A GNSS height measurement device and a measurement method thereof

Abstract

The present invention discloses a GNSS elevation measurement device, comprising an elevation correction parameter data broadcasting system and a front-end data solving system. The elevation correction parameter data broadcasting system can, based on the location of the GNSS terminal, decide to call the data of the corresponding subnet and broadcast it to the GNSS terminal, while the GNSS front-end data solving system solves the final elevation data for the data stored in the GNSS measurement data storage system and the data broadcasted by the elevation correction parameter data broadcasting system. At this time, there is no need to use a total station or a level to perform a separate measurement of the elevation data, and only one person is required to achieve it, which is conducive to high-efficiency construction, reduces dependence on professional technicians, and greatly saves costs.

Description

Technical Field

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

[0002] Currently, there are various methods for measuring construction site elevations, including using a level for elevation transfer, a total station for 3D coordinate transfer, and a GNSS receiver for 3D coordinate measurement. Whether using a level or a total station, the measurement process requires multiple personnel and multiple devices to operate, resulting in low efficiency and potential misreporting and misrecording if linkage errors occur. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a GNSS height measurement device and a measurement method thereof to meet the needs 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 solution system, a mm-level elevation data guidance system, a GNSS communication system, an elevation correction parameter data broadcasting system, and a station network data analysis and processing system. The GNSS front-end data solution system is provided inside a GNSS terminal;

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

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

[0007] The GNSS front-end data solving system is used to solve the data stored in the GNSS measurement data storage system and the data broadcasted by the elevation correction parameter data broadcasting system;

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

[0009] The elevation correction parameter data broadcasting system is used to decide based on the location of the GNSS terminal to call the data of the corresponding subnet 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 matched around the GNSS terminal according to the location of the GNSS terminal;

[0011] The mm-level elevation data guidance system is used for the GNSS terminal to transmit the mm-level elevation data to the PDA app via Bluetooth or WIFI after completing the data solution of the mm-level elevation correction information;

[0012] Also included is a GNSS control program, the GNSS control program being used to integrate the GNSS front-end data solution system and to implement specific functional operation instructions for the GNSS terminal;

[0013] A measuring method for an NSS height measuring device comprises the following steps:

[0014] Step 1: When surveying outdoors, construction survey workers send the single-point positioning coordinate data of the GNSS terminal to the elevation correction parameter data broadcasting system via 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 broadcasting system will process and analyze it through the station network data analysis and processing system. Then, the station network data analysis and processing system 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 through the network;

[0016] Step 3: The elevation correction parameter data broadcasting system 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 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 this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to normal collection time requirements.

[0017] Another measuring method for an NSS height measuring device comprises the following steps:

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

[0020] Step 3: After obtaining the position 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 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 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 this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to the normal collection time requirements.

[0021] Compared with the existing technology, the advantages of the present invention are: the present invention is provided with an elevation correction parameter data broadcasting system and a GNSS front-end data solution system. The elevation correction parameter data broadcasting system can decide to call the data of the corresponding subnet according to the location of the GNSS terminal and broadcast it to the GNSS terminal, while the GNSS front-end data solution system performs final elevation data solution on the data stored in the GNSS measurement data storage system and the data broadcasted by the elevation correction parameter data broadcasting system; at this time, there is no need to use a total station or a level to perform a separate measurement of the elevation data, and only one person is needed to achieve it, which is conducive to efficient construction, reduces dependence on professional and technical personnel, and greatly saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a flow chart of the process of using 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 guidance system; 4. GNSS front-end data solution system; 5. GNSS communication system; 6. Elevation correction parameter data broadcasting system; 7. Station network data analysis and processing system. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention are described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0026] The specific embodiments of the present invention will be described below with reference to the accompanying drawings:

[0027] like Figure 1As shown, a GNSS height measurement device includes 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 height data guidance system 3, a GNSS communication system 5, a height correction parameter data broadcasting system 6 and a station network data analysis and processing system 7. The GNSS front-end data solution system 4 is provided inside the GNSS terminal; wherein the GNSS measurement data acquisition system 1 is used to collect and store satellite data when the GNSS terminal receives a command 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 solution system 4 is used to store the satellite data collected by the GNSS measurement data acquisition system 1; and the GNSS front-end data solution system 4 is used to store the satellite data collected by the GNSS measurement data acquisition system 1. Calculate 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 the communication between the elevation correction parameter data broadcasting system 6 and other systems; wherein, after the handshake communication between the GNSS terminal and the server of the elevation correction parameter data broadcasting 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 solving system 4 and the instruction task of implementing specific functional operations on the GNSS terminal; the elevation correction parameter data broadcasting system 6 is used to decide based on the location of the GNSS terminal to call the data of the corresponding subnet and broadcast it to the GNSS terminal; station network data The 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 to transmit the mm-level elevation data to the GNSS terminal app via Bluetooth or WIFI after the GNSS terminal completes the data solution of the mm-level elevation correction information; therefore, the present invention transmits the current GNSS terminal's position information to the elevation correction parameter data broadcasting system 6, and then the elevation correction parameter data broadcasting system 6 solves and matches the observation data information of the two station networks suitable for 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 station networks to the GNSS terminal, and the front-end solution program of the GNSS terminal performs network data solution, and then solves high-precision mm-level elevation data. This mm-level elevation data can be directly provided to the mm-level elevation data guidance system 3 on the PDA side for construction guidance. The elevation data obtained by this method meets the requirements of high-precision construction surveying and design standards. There is no need to use a total station or level to measure the elevation data separately. Moreover, it is an independent system unit that can be completed independently by one person; it is not affected by weather conditions and light intensity, and can achieve all-weather operation, which is conducive to high-efficiency construction, reduces dependence on professional and technical personnel, and greatly saves costs.

[0028] In addition, the present invention also provides two measurement methods for GNSS elevation measurement devices, one of which is: when construction surveying workers conduct measurements outdoors, they first 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; then, after obtaining the single-point positioning coordinate data of the GNSS terminal, the elevation correction parameter data broadcasting system 6 will process and analyze it through the station network data analysis and processing system 7, and 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. The data is obtained by searching the original virtual GNSS observation data in two adjacent subnets and sending them to the elevation correction parameter data broadcasting system 6 through the network (the original virtual GNSS observation data is different from the single RTCM differential correction information broadcasted by the third-party data system currently used by the GNSS receiver. Currently, only the RTCM message of one subnet is broadcasted. However, in the method of the present invention, two subnets are found at the same time, and the data is no longer RTCM, but original virtual observation data). Subsequently, the elevation correction parameter data broadcasting system 6 sends the original virtual GNSS observation data in two adjacent subnets to the GNSS terminal through the network. The terminal uses the built-in GNSS front-end data solution system 4 to solve the original virtual observation data of two adjacent subnets and the single-point positioning coordinate data of the GNSS terminal at the same time. Before the solution, the solution domain composed of the three points of the two adjacent subnets and the GNSS terminal is initialized for 8-12 minutes. During this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can move 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 of mm level, which is much higher than the current GNSS terminal's elevation accuracy of 3-5 cm, and has high-precision m After obtaining m-level elevation data, it can meet the measurement problems of high-level line construction such as high-speed railway construction, high-level highways, and elevation transfer of super high-rise buildings. In this measurement method, the advantage of GNSS receivers' all-weather operation is utilized, and at the same time, the problem of GNSS receivers' inability to perform high-precision elevation operations is broken. Three points are used to form a surface, three solution baselines are formed, and two subnets are used as known points. Adjustment and solution are performed based on the redundant observation combinations of the three baselines, thereby obtaining high-precision mm-level elevation data of the measured points. The implementation of this method solves the elevation construction transfer problem of super high-rise and high-level line projects.

