Handheld triangular area ranging laser RTK positioning device and positioning method

Abstract

The invention relates to the technical field of laser detection, and particularly discloses a handheld triangular area ranging laser RTK positioning device which comprises a control module, and a laser, a receiving optical system A, a receiving optical system B, a detector A, a detector B, a GNSS module, an IMU module, a communication module, a storage module, a display screen, a battery and a control switch which are connected with the control module. The invention further discloses a positioning method adopting the handheld triangular area ranging laser RTK positioning device. According to the handheld triangular area ranging laser RTK positioning device and method, the laser detection precision can be improved.

Description

Technical Field

[0001] The present invention relates to the field of laser detection technology, and in particular to a handheld triangle area ranging laser RTK positioning device and a positioning method. Background Art

[0002] At present, with the advancement of technology, ordinary RTK based on the centering pole has gradually shown its shortcomings. For example, RTK can only measure the coordinates of points where the centering pole can be placed, and cannot be extended, which brings great inconvenience. For another example, RTK must be placed horizontally, otherwise it will affect the accuracy.

[0003] To solve this problem, Zhu Qiang and others from Guilin University of Technology invented the patent "Coordinate Conversion Method and Device for Laser GNSS-RTK Total Station" (patent number ZL202310010761.4), which obtains the three-dimensional coordinates of the phase center of the RTK antenna; converts the three-dimensional coordinates of the phase center of the RTK antenna into the three-dimensional coordinates of the laser emission point, and calculates the coordinate conversion parameters through the coordinate conversion equation, and replaces the rotation matrix with the Rodriguez matrix in the process of calculating the coordinate conversion parameters; according to the coordinate conversion parameters, calculates the angle between the laser beam and the plumb line and the coordinate azimuth of the laser beam; uses a laser rangefinder to obtain the distance from the point to be measured to the laser emission point, and combines the angle between the laser beam and the plumb line, the coordinate azimuth of the laser beam and the distance from the phase center of the RTK antenna to the laser emission point to obtain the three-dimensional coordinates of the point to be measured. However, the laser ranging used in this invention is time-of-flight ranging, which has low accuracy and cannot meet the surveying and mapping accuracy. Summary of the invention

[0004] The present invention aims to solve at least one of the above-mentioned technical problems and provide a handheld triangle area ranging laser RTK positioning device and positioning method to improve the laser detection accuracy.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a handheld triangle area ranging laser RTK positioning device, including a control module, and a laser connected to the control module, a receiving optical system A, a receiving optical system B, a detector A, a detector B, a GNSS module, an IMU module, a communication module, a storage module, a display screen, a battery and a control switch; wherein:

[0006] The laser can emit a frequency modulated continuous wave laser and a laser main wave signal;

[0007] The receiving optical system A and the receiving optical system B are symmetrically installed on both sides of the laser, and form a three-dimensional axisymmetric structure with the laser as the center. The receiving optical system A and the receiving optical system B are used to detect the echo of the frequency modulated continuous wave laser emitted by the laser, and transmit it to the detector A and the detector B respectively;

[0008] Detector A and detector B are respectively installed at the rear ends of receiving optical system A and receiving optical system B, and are used to respectively detect the frequency modulated continuous wave laser echo signals received by receiving optical system A and optical system B; and convert the frequency modulated continuous wave laser echo signals into frequency modulated continuous wave laser echo digital signals;

[0009] The GNSS module has a horizontally polarized antenna and a vertically polarized antenna to obtain GNSS signals in different directions;

[0010] The IMU module is used to measure three high-precision angle data: heading angle, pitch angle and roll angle;

[0011] The communication module is used to obtain the error correction parameters of CROS;

[0012] The storage module is used to store the measured target coordinate data;

[0013] The display screen is used to display the coordinate data of the measured target in real time;

[0014] The control module can calculate high-precision coordinates based on the phase measurement and measurement adjustment principles combined with CORS error correction parameters. At the same time, it can calculate the distance from the laser to the measurement target based on the phase measurement and triangulation measurement principles, and build a coordinate system with the phase center of the horizontally polarized antenna and the vertically polarized antenna as the origin. Combined with the three high-precision angle data measured by the IMU module, the laser measurement target coordinates are converted into the coordinates of the laser measurement target in the CGCS2000 coordinate system.

