Scribing calibration system and method

Abstract

The invention relates to the technical field of position marking, in particular to a lineation calibration system and method.The lineation calibration system comprises a satellite positioning device, a base station positioning device, a handheld dotting device, a control device and a movable lineation device.The satellite positioning device is used for positioning the positions of the base station positioning device, the handheld dotting device and the movable lineation device; the base station positioning device is used for positioning the positions of the handheld dotting device and the mobile scribing device, and calibrating the positions of the handheld dotting device and the mobile scribing device positioned by the satellite positioning device and the positions of the handheld dotting device and the mobile scribing device positioned by the base station positioning device; and the accurate positions of the handheld dotting device and the movable scribing device are obtained. By integrating the advanced positioning technology and intelligent control logic, the accuracy and efficiency of scribing operation are remarkably improved, the flexibility and controllability of the operation process are enhanced, and efficient and reliable solutions are provided for various scribing projects.

Description

Technical Field

[0001] The present invention relates to the technical field of position marking, and in particular to a line marking system and method. Background Art

[0002] Road traffic markings refer to various markings drawn on the road surface to indicate the direction, position and restrictions of vehicle travel and help regulate traffic flow. Road traffic markings usually use lines, arrows, patterns, etc. of different colors and shapes to convey specific traffic information to improve road traffic safety and efficiency. The drawing of road traffic markings is completed by specialized road traffic marking drawing personnel or mechanical equipment.

[0003] During the road marking construction, dot positioning is required to obtain the path that needs to be marked. Then the dot positioning marks are drawn on the route map to draw the line. The existing positioning is generally carried out through the Internet or GPS. When the signal is poor or in remote areas, the positioning accuracy is poor, so new improvements need to be made to the existing positioning methods. Summary of the invention

[0004] To solve the above problems, the present invention integrates advanced positioning technology and intelligent control logic, which not only significantly improves the accuracy and efficiency of marking operations, but also enhances the flexibility and controllability of the operation process, providing a marking calibration system and method that provides efficient and reliable solutions for various marking projects.

[0005] The technical solution adopted by the present invention is: a line marking system, including a satellite positioning device, a base station positioning device, a handheld dotting device, a control device and a mobile line marking device, the satellite positioning device is used to locate the positions of the base station positioning device, the handheld dotting device and the mobile line marking device, the base station positioning device is used to locate the positions of the handheld dotting device and the mobile line marking device, the positions of the handheld dotting device and the mobile line marking device located by the satellite positioning device are calibrated with the positions of the handheld dotting device and the mobile line marking device located by the base station positioning device, and the precise positions of the handheld dotting device and the mobile line marking device are obtained; the control device is communicatively connected with the handheld dotting device and the mobile line marking device, the handheld dotting device moves on the field to dot and mark, and completes at least 2 marking points, and the control device is used to control the mobile line marking device to travel according to the at least 2 marking points and to mark during the driving process.

[0006] A further improvement to the above scheme is that the calibration process is performed by a differential positioning calibration module. By comparing the coordinate data transmitted by the satellite positioning device and the base station positioning device, a dynamic error compensation algorithm is used to eliminate the multipath effect and ionospheric delay error, so as to obtain the precise position of the handheld dotting device and the mobile marking device.

[0007] A further improvement to the above scheme is that the base station positioning device is provided with a base station communication module, and the base station communication module is a dual-mode connection switching module, which can dynamically select radio station direct communication or 4G / 5G network communication for data transmission. The switching module is communicated with the base station positioning device and the handheld marking device, and is used for data transmission.

[0008] A further improvement to the above scheme is that the handheld dotting device includes a main unit and a handheld rod, the main unit is arranged at the end of the handheld rod, the main unit includes a housing, a dotting control board, a power supply and a dotting positioning module; the dotting control board and the power supply are both arranged in the housing, the power supply is used to power the dotting control board, the dotting positioning module is electrically connected to the dotting control board and is used to locate the current position of the handheld dotting device, and a position marking button is provided at one end of the housing close to the handheld rod, the position marking button is electrically connected to the dotting control board to drive the dotting positioning module to mark the current position of the handheld dotting device.

[0009] A further improvement to the above solution is that the handheld dotting device is provided with a positioning correction module, and the positioning correction module is used to correct the horizontality between the positioning device and the ground when the dotting positioning module marks the current position.

[0010] A further improvement to the above scheme is that the control device is a mobile terminal, which is close to the handheld marking device and records the marking points recorded by the handheld marking device, and connects at least two marking points in series to form a driving route, which is transmitted to the marking mobile device, and the marking mobile device moves and marks according to the driving route.

