A mobile phone-based external intelligent surveying and mapping device, method, and system based on RTK.

Abstract

This invention discloses a mobile phone external intelligent surveying device, including a signal receiving and positioning device, which includes a multi-frequency GNSS RTK chip housed within the casing for receiving satellite signals and providing centimeter-level accurate positioning data. A control and timing device includes a main control chip and a high-precision clock source housed within the casing. A communication and synchronization interface device is a wired communication interface for connecting to a smartphone and providing data communication and synchronization signal transmission for the smartphone. This mobile phone external intelligent surveying device achieves full-process coverage from data acquisition and real-time preview to high-precision offline processing, greatly reducing the technical threshold and equipment cost of professional surveying, and providing unprecedented convenience and flexibility for fields such as engineering inspection and geographic information collection.

Description

Technical Field

[0001] This invention relates to the field of intelligent surveying and mapping technology, and in particular to an RTK-based mobile phone external intelligent surveying and mapping device, method and system. Background Technology

[0002] Against the backdrop of rapid development in fields such as smart cities, digital twins, precision agriculture, and engineering supervision, the market demand for high-precision, high-efficiency, and low-cost real-scene 3D mapping technology is becoming increasingly urgent. Traditional mapping solutions mainly rely on equipment such as total stations, high-precision GNSS receiving stations, and professional laser scanners. Although these can guarantee extremely high accuracy, they have inherent drawbacks such as expensive equipment, complex operation, the need for professional training, and long data processing cycles, making them difficult to popularize in scenarios requiring rapid response and widespread application.

[0003] To address these issues, existing solutions typically employ a separate signal receiving and positioning device (such as a GNSS RTK receiver) that connects to a smartphone wirelessly via Bluetooth or other methods to transmit RTK positioning data. However, such wireless communication and synchronization interface devices inherently suffer from high transmission latency, susceptibility to interference, and data packet loss. More critically, they cannot provide precise hardware synchronization signals for the smartphone's built-in camera and inertial measurement unit sensors, resulting in misalignment of position, attitude, and image data across multiple sources in time. This introduces difficult-to-calibrate spatiotemporal errors for subsequent data fusion. Existing external modules are functionally limited, generally lacking modular environmental sensing devices and built-in intelligent decision-making devices, and have not yet constructed an intelligent architecture capable of efficiently collaborating with the smartphone's computing power and cloud processing capabilities.

[0004] To overcome the fundamental defects of existing technologies, this invention provides an RTK-based mobile phone external intelligent mapping device, method, and system, aiming to systematically solve the above problems through integrated device design and a closed-loop ecosystem of edge-cloud collaboration. Summary of the Invention

[0005] In view of the problems existing in the current mobile phone external intelligent mapping devices, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a mobile phone external intelligent surveying device, which is to provide an RTK-based mobile phone external intelligent surveying device, method and system.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a signal receiving and positioning device, which includes a multi-frequency GNSS RTK chip disposed in a housing, for receiving satellite signals and providing positioning data with centimeter-level accuracy;

[0008] A control and timing device, comprising a main control chip and a high-precision clock source housed within a housing;

[0009] A communication and synchronization interface device, which is a wired communication interface, is used to connect to a smartphone and provide data communication and synchronization signal transmission for the smartphone.

[0010] As a preferred embodiment of the mobile phone external intelligent mapping device of the present invention, the high-precision clock source in the control and timing device serves as the master clock, used to timestamp the positioning data generated by the signal receiving and positioning device, and to send a synchronization pulse signal to the connected smartphone through the communication and synchronization interface device.

[0011] As a preferred embodiment of the mobile phone external intelligent mapping device of the present invention, the mobile phone external intelligent mapping device adopts a modular design and can be equipped with an environmental sensing device, which is integrated into the housing and is a miniature lidar module used to acquire the distance and point cloud data of the target.

[0012] The main control chip in the control and timing device is used to initially package and synchronize the positioning data provided by the signal receiving and positioning device and the lidar point cloud data provided by the environmental sensing device.

