GNSS (Global Navigation Satellite System) elevation measurement device and measurement method thereof

Abstract

The invention discloses a GNSS (Global Navigation Satellite System) elevation measurement device which comprises an elevation correction parameter data broadcasting system and a front-end data resolving system, the elevation correction parameter data broadcasting system can decide to call the data of the corresponding subnet according to the position of the GNSS terminal and broadcast the data to the GNSS terminal, and the GNSS front-end data resolving system performs final elevation data resolving on the data stored in the GNSS measurement data storage system and the data broadcasted by the elevation correction parameter data broadcasting system; at the moment, the elevation data can be measured independently by only one person without being combined with a total station or a level gauge, so that high-efficiency construction is facilitated, the dependence on professional technicians is reduced, and the cost is greatly saved.

Description

Technical Field

[0001] The present invention relates to the technical field of GNSS terminal testing, and specifically to a GNSS elevation measurement device and a measurement method thereof. Background Art

[0002] In the prior art, there are various measurement methods for measuring the elevation at a construction site, such as using a level for elevation transfer, a total station for three-dimensional coordinate transfer, and a GNSS receiver for three-dimensional coordinate measurement. During the measurement process, whether using a level or a total station, multiple personnel and multiple devices are required for operation, resulting in low efficiency. Moreover, if there is a linkage error, it may lead to false alarms and incorrect recordings. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides a GNSS elevation measurement device and a measurement method thereof to meet the requirements of actual production.

[0004] The technical solution of the present invention is: a GNSS elevation measurement device, including a GNSS measurement data acquisition system, a GNSS measurement data storage system, a GNSS front-end data calculation system, a mm-level elevation data guiding system, a GNSS communication system, an elevation correction parameter data broadcast system, and a station network data analysis and processing system. The GNSS front-end data calculation system is provided inside the GNSS terminal;

[0005] The GNSS measurement data acquisition system is used to collect and store satellite data when the GNSS terminal receives an instruction control program;

[0006] The GNSS measurement data storage system is used to store the satellite data collected by the GNSS measurement data acquisition system;

[0007] The GNSS front-end data calculation system is used to calculate the data stored in the GNSS measurement data storage system and the data broadcast by the elevation correction parameter data broadcast system;

[0008] The GNSS communication system (5) is used for communication between the elevation correction parameter data broadcast system (6) and other systems;

[0009] The elevation correction parameter data broadcast system is used to decide to call the data of the corresponding subnet according to the location of the GNSS terminal and broadcast it to the GNSS terminal;

[0010] The station network data analysis and processing system is used to calculate the elevation data correction parameter information matching the surroundings of the GNSS terminal according to the location of the GNSS terminal;

[0011] The mm-level elevation data guidance system is used to transmit the mm-level elevation data to the app on the PDA side through Bluetooth or WIFI after the GNSS terminal completes the data calculation of the mm-level elevation correction information;

[0012] It further includes a GNSS control program, which is used to integrate the GNSS front-end data calculation system and the instruction tasks for implementing specific function operations on the GNSS terminal;

[0013] A measurement method for an NSS elevation measurement device; includes the following steps:

[0014] Step 1: When the construction survey operator conducts measurements outdoors, the single-point positioning coordinate data of the GNSS terminal is sent to the elevation correction parameter data broadcast system through the 4G network NTRIP communication protocol;

[0015] Step 2: After obtaining the single-point positioning coordinate data of the GNSS terminal, the elevation correction parameter data broadcast system will be processed and analyzed through the station network data analysis and processing system. Subsequently, the station network data analysis and processing system will find the GNSS original virtual observation data of the corresponding subnet from 2 adjacent subnets around the GNSS terminal according to the network construction logic algorithm, and send the GNSS original virtual observation data in the 2 adjacent subnets to the elevation correction parameter data broadcast system through the network;

[0016] Step 3: The elevation correction parameter data broadcast system sends the GNSS original virtual observation data in the 2 adjacent subnets to the GNSS terminal through the network. The GNSS terminal uses the built-in GNSS front-end data calculation system to simultaneously calculate and process the original virtual observation data of the 2 adjacent subnets and the single-point positioning coordinate data of the GNSS terminal. Before the calculation, an initialization time of 8 - 12 minutes is maintained for the calculation surface area formed by the 2 adjacent subnets and the GNSS terminal. During this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to the normal acquisition time requirements.