[0011] A further improvement to the above scheme is that the mobile terminal is provided with a path planning module, and the path planning module performs the following operations: topological optimization of the marker point coordinates is performed by using an SVD singular value decomposition algorithm to convert the original marker point sequence into a double arc spline path; Generate the transformation parameter matrix from GNSS coordinates to local construction coordinates:

[0012] Where (X0, Y0) is the reference point and θ is the coordinate rotation angle; Send real-time path correction instructions to the mobile marking device via the MQTT protocol.

[0013] A further improvement to the above solution is that the mobile terminal is integrated with a dynamic trajectory correction module. When receiving the coordinate update data sent by the handheld marking device, the spatiotemporal synchronization index is marked according to the ISO 8601 format, and the following is performed at the same time: Recalculate the Bezier curve control polygon vertices based on the modified marker point coordinates; Compare the curvature change Δκ of the path before and after, and automatically insert a new waypoint when Δκ>0.15m⁻¹; Generate an electronic task order containing double precision values ​​of WGS84 coordinate system and construction coordinate system.

[0014] A marking method includes the marking system, and the method includes the following steps: Step S1. Establishing a satellite positioning reference network to obtain initial positioning data; Step S2. Deploy the ground-based augmentation system and build the RTK positioning service; Step S3. Synchronize satellite positioning data and base station positioning data through a dual-mode communication link; Step S4. Using Kalman filter algorithm to realize dynamic fusion of multi-source positioning data; Step S5. Determine high-precision coordinate control points based on the joint solution results; Step S6. The handheld device automatically collects terrain undulation parameters when generating a marker point; Step S7. The path planning module performs three-dimensional space trajectory fitting; Step S8. The marking device monitors the DOP value in real time when performing the operation, and triggers the data retransmission mechanism when the precision factor deteriorates; Step S9. Continuously optimize the base station deployment strategy through the machine learning model.

[0015] A further improvement to the above scheme is: In step S1, a multi-source satellite reference network is established to obtain initial positioning data by synchronously collecting carrier phase observations of GPS L1 / L5, GLONASS G1 / G3 and Beidou B1I / B2I three-bands to form an original observation file; In step S2, when deploying the ground-based augmentation system, an adaptive base station layout algorithm is used according to the terrain undulation so that the distance D between adjacent base stations satisfies: D≤(3h+50) meters (where h is the maximum terrain height difference). When building a network RTK positioning service, the inter-satellite single difference technology is used to eliminate the receiver clock error; In step S3, when the data is synchronized through the dual-mode communication link, when the network delay δt> 100ms, the radio station is automatically switched to connect directly, and the positioning data frame contains a timestamp check code, a positioning mode identifier and a CRC16 check bit; In step S4, when the improved Kalman filter is used for data fusion, the angular velocity ω and acceleration α output by the inertial navigation unit are introduced as state prediction parameters to establish a dynamic model:

[0016] The process noise covariance matrix Q is dynamically adjusted and positively correlated with the current multipath effect intensity; In step S5, a robust estimation strategy is used in the joint solution, and observations with residual v_i greater than 3 times the mean error are eliminated iteratively. When generating control points, the coordinate accuracy meets the following requirements: horizontal error σ_H ≤ 2mm + 1ppm, and elevation error σ_V ≤ 3mm + 1.5ppm.

[0017] The beneficial effects of the present invention are: Compared with the existing marking positioning system, the present invention uses the dual positioning mechanism of satellite positioning device and base station positioning device, and the system can achieve high-precision determination of the position of handheld marking device and mobile marking device. Satellite positioning provides global coverage of reference information, while base station positioning uses local signals to enhance positioning accuracy. The combination of the two effectively calibrates and eliminates the errors that may be caused by a single positioning method, ensuring the absolute accuracy of the position of the handheld device and the marking device. Secondly, the wireless communication connection between the control device and the handheld marking device and the mobile marking device realizes the instant transmission and response of operation instructions, and improves the working efficiency. The operator can flexibly use the handheld marking device to mark in the venue, and the control device quickly receives the position information and plans the optimal driving path based on at least two marking points to guide the mobile marking device to accurately drive and mark. This process has a high degree of automation, which greatly reduces the complexity and time cost of manual operation. In addition, it also has a high degree of flexibility and adaptability. Whether in open areas or complex environments, the marking accuracy can be ensured through a comprehensive positioning strategy, which is suitable for a variety of venue marking needs, such as road markings, sports field markings, etc., showing a wide range of application potential. In the present invention, by integrating advanced positioning technology and intelligent control logic, not only the accuracy and efficiency of marking operations are significantly improved, but also the flexibility and controllability of the operation process are enhanced, providing efficient and reliable solutions for various marking projects.

