane;

[0024] S2: Adjust the light outlet of the laser tracker and the receiving angle of the target ball of the second laser tracker so that the target ball of the second laser tracker can receive the measuring laser beam of the laser tracker when it moves horizontally;

[0025] S3: driving the first receiver to move to the measuring point V0 through the second linear motion mechanism. At the measuring point V0, the measurement value of the first receiver is a0, and the horizontal reading of the laser tracker is reset to zero; x0 and y0 are the indications of the first receiver in the X direction and the Y direction at the measuring point V0 respectively;

[0026] S4: The first receiver is driven to move to the measuring point V1 by the second linear motion mechanism. At the measuring point V1, the measurement value of the first receiver is a1, and the horizontal movement distance reading of the laser tracker is b1; the indication error of the first receiver at the measuring point V1 is: (a1-a0-b1); x1 and y1 are the indications of the first receiver in the X direction and the Y direction at the measuring point V1 respectively;

[0027] S5: The second linear motion mechanism drives the first receiver to move and complete the calibration of the remaining 8 measuring points. i The measurement value of the first receiver is a i , the horizontal movement distance reading of the laser tracker is b i ; The first receiver is at the measuring point V i The indication error is: (a i -a0-b i ), where 2≤i≤10, x i and i The first receiver is at the measurement point V i The indication in the X direction and the indication in the Y direction;

[0028] S6: The calibration of the first receiver in the horizontal direction is completed;

[0029] S7: Repeat steps S3-S6 to complete the calibration of the indication errors of other receivers of the displacement measurement system at each measuring point in the horizontal direction.

[0030] Preferably, in the elevation direction calibration and the horizontal direction calibration of the displacement measurement system, the distance between two adjacent measurement points is 100 mm.

[0031] Compared with the prior art, the present invention uses the formula when calibrating the horizontal indication of the receiver: Calculate the measurement value of the receiver in the horizontal direction, and then calibrate the measurement value. This calibration method only needs to be calibrated once, and there is no need to calibrate the indication in the X-axis direction and the indication in the Y-axis direction respectively, which is equivalent to reducing the workload in the horizontal direction by half and improving the detection efficiency. Secondly, there is no need to set up a rotating platform for the second linear motion mechanism or add a third linear motion mechanism, which simplifies the device and further reduces the volume of the calibration device, making it convenient to carry and use outdoors, while reducing the production cost. Thirdly, it can also avoid the angle error caused by changing the direction of the second linear motion mechanism (the second linear motion mechanism rotates 90° after calibrating the indication in the X-axis direction of the receiver and then calibrates the indication in the Y-axis direction. There may be an angle error when rotating the second linear motion mechanism), which is conducive to ensuring the calibration accuracy of the receiver. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a structural schematic diagram of the first leveling mechanism of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the second leveling mechanism of the present invention;

[0035] Figure 3 for Figure 1 A magnified schematic diagram of the structure at center A;

[0036] Figure 4 It is a physical diagram of part of the structure of the present invention.

[0037] Reference numerals:

[0038] 1. First leveling mechanism, 2. Second leveling mechanism, 3. First linear motion mechanism, 4. Second linear motion mechanism, 5. First receiver, 6. First laser tracker target ball, 7. Second laser tracker target ball, 8. Laser tracker, 9. Leveler, 10. First support plate, 11. First support plate, 12. Second support plate, 13. Second support plate, 14. Connecting rod, 15. Second receiver, 011. Mounting plate, 012. Height adjustment leg, 100. Guide rail, 200. Slider, 300. Motor. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Refer to the attached Figure 1 and attached Figure 2 The present embodiment provides a calibration device for a satellite positioning displacement measurement system, comprising a first leveling mechanism 1 and a second leveling mechanism 2. The first leveling mechanism 1 is provided with a first linear motion mechanism 3 and a second linear motion mechanism 4. The first linear motion mechanism 3 is provided with a first receiver 5 and a first laser tracker target ball 6. The second linear motion mechanism 4 is provided with a second laser tracker target ball 7. The first linear motion mechanism 3 is used to drive the first laser tracker target ball 6 to move up and down. The second linear motion mechanism 4 is used to drive the second laser tracker target ball 7 to move horizontally. The second leveling mechanism 2 is provided with a laser tracker 8 that cooperates with the first laser tracker target ball 6 or the second laser tracker target ball 7.