[0015] Preferably, the control module includes an STM32F767 chip.

[0016] Preferably, the communication module is a 4G communication module.

[0017] Preferably, the coordinate data includes longitude, latitude and altitude.

[0018] Preferably, the storage module includes an SD card slot, and an SD memory card installed in the SD card slot.

[0019] The present application also discloses a handheld triangle area ranging laser RTK positioning method, which uses any of the above-mentioned positioning devices and includes the following steps:

[0020] Step 1: A laser main wave signal is transmitted to the control module through the laser, and a laser beam is simultaneously transmitted to the measurement target. The laser reflected by the measurement target is received by the receiving optical system A and the receiving optical system B, and the detector A and the detector B, respectively, and converted into a laser echo digital signal and transmitted to the control module;

[0021] Step 2: Based on the laser main wave signal and the two laser echo signals, the control module calculates the distance between the receiving optical system A and the receiving optical system B and the measurement target according to the phase measurement principle, and then sums and averages the two distances to obtain a more accurate distance between the receiving optical system A and the receiving optical system B and the measurement target. The calculation formula is:

[0022]

[0023] Where D is the distance from the laser emitting laser port to the measurement target, Du / d is the distance from the receiving optical system A and the receiving optical system B to the measurement target, λ is the wavelength of the laser emitted to the measurement target, N is the wave number obtained by dividing the distance from the laser emitting laser port to the measurement target by the wavelength, and △φ is the phase of the transmitted wave and the received wave relative to a complete wave movement;

[0024] Step 3: Assume that the angle between the laser reflection echoes of the receiving optical system A and the receiving optical system B at the measurement target is ∠C, and the baseline of the surface center point received by the receiving optical system A and the receiving optical system B is c. According to the triangle area measurement principle, combined with the distances a and b between the receiving optical system A and the receiving optical system B and the measurement target respectively, calculate the high-precision distance h from the positioning device to the measurement target. The calculation formula is:

[0025]

[0026] Where s is the area of ​​the triangle formed by the center points of the surfaces of the receiving optical system A and the receiving optical system B and the measurement target;

[0027] Step 4, control module, according to phase measurement and measurement adjustment principle, in conjunction with CORS error correction parameters, calculate the high-precision coordinates of laser positioning device;

[0028] Step 5. The control module constructs a coordinate system with the phase center of the horizontally polarized antenna and the vertically polarized antenna as the origin, obtains three high-precision angle data of the IMU, converts the laser measurement target coordinates into the coordinates of the laser measurement target coordinate system of the positioning device, and then converts them into the coordinates of the laser measurement target in the CGCS2000 coordinate system.

[0029] The beneficial effect is that compared with the prior art, the handheld triangle area ranging laser RTK positioning device and positioning method of the present invention emits a frequency modulated continuous wave laser and a laser main wave signal through a laser, and receives the laser emitted by the measurement target through two receiving optical systems and a detector, and uses the triangle area measurement principle and the phase measurement principle to calculate the distance between the laser and the measurement target, thereby improving the laser detection accuracy, and uses the IMU module to measure three high-precision angle data of heading angle, pitch angle and roll angle, with an accuracy of up to 0.01", and the GNSS module uses two antennas with horizontal and vertical polarizations at the same time to obtain GNSS signals in different directions, which can further improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 This is a schematic diagram of a handheld triangle area ranging laser RTK positioning device of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0033] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is referred to as being "set in the middle", it does not only mean being set in the middle, as long as it is not set at both ends within the range defined by the middle. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0035] like Figure 1 As shown, the present application discloses a handheld triangle area ranging laser RTK positioning device, including a control module, and a laser connected to the control module, a receiving optical system A, a receiving optical system B, a detector A, a detector B, a GNSS module, an IMU module, a communication module, a storage module, a display screen, a battery and a control switch; wherein:

[0036] The laser can emit a frequency modulated continuous wave laser and a laser main wave signal, the laser wavelength is 635nm, the energy is less than 1mW, it is a Class II safety laser, the divergence angle is 0.0005mrad, the frequency is 2Hz, and the power is 0.43W. The laser can receive the laser control command sent by the control module, and can also send the laser main wave signal and the laser working status to the control module;

[0037] The receiving optical system A and the receiving optical system B are symmetrically installed on both sides of the laser, and form a three-dimensional axisymmetric structure with the laser as the center. The receiving optical system A and the receiving optical system B are used to detect the echo of the frequency modulated continuous wave laser emitted by the laser, and transmit it to the detector A and the detector B respectively;

[0038] Detector A and detector B are respectively installed at the rear ends of receiving optical system A and receiving optical system B, and are used to respectively detect the frequency modulated continuous wave laser echo signals received by receiving optical system A and optical system B; and convert the frequency modulated continuous wave laser echo signals into frequency modulated continuous wave laser echo digital signals. Detector A and detector B can receive detector control instructions sent by the control module, and can also send the detected frequency modulated continuous wave laser echo digital signals and detector working states to the control module;

[0039] The GNSS module has a horizontally polarized antenna and a vertically polarized antenna to obtain GNSS signals in different directions, and can transmit the obtained GNSS signals and its own working status to the control module;

[0040] The IMU module is used to measure three high-precision angle data: heading angle, pitch angle and roll angle. The measurement accuracy is 0.01”. It can transmit the three high-precision angle data and its own working status to the control module;

[0041] The communication module may adopt a 4G communication module, which can obtain the error correction parameters of CROS, and can transmit the obtained error correction parameters of CROS and its own working status to the control module;

[0042] The storage module includes an SD card slot and an SD memory card installed in the SD card slot, which is used to store the measured target coordinate data and feed back the working status of the storage module to the control module;

[0043] The display screen is used to display the coordinate data of the measurement target in real time and can transmit its own working status to the control module. The coordinate data includes coordinate longitude, latitude and elevation;

[0044] The control module includes an STM32F767 chip, which is used to control the entire positioning device. It can calculate high-precision coordinates based on the principles of phase measurement and measurement adjustment combined with CORS error correction parameters. At the same time, it can calculate the distance from the laser to the measurement target based on the principles of phase measurement and triangulation measurement, and build a coordinate system with the phase center of the horizontally polarized antenna and the vertically polarized antenna as the origin. Combined with the three high-precision angle data measured by the IMU module, the laser measurement target coordinates are converted into the coordinates of the laser measurement target in the CGCS2000 coordinate system.

[0045] The battery provides power for the positioning device, with a voltage of 3.2V, a current of 20mA and a capacity of 1800mA.

[0046] The control switch can adopt a bounce switch. When the switch is pressed, the positioning device collects the coordinate data of the measurement target, stores the measurement data on the SD card, and displays it on the display screen.

[0047] The present application also discloses a handheld triangle area ranging laser RTK positioning method, which uses any of the above-mentioned positioning devices and includes the following steps:

[0048] Step 1: A laser main wave signal is transmitted to the control module through the laser, and a laser beam is simultaneously transmitted to the measurement target. The laser reflected by the measurement target is received by the receiving optical system A and the receiving optical system B, and the detector A and the detector B, respectively, and converted into a laser echo digital signal and transmitted to the control module;