[0018] The line marking calibration method can significantly improve the positioning accuracy and ensure the reliability of the initial positioning data by establishing a satellite positioning reference network and deploying a ground-based augmentation system. Combined with the RTK (real-time dynamic differential positioning) service, centimeter-level or even millimeter-level positioning accuracy is achieved, laying a solid foundation for the subsequent line marking calibration work. Secondly, the dual-mode communication link synchronizes the satellite and base station positioning data, effectively solving the time synchronization problem of multi-source data and ensuring the consistency and accuracy of the data. The Kalman filter algorithm is used for dynamic fusion, which not only improves the data fusion efficiency, but also further enhances the stability and robustness of the positioning results. In the determination of high-precision coordinate control points, this method realizes the precise calibration of control points by jointly solving multi-source positioning data, providing a reliable basis for subsequent terrain measurement and line marking operations. At the same time, the handheld device automatically collects terrain undulation parameters when generating marking points, which greatly improves the operation efficiency and accuracy. In addition, the three-dimensional space trajectory fitting function of the path planning module enables the line marking device to perform precise operations according to the preset trajectory, improving the consistency and aesthetics of the line marking. During the operation, the DOP (dilution of precision) value is monitored in real time, and the data retransmission mechanism is triggered when the precision factor deteriorates, effectively ensuring the accuracy and stability of the operation. Finally, the base station deployment strategy is continuously optimized through the machine learning model. This method can automatically adjust the location and number of base stations according to actual operation requirements and environmental conditions, thereby achieving optimal resource configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a connection schematic diagram of the marking system of the present invention; Figure 2 for Figure 1 Another connection diagram of the center line marking system; Figure 3 for Figure 1 A connection diagram of an embodiment of a center line marking system; Figure 4 for Figure 1 A schematic diagram of the structure of a handheld dotting device for the center line marking system; Figure 5 for Figure 1 Schematic diagram of the connection of the handheld dotting device of the center line marking system; Figure 6 It is a schematic diagram of the process of the marking method of the present invention.

[0020] Explanation of the accompanying drawings: satellite positioning device 10, base station positioning device 20, base station communication module 21, handheld dotting device 30, host 31, housing 311, dotting control panel 312, power supply 313, dotting positioning module 314, position mark button 315, handheld rod 32, positioning correction module 33, control device 40, path planning module 41, trajectory correction module 42, mobile marking device 50. DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Figure 1 to Figure 6As shown, in one embodiment of the present invention, a marking system is involved, including a satellite positioning device 10, a base station positioning device 20, a handheld dotting device 30, a control device 40 and a mobile marking device 50, wherein the satellite positioning device 10 is used to locate the positions of the base station positioning device 20, the handheld dotting device 30 and the mobile marking device 50, and the base station positioning device 20 is used to locate the positions of the handheld dotting device 30 and the mobile marking device 50, and the positions of the handheld dotting device 30 and the mobile marking device 50 located by the satellite positioning device 10 are calibrated with the positions of the handheld dotting device 30 and the mobile marking device 50 located by the base station positioning device 20 to obtain the precise positions of the handheld dotting device 30 and the mobile marking device 50; the control device 40 is connected in communication with the handheld dotting device 30 and the mobile marking device 50, the handheld dotting device 30 moves on the field to dot and mark, and completes at least two marking points, and the control device 40 is used to control the mobile marking device 50 to travel according to the at least two marking points and to mark during the travel. In this embodiment, the system can achieve high-precision determination of the positions of the handheld dotting device 30 and the mobile marking device 50 through the dual positioning mechanism of the satellite positioning device 10 and the base station positioning device 20. Satellite positioning provides global coverage of reference information, while base station positioning uses local signals to enhance positioning accuracy. The combination of the two effectively calibrates and eliminates the errors that may be caused by a single positioning method, ensuring the absolute accuracy of the positions of the handheld device and the marking device. Secondly, the wireless communication connection between the control device 40 and the handheld dotting device 30 and the mobile marking device 50 realizes the instant transmission and response of operating instructions, thereby improving work efficiency. The operator can flexibly use the handheld dotting device 30 to mark in the venue. The control device 40 quickly receives the position information and plans the optimal driving path based on at least two marking points to guide the mobile marking device 50 to accurately drive and mark. This process has a high degree of automation, which greatly reduces the complexity and time cost of manual operation. In addition, it also has a high degree of flexibility and adaptability. Whether in open areas or complex environments, the marking accuracy can be ensured through comprehensive positioning strategies, which is applicable to a variety of site marking needs, such as road marking, sports field marking, etc., showing a wide range of application potential. In this embodiment, by integrating advanced positioning technology and intelligent control logic, not only the accuracy and efficiency of the marking operation are significantly improved, but also the flexibility and controllability of the operation process are enhanced, providing efficient and reliable solutions for various marking projects.