[0017] Another measurement method for an NSS elevation measurement device, includes the following steps:

[0018] Step 1: Set up base stations B1 and B2 around the construction operation area, and use the 4G network of the base stations B1 and B2 to send the GNSS original virtual observation data of the base stations B1 and B2 to the NTRIP data broadcast service center;

[0019] Step 2: The GNSS terminal sends the single-point positioning coordinate data of the GNSS terminal to the NTRIP data dissemination service center in the manner of the 4G network NTRIP communication protocol;

[0020] Step 3: After obtaining the position data of the GNSS terminal, the NTRIP data dissemination service center sends the GNSS original virtual observation data of base stations B1 and B2 to the GNSS terminal. At this time, the GNSS terminal simultaneously obtains the GNSS original virtual observation data of base stations B1 and B2 and the single-point positioning coordinate data of the GNSS terminal. Subsequently, the GNSS terminal uses the built-in GNSS front-end solution system to simultaneously perform solution processing on the single-point positioning coordinate data of base stations B1, B2, and the GNSS terminal. Before the solution, an initialization time of 8 - 12 minutes is maintained for the solution surface area formed by these three points of base stations B1, B2, and the GNSS terminal. During this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to the normal acquisition time requirements.

[0021] Compared with the prior art, the advantages of the present invention are as follows: The present invention is provided with an elevation correction parameter data dissemination system and a GNSS front-end data solution system. The elevation correction parameter data dissemination system can decide to call the data of the corresponding subnet according to the location of the GNSS terminal and disseminate it to the GNSS terminal, while the GNSS front-end data solution system is to perform the solution of the final elevation data on the data stored in the GNSS measurement data storage system and the data disseminated by the elevation correction parameter data dissemination system; At this time, there is no need to jointly measure the elevation data separately with a total station or a level. Only one person is required to achieve it, which is conducive to high-efficiency construction, reduces the dependence on professional and technical personnel, and greatly saves costs. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a flowchart during the use of the system in the present invention.

[0024] Among them: 1. GNSS measurement data acquisition system; 2. GNSS measurement data storage system; 3. mm-level elevation data guiding system; 4. GNSS front-end data solution system; 5. GNSS communication system; 6. Elevation correction parameter data dissemination system; 7. Station network data analysis and processing system. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without any creative efforts shall fall within the scope of protection of the present invention.

[0026] The following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings:

[0027] Such as Figure 1As shown in the figure, a GNSS elevation measurement device includes a GNSS measurement data acquisition system 1, a GNSS measurement data storage system 2, a GNSS front-end data calculation system 4, an mm-level elevation data guidance system 3, a GNSS communication system 5, an elevation correction parameter data broadcast system 6, and a network data analysis and processing system 7. The GNSS front-end data calculation system 4 is provided inside the GNSS terminal. Among them, the GNSS measurement data acquisition system 1 is used to collect and store satellite data when the GNSS terminal receives the instruction control program. The GNSS measurement data storage system 2 is used to store the satellite data collected by the GNSS measurement data acquisition system 1. The GNSS front-end data calculation system 4 is used to calculate the data stored in the GNSS measurement data storage system 2 and the data broadcast by the elevation correction parameter data broadcast system 6. The GNSS communication system 5 is used for the communication between the elevation correction parameter data broadcast system 6 and other systems. Among them, after handshake communication between the GNSS terminal and the server of the elevation correction parameter data broadcast system 6, the GNSS terminal will obtain high-precision elevation correction parameter data. The GNSS control program is used to integrate the GNSS front-end data calculation system 4 and the instruction tasks for implementing specific functions of the GNSS terminal. The elevation correction parameter data broadcast system 6 is used to decide to call the data of the corresponding subnet according to the location of the GNSS terminal and broadcast it to the GNSS terminal. The network data analysis and processing system 7 is used to calculate the elevation data correction parameter information matching the surroundings of the GNSS terminal according to the location of the GNSS terminal. The mm-level elevation data guidance system 3 is used to transfer the mm-level elevation data to the app of the GNSS terminal through Bluetooth or WIFI after the GNSS terminal completes the data calculation of the mm-level elevation correction information. Therefore, in the present invention, the position information of the current GNSS terminal is transmitted to the elevation correction parameter data broadcast system 6, and then the elevation correction parameter data broadcast system 6 calculates and matches the observation data information of two suitable network stations around the GNSS terminal (this observation data information is different from the direct differential correction information used by the current GNSS terminal). In this way, the system sends the observation data of the two matched network stations to the GNSS terminal, and the front-end calculation program of the GNSS terminal performs network data calculation, and then calculates the high-precision mm-level elevation data. This mm-level elevation data can be directly provided to the mm-level elevation data guidance system 3 at the PDA end for construction guidance. The elevation data obtained by this method meets the requirements of the high-precision construction surveying standard, and there is no need to jointly measure the elevation data with a total station or a level. Moreover, it is an independent system unit that can be completed independently, and one person can achieve it. It is not affected by weather conditions or light intensity, can achieve all-weather operation, is conducive to high-efficiency construction, reduces the dependence on professional technicians, and greatly saves costs.