[0049] Step 2: Based on the laser main wave signal and the two laser echo signals, the control module calculates the distance between the receiving optical system A and the receiving optical system B and the measurement target according to the phase measurement principle, and then sums and averages the two distances to obtain a more accurate distance between the receiving optical system A and the receiving optical system B and the measurement target. The calculation formula is:

[0050]

[0051] Where D is the distance from the laser emitting laser port to the measurement target, Du / d is the distance from the receiving optical system A and the receiving optical system B to the measurement target, λ is the wavelength of the laser emitted to the measurement target, N is the wave number obtained by dividing the distance from the laser emitting laser port to the measurement target by the wavelength, and △φ is the phase of the transmitted wave and the received wave relative to a complete wave movement;

[0052] Step 3: Assume that the angle between the laser reflection echoes of the receiving optical system A and the receiving optical system B at the measurement target is ∠C, and the baseline of the surface center point received by the receiving optical system A and the receiving optical system B is c. According to the triangle area measurement principle, combined with the distances a and b between the receiving optical system A and the receiving optical system B and the measurement target respectively, calculate the high-precision distance h from the positioning device to the measurement target. The calculation formula is:

[0053]

[0054] Where s is the area of ​​the triangle formed by the center points of the surfaces of the receiving optical system A and the receiving optical system B and the measurement target;

[0055] Step 4, control module, according to phase measurement and measurement adjustment principle, in conjunction with CORS error correction parameters, calculate the high-precision coordinates of laser positioning device;

[0056] Step 5. The control module constructs a coordinate system with the phase center of the horizontally polarized antenna and the vertically polarized antenna as the origin, obtains three high-precision angle data of the IMU, converts the laser measurement target coordinates into the coordinates of the laser measurement target coordinate system of the positioning device, and then converts them into the coordinates of the laser measurement target in the CGCS2000 coordinate system.

[0057] The working process of the positioning device of the present application includes the following steps:

[0058] ①Hold the positioning device and press the bounce switch;

[0059] ② Aiming at the measurement target, the laser emits a laser main wave signal to transmit to the control module, and at the same time emits a laser beam to reach the measurement target;

[0060] ③ The target reflects laser light to the receiving optical system A and the receiving optical system B, and the laser light is focused to the detector A and the detector B. The detector A and the detector B convert the detected laser echo signal into a laser echo digital signal and transmit it to the control module;

[0061] ④The control module calculates the distance between the laser and the measurement target based on the phase measurement and triangle area measurement principles;

[0062] ⑤ The control module obtains high-precision coordinates of the positioning device based on the phase measurement and measurement adjustment principles and combined with CROS error correction parameters;

[0063] ⑥ The control module calculates the coordinates of the measurement target in the CGCS2000 coordinate system based on the high-precision coordinates of the positioning device, the distance between the laser and the measurement target, and the high-precision data of the IMU;

[0064] ⑦The control module stores the coordinates of the measured target on the SD card and displays them on the display screen;

[0065] ⑧ Repeat steps ② to ⑦ until the coordinates of all measurement targets in the measurement target area are detected;

[0066] ⑨Press the bounce switch to turn off the positioning device.

[0067] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Any modification or equivalent substitution that does not depart from the spirit and scope of the present invention shall be included in the scope of the technical solution of the present invention.