[0024] The calibration process is performed by the differential positioning calibration module. By comparing the coordinate data transmitted by the satellite positioning device 10 and the base station positioning device 20, the dynamic error compensation algorithm is used to eliminate the multipath effect and the ionospheric delay error, so as to obtain the precise position of the handheld dotting device 30 and the mobile marking device 50. In this embodiment, by accurately comparing the coordinate data transmitted by the satellite positioning device 10 and the base station positioning device 20, the double verification and fusion of the positioning information are realized, thereby greatly improving the accuracy of positioning. More importantly, the scheme introduces a dynamic error compensation algorithm, which is an innovative technology that effectively eliminates the multipath effect and the ionospheric delay error. The multipath effect, as one of the key factors affecting the positioning accuracy, often causes positioning deviations due to phenomena such as signal reflection and refraction. The ionospheric delay error is caused by the change in speed of electromagnetic waves when they pass through the ionosphere. Through the application of the dynamic error compensation algorithm, these complex and variable error sources are accurately corrected, ensuring the high reliability of the positioning data. On this basis, the handheld dotting device 30 and the mobile marking device 50 can obtain accurate position information in real time, which is crucial for the operation of the marking calibration system. Accurate position data not only improves the accuracy of marking operations, but also significantly enhances the overall stability and reliability of the system.

[0025] The base station positioning device 20 is provided with a base station communication module 21, which is a dual-mode connection switching module, which can dynamically select radio station direct communication or 4G / 5G network communication for data transmission. The switching module is connected to the base station positioning device 20 and the handheld marking device 30 for communication and is used for data transmission. In this embodiment, through a dual-mode connection switching module, its core function is to be able to dynamically and intelligently select radio station direct communication or 4G / 5G network communication as a data transmission path. This feature ensures high flexibility and reliability of data transmission. In specific scenarios, such as areas with unstable network environment or poor signal coverage, the system can automatically switch to the radio station direct communication mode to ensure real-time and accurate transmission of data. In the case of a good network environment, the system can select 4G / 5G network communication to take advantage of the data transmission efficiency brought by these high-speed networks. In addition, a stable communication connection is established between the switching module and the base station positioning device 20 and the handheld marking device 30, realizing seamless transmission and synchronization of data. This not only improves the working efficiency of the entire marking system, but also ensures the consistency and accuracy of the data.

[0026] See also Figure 4As shown, the handheld dotting device 30 includes a host 31 and a handheld rod 32, wherein the host 31 is arranged at the end of the handheld rod 32, and the host 31 includes a housing 311, a dotting control panel 312, a power supply 313, and a dotting positioning module 314; the dotting control panel 312 and the power supply 313 are both arranged in the housing 311, the power supply 313 is used to power the dotting control panel 312, the dotting positioning module 314 is electrically connected to the dotting control panel 312, and is used to locate the current position of the handheld dotting device 30, and a position marking button 315 is arranged at one end of the housing 311 close to the handheld rod 32, and the position marking button 315 is electrically connected to the dotting control panel 312 to drive the dotting positioning module 314 to mark the current position of the handheld dotting device 30. In this embodiment, the host 31 of the handheld dotting device 30 is cleverly arranged at the end of the handheld rod 32, which is convenient for the operator to flexibly control and can quickly respond to the marking needs. The dotting control board 312 and the power supply 313 in the housing 311 work together to ensure the stability and reliability of the dotting action, providing a strong guarantee for long-term continuous operation. The introduction of the dotting positioning module 314 is a highlight of the device. It can obtain and process the current position information of the handheld dotting device 30 in real time through the electrical connection with the dotting control board 312. Once the operator presses the position mark button 315, the dotting positioning module 314 starts immediately and accurately marks the current position, effectively avoiding the errors that may be caused by manual marking and improving the accuracy of calibration. In addition, the device is also easy to operate and easy to use. The setting of the position mark button 315 makes the marking process clear at a glance, and the operator can master it proficiently without complicated training. This not only reduces the difficulty of operation, but also improves work efficiency.