[0013] As a preferred embodiment of the mobile phone external intelligent mapping device of the present invention, wherein: when only the signal receiving and positioning device is enabled, the control and timing device operates in basic positioning mode; when both the signal receiving and positioning device and the environmental sensing device are enabled, the automatic control device switches to enhanced mapping mode.

[0014] As a preferred embodiment of the mobile phone external intelligent surveying device of the present invention, the smartphone locally stores a client application, the client application identifies and drives the mobile phone external intelligent surveying device, and provides a user interface for the user to select surveying modes, preview 3D models and manage data.

[0015] As a preferred embodiment of the mobile phone external intelligent mapping device of the present invention, the control and timing device is embedded with an intelligent decision-making device, which is a fixed rule base. The rule base pre-stores thresholds for judging the quality of radio signals.

[0016] The main control chip in the control and timing device monitors the signal status of the signal receiving and positioning device in real time based on the intelligent decision-making device, and can automatically adjust the data output frequency or trigger data markers according to the signal quality.

[0017] As a preferred embodiment of the mobile phone external intelligent surveying and mapping device of the present invention, the rule base in the intelligent decision-making device contains multiple predefined working mode parameter sets corresponding to different application scenarios.

[0018] As a preferred embodiment of the mobile phone external intelligent mapping device of the present invention, the main control chip in the control and timing device receives the mode switching instruction and calls the corresponding parameter set in the intelligent decision-making device to adjust the working state of the signal receiving and positioning device and the optional environmental sensing device.

[0019] A surveying method for a mobile phone external intelligent surveying device, applied to the mobile phone external intelligent surveying device, the surveying method comprising the following steps:

[0020] Step S901: Connection and Synchronization. Connect the external intelligent mapping device to the smartphone through the communication and synchronization interface device, complete hardware initialization, and establish a time synchronization mechanism based on the high-precision clock source in the control and timing device.

[0021] Step S902: Data acquisition. During the movement of the device, the external intelligent mapping device connected to the mobile phone continuously outputs RTK positioning data with timestamps, and optionally outputs laser point cloud data. At the same time, the smartphone synchronously acquires its own image and inertial measurement unit data.

[0022] Step S903: Real-time processing. The smartphone receives all synchronized data and, using its heterogeneous computing capabilities, calculates and generates a real-world 3D model in real time, with RTK data as the absolute position constraint.

[0023] Step S904: Adaptive output. The smartphone dynamically adjusts the modeling accuracy or triggers cloud collaboration based on the signal quality information obtained from the device or the user's preset instructions, and outputs the final model.

[0024] A surveying system with an external intelligent surveying device for mobile phones, comprising,

[0025] The aforementioned mobile phone external intelligent mapping device.

[0026] The cloud processing device is a cloud processing platform used to receive data uploaded by smartphones and perform high-precision offline optimization, data storage, and large-scale model management.

[0027] The mobile phone external intelligent surveying and mapping device, the smartphone, and the cloud processing device together constitute a closed-loop surveying and mapping ecosystem with end-to-cloud collaboration.

[0028] The beneficial effects of this invention are as follows: By integrating a signal receiving and positioning device, a control and timing device, and an optional environmental sensing device into a portable external module, and utilizing the computing power and display interface of a smartphone, a high-precision, low-cost, and integrated mobile mapping solution has been successfully constructed. This solution provides a unified time reference for the device itself and the smartphone's built-in sensors through a high-precision clock source in the control and timing device, achieving hardware-level multi-source data synchronization. This ensures the spatiotemporal consistency of RTK positioning data with imagery and inertial measurement unit data, laying a solid foundation for centimeter-level precision in real-world 3D modeling. Simultaneously, the modular design and built-in intelligent decision-making device enable the system to intelligently adapt to different application scenarios, automatically switching between basic positioning and enhanced mapping modes, and dynamically adjusting data strategies. Finally, through an edge-cloud collaborative closed-loop ecosystem including a cloud processing device, the entire process from data acquisition and real-time preview to high-precision offline processing is covered, significantly reducing the technical threshold and equipment costs for professional surveying and mapping, and providing unprecedented convenience and flexibility for fields such as engineering inspection and geographic information collection. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the surveying device structure of Embodiment 1 is shown;