Claims

1. A handheld triangle area ranging laser RTK positioning device, characterized in that: It includes a control module, and a laser, a receiving optical system A, a receiving optical system B, a detector A, a detector B, a GNSS module, an IMU module, a communication module, a storage module, a display screen, a battery and a control switch connected to the control module; wherein: The laser can emit a frequency modulated continuous wave laser and a laser main wave signal; The receiving optical system A and the receiving optical system B are symmetrically installed on both sides of the laser, and form a three-dimensional axisymmetric structure with the laser as the center. The receiving optical system A and the receiving optical system B are used to detect the echo of the frequency modulated continuous wave laser emitted by the laser, and transmit it to the detector A and the detector B respectively; Detector A and detector B are respectively installed at the rear ends of receiving optical system A and receiving optical system B, and are used to respectively detect the frequency modulated continuous wave laser echo signals received by receiving optical system A and optical system B; and convert the frequency modulated continuous wave laser echo signals into frequency modulated continuous wave laser echo digital signals; The GNSS module has horizontally polarized antennas and vertically polarized antennas to obtain GNSS signals in different directions; the IMU module is used to measure three high-precision angle data: heading angle, pitch angle, and roll angle; The communication module is used to obtain the error correction parameters of CROS; The storage module is used to store the measured target coordinate data; The display screen is used to display the coordinate data of the measured target in real time; The control module can calculate high-precision coordinates based on the phase measurement and measurement adjustment principles combined with CORS error correction parameters. At the same time, it can calculate the distance from the laser to the measurement target based on the phase measurement and triangulation measurement principles, and build a coordinate system with the phase center of the horizontally polarized antenna and the vertically polarized antenna as the origin. Combined with the three high-precision angle data measured by the IMU module, the laser measurement target coordinates are converted into the coordinates of the laser measurement target in the CGCS2000 coordinate system.

2. A handheld triangle area ranging laser RTK positioning device according to claim 1, characterized in that: The control module includes an STM32F767 chip.

3. A handheld triangle area ranging laser RTK positioning device according to claim 1, characterized in that: The communication module is a 4G communication module.

4. A handheld triangle area ranging laser RTK positioning device according to claim 1, characterized in that: The coordinate data includes longitude, latitude and altitude.

5. The handheld triangle area ranging laser RTK positioning device according to claim 1, characterized in that: The storage module includes an SD card slot and an SD memory card installed in the SD card slot.

6. A handheld triangle area ranging laser RTK positioning method, characterized in that: The positioning device according to any one of claims 1 to 5 comprises the following steps: Step 1: A laser main wave signal is transmitted to the control module through the laser, and a laser beam is simultaneously transmitted to the measurement target. The laser reflected by the measurement target is received by the receiving optical system A and the receiving optical system B, and the detector A and the detector B, respectively, and converted into a laser echo digital signal and transmitted to the control module; Step 2: Based on the laser main wave signal and the two laser echo signals, the control module calculates the distance between the receiving optical system A and the receiving optical system B and the measurement target according to the phase measurement principle, and then sums and averages the two distances to obtain a more accurate distance between the receiving optical system A and the receiving optical system B and the measurement target. The calculation formula is: Where D is the distance from the laser emitting laser port to the measurement target, Du / d is the distance from the receiving optical system A and the receiving optical system B to the measurement target, λ is the wavelength of the laser emitted to the measurement target, N is the wave number obtained by dividing the distance from the laser emitting laser port to the measurement target by the wavelength, and △φ is the phase of the transmitted wave and the received wave relative to a complete wave movement; Step 3: Assume that the angle between the laser reflection echoes of the receiving optical system A and the receiving optical system B at the measurement target is ∠C, and the baseline of the surface center point received by the receiving optical system A and the receiving optical system B is c. According to the triangle area measurement principle, combined with the distances a and b between the receiving optical system A and the receiving optical system B and the measurement target respectively, calculate the high-precision distance h from the positioning device to the measurement target. The calculation formula is: Where s is the area of ​​the triangle formed by the center points of the surfaces of the receiving optical system A and the receiving optical system B and the measurement target; Step 4, control module, according to phase measurement and measurement adjustment principle, in conjunction with CORS error correction parameters, calculate the high-precision coordinates of laser positioning device; Step 5. The control module constructs a coordinate system with the phase center of the horizontally polarized antenna and the vertically polarized antenna as the origin, obtains three high-precision angle data of the IMU, converts the laser measurement target coordinates into the coordinates of the laser measurement target coordinate system of the positioning device, and then converts them into the coordinates of the laser measurement target in the CGCS2000 coordinate system.

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