[0027] The handheld dotting device 30 is provided with a positioning correction module 33, which is used to correct the horizontality between the positioning device and the ground when the dotting positioning module 314 marks the current position. The positioning correction module 33 is a horizontal gyroscope. In this embodiment, the horizontal gyroscope in the positioning correction module 33 is a high-precision sensor that can detect and correct the horizontality between the dotting positioning module 314 and the ground in real time. This function effectively avoids positioning errors caused by improper operation or uneven ground, and ensures the accuracy of the dotting position. Secondly, the introduction of the horizontal gyroscope greatly improves the automation and intelligence level of the marking and calibration system. During the marking process, the system can automatically adjust according to the data fed back by the horizontal gyroscope without frequent manual intervention, thereby reducing the difficulty of operation and improving work efficiency. Furthermore, the application of this solution also enhances the adaptability and flexibility of the marking and calibration system. Whether it is a flat ground or a slope with a certain slope, the system can perform accurate corrections through the horizontal gyroscope to ensure the consistency and accuracy of the marking.

[0028] The control device 40 is a mobile terminal, which is close to the handheld dotting device 30, and records the marking points recorded by the handheld dotting device 30, and connects at least two marking points in series to form a driving route, and transmits the driving route to the line marking mobile device, and the line marking mobile device walks and draws lines according to the driving route. In this embodiment, by using a mobile terminal as the control device 40, the user can easily realize the remote control and real-time monitoring of the line marking process, which not only improves the flexibility of operation, but also makes the system more humane and easy to be accepted and mastered by users. Secondly, the close combination of the control device 40 and the handheld dotting device 30 ensures the accuracy and immediacy of the marking point recording. The user only needs to simply operate the handheld dotting device 30 to quickly dot the target area, providing a reliable basis for the generation of subsequent driving routes. Furthermore, the system can intelligently connect at least two marking points in series to form a clear and definite driving route, and transmit it to the line marking mobile device in real time. This function not only simplifies the line marking process, but also greatly improves the accuracy of the line marking, so that the line marking result is more in line with the user's expectations.

[0029] The mobile terminal is provided with a path planning module 41, and the path planning module 41 performs the following operations: topological optimization is performed on the coordinates of the marking points by using the SVD singular value decomposition algorithm, and the original marking point sequence is converted into a double arc spline path; Generate the transformation parameter matrix from GNSS coordinates to local construction coordinates:

[0030] Where (X0, Y0) is the reference point and θ is the coordinate rotation angle; The real-time path correction instruction is sent to the mobile marking device 50 through the MQTT protocol. In this embodiment, the coordinates of the marking points are topologically optimized through the SVD singular value decomposition algorithm, and this process greatly improves the accuracy and efficiency of path planning. As an important matrix decomposition method, the SVD algorithm can effectively extract the key features in the matrix, thereby achieving dimensionality reduction and optimization of data while ensuring the integrity of information. In this application, it helps the system to process the coordinate data of the marking points more accurately, laying a solid foundation for the subsequent double arc spline path conversion. Secondly, the original marking point sequence is converted into a double arc spline path. This conversion not only makes the path smoother and more continuous, but also significantly improves the accuracy and stability of the marking calibration operation. The double arc spline curve has been widely used in path planning due to its good smoothness and fitting. In this system, its introduction enables the marking device to operate according to a more accurate path, thereby improving the overall work efficiency and operation quality. Finally, the real-time path correction instruction is sent to the mobile marking device 50 through the MQTT protocol, and this process ensures the real-time and flexibility of the marking operation. The MQTT protocol has been widely used in IoT communications due to its low overhead and low bandwidth usage.

[0031] The mobile terminal is integrated with a dynamic trajectory correction module 42. When receiving the coordinate update data sent by the handheld marking device 30, the spatiotemporal synchronization index is annotated in the ISO 8601 format, and the following are performed at the same time: recalculating the vertices of the Bezier curve control polygon based on the modified marking point coordinates; comparing the curvature change Δκ of the path before and after, and automatically inserting new waypoints when Δκ>0.15m⁻¹; generating an electronic task sheet containing double-precision values ​​of the WGS84 coordinate system and the construction coordinate system. In this embodiment, by integrating the dynamic trajectory correction module 42, the system can receive and process the coordinate update data sent by the handheld marking device 30 in real time. The spatiotemporal synchronization index is annotated in the ISO 8601 format to ensure the temporal and spatial consistency of the data, providing a reliable basis for subsequent processing. Secondly, the system can recalculate the control polygon vertices of the Bezier curve based on the modified marking point coordinates, thereby improving the smoothness and accuracy of the marking trajectory. This improvement is of great significance for reducing marking errors and improving calibration accuracy. Furthermore, by comparing the curvature change Δκ of the previous and next paths, when Δκ exceeds the set threshold of 0.15m⁻¹, the system automatically inserts a new waypoint. This function helps to timely detect and correct sudden changes in the trajectory, ensuring the continuity and stability of the marking trajectory. Finally, the generated electronic task sheet contains double-precision values ​​in the WGS84 coordinate system and the construction coordinate system, which facilitates coordinate conversion and precision control during the construction process. This not only improves construction efficiency, but also further ensures construction quality and safety.