[0031] Figure 2 A schematic diagram of the mapping device mode selection in Embodiment 2 is shown;

[0032] Figure 3 A schematic diagram of the client application interface of Embodiment 2 is shown;

[0033] Figure 4 A schematic diagram of the logical structure of the intelligent decision-making device in Embodiment 3 is shown;

[0034] Figure 5 A schematic diagram of the surveying method using a surveying device is shown. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0036] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0037] Example 1, referring to Figure 1 This is the first embodiment of the present invention, which provides a mobile phone external intelligent mapping device, the device comprising:

[0038] A signal receiving and positioning device, comprising a multi-frequency GNSS RTK chip disposed within a housing, for receiving satellite signals and providing positioning data with centimeter-level accuracy.

[0039] A control and timing device, which includes a main control chip and a high-precision clock source housed within a housing.

[0040] A communication and synchronization interface device, which is a wired communication interface, is used to connect to a smartphone and provide data communication and synchronization signal transmission for the smartphone.

[0041] The device's outer shell is injection molded from high-strength engineering plastic, making it easy to hold or attach to a mobile phone via a clip. An internal metal shield isolates it from external electromagnetic interference. The signal receiving and positioning device uses a multi-frequency GNSS RTK chip. The antenna section uses an external miniature ceramic patch antenna, connected to the motherboard via an interface, and can be placed outside the shell for better reception. This module communicates with the main control chip via an interface, outputting RTK positioning data with a frequency of 1-5Hz and an accuracy better than 2 cm. The main control chip in the control and timing device uses a high-performance microcontroller responsible for data scheduling and protocol encapsulation. A high-precision clock source provides a unified time reference for the entire system. The communication and synchronization interface uses a USB Type-C physical interface, which is used not only for power supply and data transmission but also for sending precise second pulse signals to the mobile phone, achieving microsecond-level time synchronization.

[0042] Furthermore, the high-precision clock source in the control and timing device serves as the master clock, used to timestamp the positioning data generated by the signal receiving and positioning device, and to send synchronization pulse signals to the connected smartphone through the communication and synchronization interface device.

[0043] The main control chip internally operates a high-precision timer. Whenever a valid positioning data packet is received from the RTK chip, the main control chip immediately reads the current count value of this timer, converts it into a standard UTC timestamp, and appends it to the data packet. The main control chip also programs another timer to generate a high-level pulse precisely at the beginning of every whole second (UTC time). This high-level pulse signal is transmitted to the smartphone via a dedicated wire in the USB cable. The client application on the smartphone listens for this high-level pulse signal to precisely calibrate the phone's system clock, ensuring that every frame captured by the phone's camera and every set of data recorded by the inertial measurement unit is aligned with the RTK positioning data on a unified timeline.

[0044] Before use, users first physically connect the intelligent mapping device to their smartphone via a USB Type-C interface. After powering on, the device automatically completes hardware initialization, and its built-in high-precision clock source begins operation. At this time, the dedicated application pre-installed on the smartphone automatically recognizes and drives the external device, establishing bidirectional communication. During use, the device's main control chip continuously performs two key tasks: first, it adds a microsecond-level UTC timestamp to each frame of received RTK positioning data; second, it sends a precise second-pulse synchronization signal to the phone via a dedicated USB cable. Upon receiving the synchronization signal, the mobile application immediately calibrates its own system clock, using this unified time reference to coordinate data acquisition from built-in sensors such as the camera and inertial measurement unit. When the user moves within the survey area, the device outputs centimeter-level precision timestamped positioning data, while the phone simultaneously acquires imagery and inertial measurement data. After all data streams are aligned on a unified timeline, the phone utilizes its computing power to fuse multi-source data in real time, dynamically generating and displaying a realistic 3D model on the screen. The entire process forms a complete closed loop from hardware synchronization and data acquisition to real-time modeling, achieving seamless collaborative operation between professional-grade surveying data and mobile devices.