[0028] In addition, the present invention also provides two measurement methods for the GNSS elevation measurement device. One of them is as follows: When construction survey operators conduct measurements outdoors, they first send the single-point positioning coordinate data of the GNSS terminal to the elevation correction parameter data dissemination system 6 through the 4G network NTRIP communication protocol. Subsequently, after receiving the single-point positioning coordinate data of the GNSS terminal, the elevation correction parameter data dissemination system 6 will be processed and analyzed by the network data parsing and processing system 7. Then, the network data parsing and processing system 7, according to the network construction logic algorithm, finds the GNSS original virtual observation data of the corresponding subnet from 2 adjacent subnets around the GNSS terminal, and sends the GNSS original virtual observation data in the 2 adjacent subnets to the elevation correction parameter data dissemination system 6 through the network (wherein, the GNSS original virtual observation data is different from the single RTCM differential correction information disseminated by the third-party data system used by the current GNSS receiver. Currently, only the RTCM message of one subnet is disseminated, while in the method of the present invention, two subnets are found simultaneously, and the data is no longer RTCM but the original virtual observation data). Subsequently, the elevation correction parameter data dissemination system 6 sends the GNSS original virtual observation data in the 2 adjacent subnets to the GNSS terminal through the network. The GNSS terminal uses the built-in GNSS front-end data calculation system 4 to simultaneously calculate and process the original virtual observation data of the 2 adjacent subnets and the single-point positioning coordinate data of the GNSS terminal. Before the calculation, an initialization time of 8 - 12 minutes is maintained for the calculation area formed by these 3 points, namely the 2 adjacent subnets and the GNSS terminal. During this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to the normal acquisition time requirements. According to this method, the GNSS terminal can obtain high-precision three-dimensional coordinates in real time, with an accuracy reaching the mm level. This accuracy is much higher than the current elevation accuracy level of 3 - 5 cm of the GNSS terminal. With high-precision mm-level elevation data, it is possible to solve the measurement problems of high-grade line construction such as high-speed rail construction, high-grade expressways, and elevation transfer of super-high-rise buildings. In this measurement method, the advantages of the GNSS receiver's all-weather operation are utilized, and at the same time, the problem that the GNSS receiver cannot perform high-precision elevation operations is overcome. By forming a plane with three points to form three calculation baselines, and using two subnets as known points, adjustment calculation is performed based on the redundant observation combinations of the three baselines, thereby obtaining high-precision mm-level elevation data of the point to be measured. The implementation of this method solves the elevation construction transfer problem of super-high-rise and high-grade line projects.