[0032] See also Figure 1 to Figure 6As shown, a line marking method includes the line marking system, and the method includes the following steps: step S1. Establishing a satellite positioning reference network to obtain initial positioning data; step S2. Deploying a ground-based augmentation system and building an RTK positioning service; step S3. Synchronizing satellite positioning data and base station positioning data through a dual-mode communication link; step S4. Using a Kalman filter algorithm to achieve dynamic fusion of multi-source positioning data; step S5. Determining high-precision coordinate control points based on joint solution results; step S6. Automatically collecting terrain undulation parameters when the handheld device generates a marker point; step S7. The path planning module 41 performs three-dimensional space trajectory fitting; step S8. Real-time monitoring of the DOP value when the line marking device performs the operation, triggering a data retransmission mechanism when the precision factor deteriorates; step S9. Continuously optimizing the base station deployment strategy through a machine learning model. In this embodiment, by establishing a satellite positioning reference network and deploying a ground-based augmentation system, the method can significantly improve the positioning accuracy and ensure the reliability of the initial positioning data. Combined with the RTK (real-time dynamic differential positioning) service, centimeter-level or even millimeter-level positioning accuracy is achieved, laying a solid foundation for subsequent line marking work. Secondly, the dual-mode communication link synchronizes the satellite and base station positioning data, effectively solving the time synchronization problem of multi-source data and ensuring the consistency and accuracy of the data. The Kalman filter algorithm is used for dynamic fusion, which not only improves the data fusion efficiency, but also further enhances the stability and robustness of the positioning results. In the determination of high-precision coordinate control points, this method realizes the accurate calibration of control points by jointly solving multi-source positioning data, providing a reliable basis for subsequent terrain measurement and marking operations. At the same time, the handheld device automatically collects terrain undulation parameters when generating marking points, which greatly improves the operation efficiency and accuracy. In addition, the three-dimensional space trajectory fitting function of the path planning module 41 enables the marking device to perform precise operations according to the preset trajectory, improving the consistency and aesthetics of the marking. During the operation, the DOP (dilution precision) value is monitored in real time, and the data retransmission mechanism is triggered when the precision factor deteriorates, which effectively guarantees the operation accuracy and stability. Finally, the base station deployment strategy is continuously optimized through the machine learning model. The method can automatically adjust the location and number of base stations according to actual operation requirements and environmental conditions, thereby achieving the optimal configuration of resources.

[0033] In step S1, a multi-source satellite reference network is established, and carrier phase observations of three frequency bands, namely GPS L1 / L5, GLONASS G1 / G3 and Beidou B1I / B2I, are synchronously collected when obtaining initial positioning data to form an original observation file; the establishment of a multi-source satellite reference network provides a more stable and reliable positioning data source. By synchronously collecting signals from multiple global navigation satellite systems (GNSS), the accuracy and reliability of positioning can be effectively improved, and the errors and uncertainties that may occur in a single system can be reduced. Secondly, the collection of three-band carrier phase observations further enhances the accuracy and integrity of positioning data. Observations in different frequency bands can provide richer information, which helps to eliminate or weaken influencing factors such as atmospheric delay and satellite orbit error, thereby improving positioning accuracy. In the line marking calibration method, this high-precision positioning data is crucial to ensure the accuracy and consistency of line marking. Whether it is road sign line marking or other types of calibration work, accurate location information is required as support. By adopting a multi-source satellite reference network and three-band carrier phase observations, the accuracy and efficiency of line marking calibration can be significantly improved, ensuring the accuracy and reliability of the calibration results. In step S2, when deploying the ground-based augmentation system, an adaptive base station layout algorithm is used according to the terrain undulation, so that the distance D between adjacent base stations satisfies: D≤(3h+50) meters (where h is the maximum terrain height difference), and the inter-satellite single difference technology is used to eliminate the receiver clock error when constructing the network RTK positioning service; in this embodiment, when facing complex and changeable terrain undulation, the algorithm can intelligently adjust the distance D between adjacent base stations according to the maximum terrain height difference h, ensuring that D always meets the optimization condition of not more than (3h+50) meters. This approach not only optimizes the base station layout, but also effectively reduces the impact of terrain on signal propagation, thereby enhancing the stability and reliability of the entire system. When constructing the network RTK (real-time dynamic differential positioning) positioning service, the inter-satellite single difference technology is introduced to eliminate the receiver clock error. This technology can accurately eliminate the positioning deviation caused by the internal clock error of the receiver by comparing the differences in observation data between different satellites, and further improve the positioning accuracy. The application of inter-satellite single difference technology makes the performance of RTK positioning service more robust in complex environments, and the positioning results are more accurate and reliable.