[0029] When construction surveying workers are measuring outdoors, there may be a situation where there are no multiple virtual subnets available in the work area. In this case, another measurement method for NSS height measurement device can be used. At this time, two GNSS base stations, base station B1 and base station B2, can be set up around the construction work area. The 4G network of base station B1 and base station B2 can be used to send the GNSS original virtual observation data of base station B1 and base station B2 to the NTRIP data broadcast service center. Then the GNSS terminal sends the single point positioning coordinate data of the GNSS terminal to the NTRIP data broadcast service center through the 4G network NTRIP communication protocol. According to the broadcast service center (the original virtual GNSS observation data of base stations B1 and B2 are 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. However, in the measurement method of the present invention, two subnets are found at the same time, and the data is no longer RTCM, but original virtual observation data); after the NTRIP data broadcast service center obtains the position data of the GNSS terminal, it sends the original virtual GNSS observation data of base stations B1 and B2 to the GNSS terminal. At this time, the GNSS terminal obtains the RTCM message of base stations B1 and B2 at the same time. 2's GNSS original virtual observation data and the single-point positioning coordinate data of the GNSS terminal. The GNSS terminal then uses the built-in GNSS front-end solution system to simultaneously solve the single-point positioning coordinate data of base station B1, base station B2 and the GNSS terminal. Before solving, the solution domain composed of the three points of base station B1, base station B2 and the GNSS terminal is initialized for 8-12 minutes. During this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can move 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 of mm level. This accuracy is much higher than the current GNSS terminal's elevation accuracy of 3-5cm. With high-precision mm-level elevation data, it is possible to meet the measurement challenges of high-level line construction such as high-speed rail construction, high-level highways, and super-high-rise building elevation transfer. In the two measurement methods of the present invention, the main principles for improving positioning accuracy include the following four points: 1. Increase observation data and more satellite signals: The dual-baseline solution uses two baseline data at the same time, which means that the receiver can receive more satellite signals and increase the amount of observation data; more observation data provides redundant information, which can reduce the impact of random errors through data fusion technology. 2. Enhanced geometric constraints and geometric diversity: The two baselines usually have different geometric distributions, which increases the geometric diversity of observations. This diversity helps to reduce errors caused by poor satellite geometric distribution (such as satellites concentrated in a certain area). Through the joint solution of the two baselines, systematic errors such as atmospheric delay and multipath effect can be partially offset.3. Reduction of error sources. The dual baseline solution can better estimate and eliminate the influence of atmospheric delay (such as ionospheric and tropospheric delay) by jointly processing two baselines. In addition, the multipath effect is one of the main error sources in GNSS measurement. The dual baseline solution can better identify and reduce multipath errors by increasing the observation data. 4. Data fusion and optimization. In the dual baseline solution of the present invention, an optimization algorithm such as the least squares method is usually used to jointly process the observation data of the two baselines to obtain the optimal absolute coordinate solution; according to the quality of the baseline (such as signal-to-noise ratio, satellite geometric distribution, etc.), the observation data of the two baselines are weighted to further improve the solution accuracy. In general, the present invention uses two receivers fixed on known points and one receiver at the point to be measured to synchronously observe satellite signals, and uses the spatial distance resection method to determine the precise relative position or baseline vector between the three observation stations, and then uses the known points of the two base stations to solve the three-dimensional coordinates of the point to be measured; because this method can effectively eliminate errors such as receiver clock error and satellite clock error, it can achieve mm-level positioning accuracy, and ultimately improve the accuracy of elevation data. In addition, this measurement method takes advantage of the all-weather operation of GNSS receivers, and also breaks the problem that GNSS receivers cannot perform high-precision elevation operations. It uses three points to form a surface and three solution baselines. Base stations B1 and B2 are used as known points, and adjustment solutions are performed based on the redundant observation combinations of the three baselines, thereby obtaining high-precision mm-level elevation data of the measured points. The implementation of this method solves the elevation construction transfer problem of 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 broadcasting system 6, and then the elevation correction parameter data broadcasting system 6 solves and matches the observation data information of two station networks suitable for the surrounding of the GNSS terminal (the 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 station networks to the GNSS terminal, and the front-end solution program of the GNSS terminal performs networking data solution, and then solves high-precision mm-level elevation data. This mm-level elevation data can be directly provided to the mm-level elevation data guidance system 3 on the PDA side for construction guidance. The elevation data obtained by this method meets the requirements of high-precision construction surveying and design standards, and there is no need to combine a total station or a level to perform a separate measurement of the elevation data. It is an independent system unit that can be completed independently and can be achieved by one person; it is not affected by weather conditions and light intensity, and can achieve all-weather operation, which is conducive to high-efficiency construction, reduces dependence on professional and technical personnel, and greatly saves costs.

[0031] 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 referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "upper," "lower," "left," "right," "front," "rear," and similar expressions used herein are for illustrative purposes only.

[0032] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A GNSS height measurement device, characterized by: The system comprises a GNSS measurement data acquisition system (1), a GNSS measurement data storage system (2), a GNSS front-end data solution system (4), a millimeter-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 provided inside the GNSS terminal; The GNSS measurement data acquisition system (1) is used to collect and store satellite data when the GNSS terminal receives a 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 decide based on the location of the GNSS terminal to call the data of the corresponding subnet and broadcast it to the GNSS terminal, wherein the subnet is two adjacent subnets around 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, and send the elevation data correction parameter information to the elevation correction parameter data broadcasting system (6); The millimeter-level elevation data guidance system (3) is used for the GNSS terminal to receive the millimeter-level elevation data from the GNSS front-end data solution system (4) after completing the data solution of the millimeter-level elevation correction information, and transmit the millimeter-level elevation data to the app on the PDA side via Bluetooth or WIFI.

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 surveys, they send the single-point positioning coordinate data of the GNSS terminal to the elevation correction parameter data broadcasting system (6) via 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) processes and analyzes the data through the station network data analysis and processing system (7). Then, the station network data analysis and processing system (7) finds the GNSS original virtual observation data of the corresponding subnet from two adjacent subnets around the GNSS terminal according to the network construction logic algorithm, and sends 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 this period, the GNSS terminal remains stationary. After initialization, the GNSS terminal can perform mobile operations according to normal acquisition 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 base stations B1 and B2 to send the GNSS original virtual observation data of base stations B1 and B2 to the NTRIP data broadcast 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 position 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 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 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 this period, 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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