[0045] Example 2, refer to Figure 1 This is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that the mobile phone external intelligent mapping device adopts a modular design and can be equipped with an environmental sensing device, which is integrated into the housing and is a miniature LiDAR module used to acquire the distance and point cloud data of the target. The main control chip in the control and timing device is used to initially package and synchronize the positioning data provided by the signal receiving and positioning device and the LiDAR point cloud data provided by the environmental sensing device.

[0046] The environmental sensing device is integrated into a reserved area within the housing. An optional miniature LiDAR module is embedded in the housing. This module communicates with the main control chip via an interface, providing real-time 2D or 3D point cloud data within a 10-meter ranging range. The main control chip creates three data buffers: an RTK data buffer, a point cloud buffer, and a timestamp buffer. When a high-level pulse signal arrives, the main control chip synchronously triggers RTK data reading and a single LiDAR scan. Subsequently, the main control chip packages the RTK position, point cloud data packet, and the precise timestamp corresponding to the high-level pulse acquired within the same high-level pulse period into a custom data frame with a synchronization identifier, and sends it to the mobile phone via the interface.

[0047] Furthermore, when only the signal receiving and positioning device is activated, the control device operates in basic positioning mode; when both the signal receiving and positioning device and the environmental sensing device are activated simultaneously, the automatic control device switches to enhanced mapping mode.

[0048] The main control chip of the mapping device first checks the connection status of the environmental sensing device. If it is not detected or not enabled by the user, the device automatically enters "basic positioning mode". In this mode, the main control chip only initializes and runs the RTK chip and clock module, and the data packet frame only contains RTK positioning data and timestamps to reduce power consumption. When the main control chip confirms that the environmental sensing device is connected and ready by detecting the identification resistor on the connector or receiving a specific start command, it automatically switches to "enhanced mapping mode". The main control chip then initializes the LiDAR driver and adjusts the data packaging process to integrate point cloud data. At the same time, the main control chip may appropriately increase the data output frequency of the RTK to match the high scan rate of the LiDAR.

[0049] Furthermore, the smartphone locally stores a client application that identifies and drives the external smart module and provides a user interface for users to select surveying modes, preview 3D models, and manage data.

[0050] A dedicated client application was developed for smartphones. This application includes the driver for the external device and automatically loads the corresponding communication protocol and synchronization signal monitoring program upon connection. The user interface within the client application offers mode selection, providing "Basic Positioning" and "Enhanced Mapping" modes via buttons or switches. In the 3D preview interface, the received RTK trajectory and laser point cloud are rendered in real-time using the phone's graphics processor, forming a preliminary, rotatable, and scalable 3D scene view. The data management interface provides "Start Recording" and "Stop Recording" buttons and stores all synchronized data (RTK, point cloud, mobile imagery, inertial measurement unit) locally on the phone as timestamped files, supporting categorization, deletion, and export by project name.

[0051] Before use, users connect the intelligent mapping device to their smartphone via a USB Type-C interface. After powering on, the device automatically completes hardware initialization, and its high-precision clock source begins operation. At this point, the dedicated mobile application automatically identifies and drives the external device, establishing bidirectional communication. The application provides an intuitive user interface, allowing users to select either "basic positioning" or "enhanced mapping" mode as needed. When the device does not detect a LiDAR module, it automatically enters basic positioning mode, outputting only timestamped RTK positioning data. When an optional miniature LiDAR module is detected, it automatically switches to enhanced mapping mode. In this mode, the main control chip creates three buffers: RTK data, point cloud data, and timestamps. With each synchronization pulse signal, it synchronously triggers RTK data reading and LiDAR scanning, packaging centimeter-level positioning data acquired within the same time period with point cloud data within a 10-meter ranging range into a data frame with a synchronization identifier and sending it to the mobile phone. The mobile application calibrates the system clock by listening to the synchronization signal, coordinates the synchronous data acquisition of the camera and inertial measurement unit sensor, and uses the graphics processor to fuse multi-source data in real time, dynamically rendering an interactive real-world 3D model in the 3D preview interface. Users can control data recording through interface buttons. All synchronized data is stored and managed uniformly according to timestamps, forming a complete surveying and mapping process from hardware synchronization, intelligent mode switching, multi-sensor data fusion to real-time 3D reconstruction, realizing a high degree of integration between professional surveying and mapping capabilities and mobile devices.