[0034] In step S3, when synchronizing data through a dual-mode communication link, when the network delay δt>100ms, the radio direct connection is automatically switched, and the positioning data frame includes a timestamp check code, a positioning mode identifier, and a CRC16 check bit; by introducing a dual-mode communication link synchronization data scheme, and combining the threshold judgment of the network delay δt (automatically or manually switching to the radio direct connection when δt>100ms), the efficiency and reliability of data transmission are achieved. On this basis, the design of the positioning data frame includes a timestamp check code, a positioning mode identifier, and a CRC16 check bit, and the application of these technologies in the aforementioned line marking method has produced significant technical effects. First, the addition of the timestamp check code ensures the timeliness of the data during the transmission process, and can accurately reflect the generation time of the data, thereby effectively avoiding errors caused by data obsolescence or delay. Secondly, the introduction of the positioning mode identifier enables the receiving end to quickly identify the source and type of the data, which is convenient for subsequent data processing and analysis. More importantly, the use of the CRC16 check bit significantly improves the accuracy of data transmission. As a cyclic redundancy check algorithm, CRC16 generates a check code through polynomial division. It can efficiently detect errors such as bit flipping that occur during data transmission, thereby ensuring the integrity and reliability of the data.

[0035] In step S4, when the improved Kalman filter is used for data fusion, the angular velocity ω and acceleration α output by the inertial navigation unit are introduced as state prediction parameters to establish a dynamic model:

[0036] The process noise covariance matrix Q is dynamically adjusted, which is positively correlated with the current multipath effect strength. When using the improved Kalman filter for data fusion, we established a more accurate dynamic model by introducing the angular velocity ω and acceleration α output by the inertial navigation unit (INU) as key state prediction parameters. This approach not only enhances the real-time and robustness of the data fusion system, but also significantly improves the accuracy of navigation and positioning. In this process, we dynamically adjusted the process noise covariance matrix Q, which is a particularly critical innovation. The adjustment strategy of the Q matrix is ​​closely related to the current multipath effect strength, which means that the system can perceive and adapt to complex and changing environmental conditions in real time. Multipath effect, as one of the main factors affecting the accuracy of satellite navigation, is often difficult to predict in terms of its dynamic changes in intensity. By adjusting the Q matrix in a positive correlation with it, we effectively reduced the interference of the multipath effect on the navigation results, thereby further improving the accuracy and reliability of data fusion.

[0037] In step S5, an anti-error estimation strategy is adopted during the joint solution, and the observation values ​​with residual v_i greater than 3 times the mean error are eliminated and iterated, and the coordinate accuracy when generating the control point meets the following requirements: horizontal error σ_H≤2mm+1ppm, elevation error σ_V≤3mm+1.5ppm. In this embodiment, by strictly monitoring the residual v_i, once the residual of the observation value exceeds the 3 times mean error threshold, it is regarded as abnormal data and eliminated and iterated. This strategy effectively eliminates gross errors and abnormal observations, ensures the purity and reliability of the data set, and lays a solid foundation for subsequent coordinate solution. On this basis, the generated control point coordinate accuracy reaches an extremely high level: the horizontal error σ_H is strictly controlled within 2 mm plus 1ppm, and the elevation error σ_V does not exceed 3 mm plus 1.5ppm. This accuracy index not only meets the strict requirements of high-precision measurement, but also provides strong data support for subsequent spatial positioning, deformation monitoring and other applications.

[0038] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A marking system, characterized in that: The invention comprises a satellite positioning device, a base station positioning device, a handheld dotting device, a control device and a mobile marking device, wherein the satellite positioning device is used to locate the positions of the base station positioning device, the handheld dotting device and the mobile marking device, and the base station positioning device is used to locate the positions of the handheld dotting device and the mobile marking device, and the positions of the handheld dotting device and the mobile marking device located by the satellite positioning device are calibrated with the positions of the handheld dotting device and the mobile marking device located by the base station positioning device to obtain the precise positions of the handheld dotting device and the mobile marking device; the control device is communicatively connected with the handheld dotting device and the mobile marking device, the handheld dotting device moves on the field to dot and mark, and completes at least two marking points, and the control device is used to control the mobile marking device to travel according to the at least two marking points and to mark during the travel.

2. The marking system according to claim 1, characterized in that: The calibration process is performed by the differential positioning calibration module. By comparing the coordinate data transmitted by the satellite positioning device and the base station positioning device, a dynamic error compensation algorithm is used to eliminate the multipath effect and ionospheric delay error to obtain the precise position of the handheld dotting device and the mobile marking device.