[0041] An implementation of the first linear motion mechanism 3: The first linear motion mechanism 3 is a screw slider linear motion module, and two vertically arranged level gauges 9 are provided at the upper end of the guide rail 100 of the first linear motion mechanism 3. Specifically, the screw slider linear motion module includes: a guide rail 100, a screw, a slider 200 and a motor 300, the slider 200 is slidably connected to the guide rail 100, the slider 200 is threadedly connected to the screw, and the motor 300 drives the screw to rotate so as to drive the slider 200 to slide along the guide rail 100.

[0042] As another embodiment of the present invention: Figure 3 The first support plate 10 is fixed on the slider 200 of the first linear motion mechanism 3, the first receiver 5 is installed on the first support plate 10, and the first laser tracker target ball 6 is fixed on the first support plate 10 through the first support plate 11. The first support plate 10 and the first support plate 11 are both L-shaped plates. Specifically, the first receiver 5 is fixed on the first support plate 10 through a connecting rod 14.

[0043] An implementation manner of the second linear motion mechanism 4 : the second linear motion mechanism 4 is a screw slider linear motion module, and a plurality of levels 9 are provided at the upper end of the guide rail 100 of the second linear motion mechanism 4 .

[0044] As another embodiment of the present invention: a second support plate 12 is fixed on the slider 200 of the second linear motion mechanism 4, and a second laser tracker target ball 7 is fixed on the second support plate 12 through a second support plate 13, and the second support plate 13 is an L-shaped plate. The first receiver 5 can be installed on the second support plate 12, and the first receiver 5 performs the indication calibration of the elevation direction and the horizontal direction; the second receiver 15 can also be installed, and the first receiver 5 and the second receiver 15 perform the indication calibration of the elevation direction and the horizontal direction respectively.

[0045] As another embodiment of the present invention: a level 9 is installed on both the first support plate 10 and the second support plate 12 .

[0046] An implementation manner of the first leveling mechanism 1: the first leveling mechanism 1 comprises a mounting plate 011, and a plurality of height-adjusting legs 012 are disposed at the lower end of the mounting plate 011. Specifically, the plurality of height-adjusting legs 012 are tripods.

[0047] As another embodiment of the present invention, the structure of the second leveling mechanism 2 is the same as that of the first leveling mechanism 1 .

[0048] The installation process of a calibration device for a satellite positioning displacement measurement system is as follows:

[0049] (1) Adjust the height of the legs 012 to make the upper surface of the mounting plate 011 horizontal:

[0050] (2) The first linear motion mechanism 3 is mounted on the mounting plate 011 , and the axis of the first linear motion mechanism 3 is perpendicular to the upper surface of the mounting plate 011 .

[0051] (3) Two levels 9 are vertically installed on the upper end of the first linear motion mechanism 3.

[0052] (4) The first receiver 5 is fixed on the first support plate 10 through the connecting rod 14, and the first support plate 10 is installed on the slider 200 of the first linear motion mechanism 3.

[0053] (5) Install the second linear motion mechanism 4 on the mounting plate 011 , with the axis of the second linear motion mechanism 4 being parallel to the upper surface of the mounting plate 011 .

[0054] (6) At the upper end of the first linear motion mechanism 3 , three levels 9 are installed along the length direction of the first linear motion mechanism 3 .

[0055] (7) The first receiver 5 or the second receiver 15 is fixed on the second support plate 12 through the connecting rod 14, and the second support plate 12 is installed on the slider 200 of the second linear motion mechanism 4.

[0056] (8) The first laser tracker target ball 6 is mounted on the first support plate 10 through the first support plate 11. When the first receiver 5 moves up and down following the slider 200, the first laser tracker target ball 6 can receive the measurement laser beam of the laser tracker 8 without any obstruction throughout the entire process.

[0057] (9) The second laser tracker target ball 7 is mounted on the second support plate 12 through the second support plate 13. When the first receiver 5 or the second receiver 15 moves horizontally following the slider 200, the second laser tracker target ball 7 can receive the measurement laser beam of the laser tracker 8 without any obstruction throughout the entire process.