[0052] Example 3, referring to Figure 1 This is the third embodiment of the present invention. The difference between this embodiment and the second embodiment is that: the control and timing device has an embedded intelligent decision-making device, which is a fixed rule base. The rule base has pre-stored thresholds for judging the quality of radio signals; the main control chip in the control and timing device monitors the signal status of the signal receiving and positioning device in real time based on the intelligent decision-making device, and can automatically adjust the data output frequency or trigger data markers according to the signal quality.

[0053] The rules for judging radio signal quality are pre-stored in memory in the form of a lookup table. The rules include:

[0054] Threshold 1: Location solution type. Fixed solutions are of high quality, floating solutions are of medium quality, and single-point solutions are of low quality.

[0055] Threshold 2: Number of satellites. >15 is excellent, 10-15 is good, and <10 is poor.

[0056] Threshold 3: Position accuracy factor. <2 is excellent, 2-4 is good, and >4 is poor.

[0057] After receiving and parsing RTK data, the main control chip compares the above thresholds in real time. When the signal quality is "excellent," it maintains a 5Hz output; when it drops to "good," it automatically reduces the frequency to 2Hz to save bandwidth and power consumption; when it is "poor," it reduces the frequency to 1Hz and records a warning flag. When the signal quality jumps from "excellent / good" to "poor," the main control chip sets a "signal loss" flag in the data frame to remind the mobile device to pay close attention to or remove this segment of data during post-processing.

[0058] Furthermore, the rule base in the intelligent decision-making device includes multiple predefined working mode parameter sets corresponding to different application scenarios.

[0059] In the rule base mentioned above, in addition to the basic threshold, multiple parameter sets for different scenarios are also stored:

[0060] Open area mode: RTK output frequency = 5Hz. If LiDAR is enabled, LiDAR scanning frequency = 10Hz. Data is packaged without compression.

[0061] City Canyon Mode: RTK output frequency = 10Hz to capture more frequent location changes, enable signal quality filtering, output only fixed and floating solution data, and discard single-point solution data directly.

[0062] Indoor mode: Automatically disables the RTK module (because it is ineffective), forces the LiDAR module to be enabled, increases the scanning frequency to 15Hz, and the main control chip only packages and sends point cloud and timestamp data.

[0063] Furthermore, the main control chip in the control and timing device receives scene switching instructions and calls the corresponding parameter set in the intelligent decision-making device to adjust the working status of the signal receiving and positioning device and the optional environmental sensing device.

[0064] Users select different application scenarios through a client application. After receiving the instructions, the main control chip parses the pattern keywords and then retrieves the corresponding parameter set from the stored intelligent decision-making device rule base. Based on the parameter set, the main control chip sends configuration commands to the RTK chip and commands to the LiDAR module to adjust its scanning configuration. Simultaneously, the data filtering logic within the main control chip is also updated to the corresponding rules.