3. The marking system according to claim 1, characterized in that: The base station positioning device is provided with a base station communication module, which is a dual-mode connection switching module that can dynamically select wireless station direct communication or 4G / 5G network communication for data transmission. The switching module is communicated with the base station positioning device and the handheld marking device and is used for data transmission.

4. The marking system according to claim 1, characterized in that: The handheld dotting device includes a main unit and a handheld rod, wherein the main unit is arranged at the end of the handheld rod, and the main unit includes a shell, a dotting control panel, a power supply and a dotting positioning module; the dotting control panel and the power supply are both arranged in the shell, the power supply is used to power the dotting control panel, the dotting positioning module is electrically connected to the dotting control panel and is used to locate the current position of the handheld dotting device, and a position marking button is provided at one end of the shell close to the handheld rod, and the position marking button is electrically connected to the dotting control panel to drive the dotting positioning module to mark the current position of the handheld dotting device.

5. The marking system according to claim 4, characterized in that: The handheld dotting device is provided with a positioning correction module, and the positioning correction module is used to correct the horizontality between the positioning device and the ground when the dotting positioning module marks the current position.

6. The marking system according to claim 1, characterized in that: The control device is a mobile terminal, which is close to the handheld marking device and records the marking points recorded by the handheld marking device, and connects at least two marking points in series to form a driving route, and transmits the driving route to the line-marking mobile device, which moves and marks according to the driving route.

7. The marking system according to claim 6, characterized in that: The mobile terminal is provided with a path planning module, which performs the following operations: topologically optimizing the coordinates of the marker points by using an SVD singular value decomposition algorithm to convert the original marker point sequence into a double arc spline path; Generate the conversion parameter matrix from GNSS coordinates to local construction coordinates: Where (X0, Y0) is the reference point and θ is the coordinate rotation angle; Send real-time path correction instructions to the mobile marking device via the MQTT protocol.

8. The marking system according to claim 7, characterized in that: The mobile terminal is integrated with a dynamic trajectory correction module. When receiving coordinate update data sent by the handheld marking device, it marks the time-space synchronization index according to the ISO 8601 format and executes: Recalculate the Bezier curve control polygon vertices based on the modified marker point coordinates; Compare the curvature change Δκ of the path before and after, and automatically insert a new waypoint when Δκ>0.15m⁻¹; Generate an electronic task order containing double precision values ​​of WGS84 coordinate system and construction coordinate system.

9. A marking method, characterized in that: The marking system according to any one of claims 1 to 8 comprises the following steps: Step S1. Establishing a satellite positioning reference network to obtain initial positioning data; Step S2. Deploy the ground-based augmentation system and build the RTK positioning service; Step S3. Synchronize satellite positioning data and base station positioning data through a dual-mode communication link; Step S4. Using Kalman filter algorithm to realize dynamic fusion of multi-source positioning data; Step S5. Determine high-precision coordinate control points based on the joint solution results; Step S6. The handheld device automatically collects terrain undulation parameters when generating a marker point; Step S7. The path planning module performs three-dimensional space trajectory fitting; Step S8. The marking device monitors the DOP value in real time when performing the operation, and triggers the data retransmission mechanism when the precision factor deteriorates; Step S9. Continuously optimize the base station deployment strategy through the machine learning model.

10. The marking method according to claim 9, characterized in that: In step S1, a multi-source satellite reference network is established to obtain initial positioning data by synchronously collecting carrier phase observations of GPS L1 / L5, GLONASSG1 / G3 and Beidou B1I / B2I three-bands to form an original observation file; In step S2, when deploying the ground-based augmentation system, an adaptive base station layout algorithm is used according to the terrain undulation so that the distance D between adjacent base stations satisfies: D≤(3h+50) meters (where h is the maximum terrain height difference). When building a network RTK positioning service, the inter-satellite single difference technology is used to eliminate the receiver clock error; In step S3, when the data is synchronized through the dual-mode communication link, when the network delay δt> 100ms, the radio station is automatically switched to connect directly, and the positioning data frame contains a timestamp check code, a positioning mode identifier and a CRC16 check bit; In step S4, when the improved Kalman filter is used for data fusion, the angular velocity ω and acceleration α output by the inertial navigation unit are introduced as state prediction parameters to establish a dynamic model: The process noise covariance matrix Q is dynamically adjusted and positively correlated with the current multipath effect intensity; In step S5, a robust estimation strategy is used in the joint solution, and observations with residual v_i greater than 3 times the mean error are eliminated iteratively. When generating control points, the coordinate accuracy meets the following requirements: horizontal error σ_H ≤ 2mm + 1ppm, and elevation error σ_V ≤ 3mm + 1.5ppm.

Images