[0029] When construction survey operators conduct surveys outdoors, there may be a situation where there are no multiple available virtual subnets in the operation area. At this time, another measurement method for the NSS elevation measurement device can be adopted; in this case, 2 GNSS base stations, base station B1 and base station B2, can be set up around the construction operation area, and the 4G networks of base station B1 and base station B2 are used to send the GNSS raw virtual observation data of base station B1 and base station B2 to the NTRIP data dissemination service center. Subsequently, the GNSS terminal sends the single-point positioning coordinate data of the GNSS terminal to the NTRIP data dissemination service center through the 4G network NTRIP communication protocol (the GNSS raw virtual observation data of base station B1 and base station B2 is different from the single RTCM differential correction information broadcast by the current GNSS receiver using a third-party data system. Currently, only the RTCM message of one subnet is broadcast, while in the measurement method of this invention patent, two subnets are found simultaneously, and the data is no longer RTCM but raw virtual observation data); after the NTRIP data dissemination service center obtains the position data of the GNSS terminal, it sends the GNSS raw virtual observation data of base station B1 and base station B2 to the GNSS terminal. At this time, the GNSS terminal simultaneously obtains the GNSS raw virtual observation data of base station B1 and base station B2 and the single-point positioning coordinate data of the GNSS terminal. Subsequently, the GNSS terminal uses the built-in GNSS front-end solution system to simultaneously perform solution processing on the single-point positioning coordinate data of base station B1, base station B2, and the GNSS terminal. Before the solution, the solution surface area formed by these 3 points of base station B1, base station B2, and the GNSS terminal is maintained for an initialization time of 8 - 12 minutes. During this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to the normal acquisition time requirements; according to this method, the GNSS terminal can obtain high-precision three-dimensional coordinates in real time, with an accuracy reaching the mm level. This accuracy is much higher than the current elevation accuracy level of 3 - 5 cm of the GNSS terminal. With high-precision mm-level elevation data, it is possible to solve measurement problems such as high-grade line construction such as high-speed rail construction, high-grade expressways, and elevation transfer of super-high-rise buildings; in the two measurement methods of this invention, the main principles for improving the positioning accuracy include the following four points: 1. Increasing the number of observed data and more satellite signals: Dual-baseline solution uses two baseline data simultaneously, which means the receiver can receive more satellite signals, increasing the number of observed data; more observed data provides redundant information, and the influence of random errors can be reduced through data fusion technology. 2. Enhanced geometric constraints and geometric diversity: The two baselines usually have different geometric distributions, increasing the geometric diversity of the observations. This diversity helps to reduce errors caused by poor satellite geometric distribution (such as satellites being concentrated in a certain area). Through the joint solution of the two baselines, systematic errors such as atmospheric delay and multipath effects can be partially offset.3. Reduction of error sources. Dual-baseline solution can, through the joint processing of two baselines, better estimate and eliminate the effects of atmospheric delays (such as ionospheric and tropospheric delays). In addition, the multipath effect is one of the main error sources in GNSS measurements. Dual-baseline solution can, by increasing the observed data, better identify and reduce multipath errors. 4. Data fusion and optimization. In the dual-baseline solution of the present invention, optimization algorithms such as the least squares method are usually used to jointly process the observed data of the two baselines to obtain the optimal absolute coordinate solution; according to the quality of the baselines (such as signal-to-noise ratio, satellite geometric distribution, etc.), the observed data of the two baselines are weighted to further improve the solution accuracy. Generally speaking, the present invention synchronously observes satellite signals through two receivers fixed at known points and one receiver at the point to be measured, determines the precise relative positions or baseline vectors between the three observation stations by using the method of resection from spatial distances, and then uses the known points of the two base stations to calculate the three-dimensional coordinates of the point to be measured; since this method can effectively eliminate errors such as receiver clock errors and satellite clock errors, it can achieve a positioning accuracy at the mm level, ultimately improving the accuracy of elevation data. In addition, this measurement method makes use of the advantage of the all-weather operation of GNSS receivers, and at the same time breaks the problem that GNSS receivers cannot perform high-precision elevation operations. By forming a plane with three points to form three solution baselines, using base stations B1 and B2 as known points, and performing adjustment calculations based on the redundant observation combinations of the three baselines, high-precision mm-level elevation data of the point to be measured can be obtained. The implementation of this method solves the problem of elevation construction transfer for super-high-rise and high-grade line projects.

[0030] Working principle: The present invention transmits the position information of the current GNSS terminal to the elevation correction parameter data broadcast system 6, and then the elevation correction parameter data broadcast system 6 performs calculations to match the observed data information of two suitable station networks around the GNSS terminal (this observed data information is different from the direct differential correction information used by the current GNSS terminal). Thus, the system sends the matched observed data of the two station networks to the GNSS terminal, and the front-end solution program of the GNSS terminal performs network data solution, and then calculates high-precision mm-level elevation data. This mm-level elevation data can be directly provided to the mm-level elevation data guidance system 3 at the PDA end for construction guidance. The elevation data obtained by this method meets the requirements of high-precision construction surveying standards, and there is no need to jointly measure elevation data with a total station or a level. Moreover, it is an independent system unit that can be completed independently by one person; and it is not affected by weather conditions or light intensity, can achieve all-weather operation, is conducive to high-efficiency construction, reduces the dependence on professional technical personnel, and greatly saves costs.