[0058] The present invention also provides a calibration method for a calibration device including the above satellite positioning displacement measurement system, comprising the following steps:

[0059] The first receiver 5 in the satellite positioning displacement measurement system is placed in an open space outdoors, and the first receiver 5 is started to preheat;

[0060] Calibrate the indication of the displacement measurement system in the elevation direction and calibrate the indication of the displacement measurement system in the horizontal direction; wherein the indication calibration of the displacement measurement system in the elevation direction includes the following steps:

[0061] S1: By observing the level meter 9 on the first linear motion mechanism 3 and the level meter 9 on the first support plate 10, the height adjustment leg 012 below the mounting plate 011 is adjusted to make the guide rail 100 of the first linear motion mechanism 3 perpendicular to the horizontal plane;

[0062] S2: start the laser tracker 8 to preheat, adjust the light outlet of the laser tracker 8 and the receiving angle of the first laser tracker target ball 6, so that the first laser tracker target ball 6 can receive the measuring laser beam of the laser tracker 8 when moving up and down;

[0063] S3: The first linear motion mechanism 3 drives the first receiver 5 to move to the measuring point V0. At the measuring point V0, the first receiver 5 is located at the lower end of the guide rail 100, closest to the mounting plate 011. The indication value of the first receiver 5 in the Z-axis direction is h0mm, and the vertical reading of the laser tracker 8 is reset to zero.

[0064] S4: The first receiver 5 is driven to move upward to the measuring point V1 by the first linear motion mechanism 3. At the measuring point V1, the indication value of the first receiver 5 in the Z-axis direction is h1mm, and the vertical movement distance reading of the laser tracker 8 is z1mm; the indication error of the first receiver 5 at the measuring point V1 is: (h1-h0-z1)mm;

[0065] S5: The first linear motion mechanism 3 drives the first receiver 5 to move upward to complete the calibration of the remaining 8 measuring points. i In the example, the indication value of the first receiver 5 in the Z-axis direction is h i mm, the vertical movement distance of the laser tracker 8 is z i mm; the first receiver 5 is at the measuring point V i The indication error is: (h i -h0-z i )mm; where 2≤i≤10;

[0066] S6: The calibration of the first receiver 5 in the elevation direction is completed;

[0067] S7: repeat steps S3-S6 to complete the calibration of the indication errors of other receivers of the displacement measurement system at each measuring point in the elevation direction;

[0068] The horizontal indication calibration of the displacement measurement system includes the following steps:

[0069] The first receiver 5 is mounted on the second support plate 12 via a connecting rod 14;

[0070] S1: By observing the level meter 9 on the second linear motion mechanism 4 and the level meter 9 on the second support plate 12, the height adjustment leg 012 below the mounting plate 011 is adjusted to make the guide rail 100 of the second linear motion mechanism 4 parallel to the horizontal plane;

[0071] S2: adjusting the light outlet of the laser tracker 8 and the receiving angle of the second laser tracker target ball 7 so that the second laser tracker target ball 7 can receive the measuring laser beam of the laser tracker 8 when moving horizontally;

[0072] S3: The first receiver 5 is driven to move to the measuring point V0 by the second linear motion mechanism 4. At the measuring point V0, the first receiver 5 is closest to the motor 300 of the second linear motion mechanism 4. The measurement value of the first receiver 5 is a0mm, and the horizontal reading of the laser tracker 8 is reset to zero. and are respectively the indication of the first receiver 5 in the X-axis direction and the Y-axis direction at the measuring point V0;

[0073] S4: The first receiver 5 is driven to move horizontally to the measuring point V1 by the second linear motion mechanism 4. At the measuring point V1, the measurement value of the first receiver 5 is a1mm, and the horizontal movement distance reading of the laser tracker 8 is b1mm; the indication error of the first receiver 5 at the measuring point V1 is: (a1-a0-b1)mm; and are respectively the indication of the first receiver 5 in the X-axis direction and the Y-axis direction at the measuring point V1;

[0074] S5: The second linear motion mechanism 4 drives the first receiver 5 to move horizontally to complete the calibration of the remaining 8 measuring points. i The measurement value of the first receiver 5 is a i mm, the horizontal moving distance of the laser tracker 8 is b i mm; the indication error of the first receiver 5 at the measuring point V2 is: (a i -a0-b i )mm; where 2≤i≤10, and are respectively the first receiver 5 at the measuring point V i The indication on the X-axis direction and the indication on the Y-axis direction;

[0075] S6: the calibration of the first receiver 5 in the horizontal direction is completed;

[0076] S7: Repeat steps S3-S6 to complete the calibration of the indication errors of other receivers of the displacement measurement system at each measuring point in the horizontal direction.

[0077] In the indication calibration of the elevation direction and the indication calibration of the horizontal direction of the displacement measurement system, the distance between two adjacent measurement points is 100 mm. That is, the first receiver 5 is calibrated at 100 mm, 200 mm, 300 mm, 400 mm, 500 mm, 600 mm, 700 mm, 800 mm, 900 mm and 1000 mm in the vertical direction, and the first receiver 5 is calibrated at 100 mm, 200 mm, 300 mm, 400 mm, 500 mm, 600 mm, 700 mm, 800 mm, 900 mm and 1000 mm in the horizontal direction.