[0031] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "upper", "lower", "left", "right", "front", "rear" and similar expressions used herein are for illustrative purposes only.

[0032] The above are only the preferred embodiments of the present invention, and do not impose any formal limitations on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the above-disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any brief modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A GNSS altitude measuring device, characterized in that: It comprises a GNSS measurement data acquisition system (1), a GNSS measurement data storage system (2), a GNSS front-end data solution system (4), a mm-level elevation data guidance system (3), a GNSS communication system (5), an elevation correction parameter data broadcasting system (6) and a station network data analysis and processing system (7), wherein the GNSS front-end data solution system (4) is arranged inside the GNSS terminal; The GNSS measurement data collection system (1) is used to collect and store satellite data when the GNSS terminal receives the command control program; The GNSS measurement data storage system (2) is used to store the satellite data collected by the GNSS measurement data collection system (1); The GNSS front-end data solving system (4) is used to solve the data stored in the GNSS measurement data storage system (2) and the data broadcasted by the elevation correction parameter data broadcasting system (6); The GNSS communication system (5) is used for communication between the elevation correction parameter data broadcasting system (6) and other systems; The elevation correction parameter data broadcasting system (6) is used to make a decision to call the corresponding subnet data according to the location of the GNSS terminal and broadcast it to the GNSS terminal; The station network data analysis and processing system (7) is used to calculate the elevation data correction parameter information matched around the GNSS terminal according to the location of the GNSS terminal; The mm-level elevation data guidance system (3) is used for the GNSS terminal to transmit the mm-level elevation data to the app on the PDA side via Bluetooth or WIFI after completing the data solution of the mm-level elevation correction information.

2. A measurement method according to the GNSS height measurement device of claim 1, characterized in that: The following steps are involved: Step 1: When the construction surveying workers are conducting outdoor surveying, they send the single-point positioning coordinate data of the GNSS terminal to the elevation correction parameter data broadcasting system (6) through the 4G network NTRIP communication protocol; Step 2: After obtaining the single-point positioning coordinate data of the GNSS terminal, the elevation correction parameter data broadcasting system (6) will process and analyze the data through the station network data analysis and processing system (7). Then, the station network data analysis and processing system (7) will find the GNSS original virtual observation data of the corresponding subnet from the two adjacent subnets around the GNSS terminal according to the network construction logic algorithm, and send the GNSS original virtual observation data in the two adjacent subnets to the elevation correction parameter data broadcasting system (6) through the network; Step 3: The elevation correction parameter data broadcasting system (6) sends the GNSS original virtual observation data in the two adjacent subnets to the GNSS terminal through the network. The GNSS terminal uses the built-in GNSS front-end data solution system (4) to simultaneously solve the original virtual observation data of the two adjacent subnets and the single-point positioning coordinate data of the GNSS terminal. Before solving, the solution domain composed of the three points of the two adjacent subnets and the GNSS terminal is initialized for 8-12 minutes, during which the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to normal collection time requirements.

3. A measurement method of the GNSS height measurement system according to claim 1, characterized in that: The following steps are involved: Step 1: Set up base stations B1 and B2 around the construction area, and use the 4G network of the base stations B1 and B2 to send the GNSS original virtual observation data of the base stations B1 and B2 to the NTRIP data broadcasting service center; Step 2: The GNSS terminal sends the single-point positioning coordinate data of the GNSS terminal to the NTRIP data broadcasting service center through the 4G network NTRIP communication protocol; Step 3: After obtaining the location data of the GNSS terminal, the NTRIP data broadcasting service center sends the GNSS original virtual observation data of base station B1 and base station B2 to the GNSS terminal. At this time, the GNSS terminal simultaneously obtains the GNSS original virtual observation data of the base station B1 and the base station B2 and the single-point positioning coordinate data of the GNSS terminal. Subsequently, the GNSS terminal uses the built-in GNSS front-end solution system to simultaneously solve the single-point positioning coordinate data of the base station B1, the base station B2 and the GNSS terminal. Before solving, the solution domain composed of the three points of the base station B1, the base station B2 and the GNSS terminal is initialized for 8-12 minutes, during which the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to the normal collection time requirements.

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