[0078] The calibration device of the present invention adopts a laser tracker as the main standard, which effectively ensures the calibration accuracy and measurement range. The linear motion module of the lead screw slider is used to drive the movement of the receiver, which ensures the economy of the calibration device and the calibration method while also having good range scalability. The designed calibration method effectively reproduces the actual use status of the satellite positioning displacement measurement system, further improves the calibration accuracy, and makes the maximum allowable error of the calibration device in the horizontal direction and the elevation direction better than ±0.1mm.

[0079] The present invention realizes a modular design of the calibration device and reduces the difficulty of assembly. The design of the component structure fully considers the interchangeability, reduces the difficulty of processing the parts and effectively reduces the processing cost. The calibration device of the present invention has good installation scalability and can cover the vast majority of satellite positioning displacement measurement systems on the market. The final calibration experiment results show that the calibration device and calibration method of the present invention can meet the requirements of relevant standards and technical documents, so that the calibration device and calibration method of the present invention have good applicability and scalability.

[0080] Specific:

[0081] (1) The calibration device of the present invention has good metrological characteristics, applicability to customer site environments, and economy of manufacturing and assembly. The measurement range of the calibration device in the horizontal direction reaches (0-1000) mm, and in the elevation direction reaches (0-1000) mm.

[0082] (2) The main standard of the calibration device and calibration method of the present invention will adopt a laser tracker, and its measurement range is: (0-80)m, MPE: ±(15+6L)μm, L: unit m. Therefore, theoretically, the maximum allowable error of the calibration device can be better than ±0.1mm, and the measurement range of the calibration device designed by the present invention has good scalability.

[0083] (3) The present invention adopts a modular design, so that the calibration device is divided into a main standard module and a receiver drive module of the displacement measurement system, thereby further enhancing the applicability of the calibration device to the customer's on-site environment.

[0084] (4) The calibration device of the present invention can be used under complex and severe weather conditions (rain and snow) at the customer site, further improving the applicability of the calibration device;

[0085] (5) Based on the actual use status of the reproducing displacement measurement system, the present invention designs a calibration method that matches the calibration device, which effectively ensures the calibration accuracy;

[0086] (6) The calibration device and designed calibration method of the present invention effectively reproduce the actual use status of the displacement measurement system when implementing calibration, greatly improving the calibration accuracy.

[0087] (7) After calibration test verification, it was found that the calibration device of the present invention is capable of calibrating tiny values ​​of the satellite positioning displacement measurement system. The metrological characteristics of the calibration device in the horizontal and elevation directions are as follows: measurement range: (0-1000) mm, MPE: ±0.09 mm.

[0088] (8) The calibration device and calibration method of the present invention are simple to operate and have good controllability, which improves the work efficiency of the position displacement measurement system calibration. Since the calibration device and calibration method of the present invention can implement remote calibration, the risk of work-related injuries of the inspector is effectively reduced.

[0089] 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 calibration device for a satellite positioning displacement measurement system, characterized in that: The invention comprises a first leveling mechanism and a second leveling mechanism, wherein the first leveling mechanism is provided with a first linear motion mechanism and a second linear motion mechanism, the first linear motion mechanism is provided with a first receiver and a first laser tracker target ball, the second linear motion mechanism is provided with a second laser tracker target ball, the first linear motion mechanism is used to drive the first laser tracker target ball to move up and down, the second linear motion mechanism is used to drive the second laser tracker target ball to move horizontally, and the second leveling mechanism is provided with a laser tracker that cooperates with the first laser tracker target ball or the second laser tracker target ball.

2. The calibration device for a satellite positioning displacement measurement system according to claim 1, characterized in that: The first linear motion mechanism is a lead screw slider linear motion module, and two vertically arranged levels are provided at the upper end of the guide rail of the first linear motion mechanism.

3. The calibration device for a satellite positioning displacement measurement system according to claim 2, characterized in that: A first support plate is fixed on the slider of the first linear motion mechanism, the first receiver is mounted on the first support plate, the first laser tracker target ball is fixed on the first support plate through a first support plate, and both the first support plate and the first support plate are L-shaped plates.

4. The calibration device for a satellite positioning displacement measurement system according to claim 3, characterized in that: The second linear motion mechanism is a screw slider linear motion module, and a plurality of levels are provided at the upper end of the guide rail of the second linear motion mechanism.

5. The calibration device for a satellite positioning displacement measurement system according to claim 4, characterized in that: A second support plate is fixed on the slider of the second linear motion mechanism, and the target ball of the second laser tracker is fixed on the second support plate through a second support plate, and the second support plate is an L-shaped plate.

6. The calibration device for a satellite positioning displacement measurement system according to claim 5, characterized in that: A level is installed on both the first support plate and the second support plate.

7. The calibration device for a satellite positioning displacement measurement system according to claim 6, characterized in that: The first leveling mechanism comprises a mounting plate, and a plurality of height adjustment legs are provided at the lower end of the mounting plate.

8. The calibration device for a satellite positioning displacement measurement system according to claim 7, characterized in that: The structure of the second leveling mechanism is the same as that of the first leveling mechanism.

9. A calibration method comprising the calibration device of the satellite positioning displacement measurement system according to claim 8, characterized in that: The steps include: Calibrate the vertical and horizontal indications of displacement measuring systems Among them, the indication calibration of the displacement measurement system in the elevation direction includes the following steps: S1: By observing the level meter on the first linear motion mechanism and the level meter on the first support plate, the height adjustment legs below the mounting plate are adjusted so that the guide rail of the first linear motion mechanism is perpendicular to the horizontal plane; S2: adjusting the light outlet of the laser tracker and the receiving angle of the first laser tracker target ball so that the first laser tracker target ball can receive the measuring laser beam of the laser tracker when moving up and down; S3: driving the first receiver to move to the measuring point V0 through the first linear motion mechanism. At the measuring point V0, the indication value of the first receiver in the Z-axis direction is h0mm, and the vertical reading of the laser tracker is reset to zero; S4: The first receiver is driven to move to the measuring point V1 by the first linear motion mechanism. At the measuring point V1, the indication value of the first receiver in the Z-axis direction is h1mm, and the moving distance reading of the laser tracker in the vertical direction is z1mm; the indication error of the first receiver at the measuring point V1 is: (h1-h0-z1)mm; S5: The first linear motion mechanism drives the first receiver to move to complete the calibration of the remaining 8 measuring points. i In the example, the first receiver indicates h in the Z-axis direction. i mm, the vertical movement distance of the laser tracker is z i mm; the indication error of the first receiver at the measuring point V2 is: (h i -h0-z i )mm; where 2≤i≤10; S6: The calibration of the first receiver in the elevation direction is completed; S7: repeat steps S3-S6 to complete the calibration of the indication errors of other receivers of the displacement measurement system at each measuring point in the elevation direction; The horizontal indication calibration of the displacement measurement system includes the following steps: S1: By observing the level meter on the second linear motion mechanism and the level meter on the second support plate, the height adjustment legs below the mounting plate are adjusted so that the guide rail of the second linear motion mechanism is parallel to the horizontal plane; S2: Adjust the light outlet of the laser tracker and the receiving angle of the target ball of the second laser tracker so that the target ball of the second laser tracker can receive the measuring laser beam of the laser tracker when it moves horizontally; S3: The first receiver is driven to move to the measuring point V0 by the second linear motion mechanism. At the measuring point V0, the measurement value of the first receiver is a0mm, and the horizontal reading of the laser tracker is reset to zero; x0 and y0 are the indications of the first receiver in the X-axis direction and the Y-axis direction at the measuring point V0 respectively; S4: The first receiver is driven to move to the measuring point V1 by the second linear motion mechanism. At the measuring point V1, the measurement value of the first receiver is a1mm, and the horizontal movement distance reading of the laser tracker is b1mm; the indication error of the first receiver at the measuring point V1 is: (a1-a0-b1)mm; x1 and y1 are the indications of the first receiver in the X-axis direction and the Y-axis direction at the measuring point V1 respectively; S5: The second linear motion mechanism drives the first receiver to move and complete the calibration of the remaining 8 measuring points. i The measurement value of the first receiver is a i mm, the horizontal movement distance of the laser tracker is read as b i mm; the indication error of the first receiver at the measuring point V2 is: (a i -a0-b i )mm; where 2≤i≤10, x i and i The first receiver is at the measurement point V i The indication on the X-axis direction and the indication on the Y-axis direction; S6: The calibration of the first receiver in the horizontal direction is completed; S7: Repeat steps S3-S6 to complete the calibration of the indication errors of other receivers of the displacement measurement system at each measuring point in the horizontal direction.

10. The calibration method according to claim 9, characterized in that: In the elevation direction calibration and the horizontal direction calibration of the displacement measurement system, the distance between two adjacent measurement points is 100 mm.

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