[0065] During use, users connect the intelligent mapping device to their smartphones via a USB Type-C interface. After powering on, the device automatically completes hardware initialization, and its high-precision clock source begins operation. At this point, the dedicated mobile application automatically identifies and drives the external device, establishing bidirectional communication. This application provides an intuitive user interface, allowing users to select either "basic positioning" or "enhanced mapping" modes and different parameter sets for various application scenarios. When the device does not detect a LiDAR module, it automatically enters basic positioning mode, outputting only timestamped RTK positioning data. When an optional miniature LiDAR module is detected, it automatically switches to enhanced mapping mode. The main control chip then calls a pre-stored intelligent decision rule base. This rule base includes signal quality evaluation thresholds based on positioning solution type, number of satellites, and position accuracy factor, and also integrates predefined parameter sets for different scenarios. After receiving and parsing RTK data, the main control chip compares the signal quality thresholds in real time: when the signal quality is "excellent," it maintains a 5Hz output; when it drops to "good," it automatically reduces the frequency to 2Hz; and when it is "poor," it reduces the frequency to 1Hz and records a warning flag. When the signal quality jumps from "excellent / good" to "poor," it also sets a "signal loss" flag in the data frame. Simultaneously, based on the user-selected scenario mode, the main control chip automatically calls the corresponding parameter set, dynamically adjusting the RTK output frequency (5Hz / 10Hz / disable), the LiDAR scanning frequency (10Hz / 15Hz), and the data filtering logic, and configuring the working status of each module through commands. Under the scheduling of the main control chip, the system synchronously triggers RTK data reading and LiDAR scanning when each synchronization pulse signal arrives, packaging the centimeter-level positioning data acquired within the same time period with the point cloud data within a 10-meter ranging range into a data frame with a synchronization identifier and sending it to the mobile phone. The mobile application calibrates the system clock by listening to synchronization signals, coordinates the synchronous data acquisition of the camera and inertial measurement unit sensors, and uses a graphics processor to fuse multi-source data in real time, dynamically rendering an interactive real-world 3D model on a 3D preview interface. Users can control data recording through interface buttons, and all synchronized data is stored and managed uniformly according to timestamps, forming a complete surveying and mapping process from hardware synchronization, intelligent mode switching, adaptive signal processing, multi-sensor data fusion to real-time 3D reconstruction, achieving a high degree of integration between professional surveying and mapping capabilities and mobile devices.

[0066] A surveying method for a mobile phone external intelligent surveying device, applied to the mobile phone external intelligent surveying device of the present invention, the surveying method comprising the following steps:

[0067] Step S901: Connection and Synchronization. Connect the external intelligent mapping device to the smartphone through the communication and synchronization interface device, complete hardware initialization, and establish a time synchronization mechanism based on the high-precision clock source in the control and timing device.

[0068] Step S902: Data acquisition. During the movement of the device, the external intelligent mapping device connected to the mobile phone continuously outputs RTK positioning data with timestamps, and optionally outputs laser point cloud data. At the same time, the smartphone synchronously acquires its own image and data from the inertial measurement unit.

[0069] Step S903: Real-time processing. The smartphone receives all synchronized data and, using its heterogeneous computing capabilities, calculates and generates a real-world 3D model in real time, with RTK data as the absolute position constraint.

[0070] Step S904: Adaptive output. The smartphone dynamically adjusts the modeling accuracy or triggers cloud collaboration based on the signal quality information obtained from the device or the user's preset instructions, and outputs the final model.

[0071] After connecting the surveying device and the smartphone, the mobile client application starts, detects the device, and sends an initialization command. The device's main control chip resets all modules and begins outputting high-level pulse signals. The mobile client application listens for these high-level pulses and uses them as a reference to calibrate the phone's system clock and sensor timestamps.

[0072] As the user walks through the survey area with their handheld device, the system continuously outputs timestamped RTK data and laser point clouds (if enabled). The client application triggers the camera to capture video and reads inertial data from the phone upon synchronization with each high-level pulse signal. All data streams are tagged with a uniform time stamp.

[0073] The mobile client application utilizes its graphics processor for real-time visual synchronous localization and mapping calculations. Simultaneously, it uses the received RTK positioning data as an absolute constraint to continuously correct the accumulated errors generated during synchronous localization and mapping calculations. For laser point cloud data, the mobile client application fuses it with visual feature point clouds to jointly participate in the reconstruction of the 3D scene, generating a textured realistic 3D model, which is then previewed on the screen in real time.

[0074] The mobile client application monitors the signal quality indicators transmitted from the device in real time. When entering a parameter set with an RTK output frequency of 10Hz, resulting in a prolonged period of "poor" RTK signal, the mobile client application automatically reduces the global optimization frequency for model reconstruction and displays a pop-up message to the user stating, "Weak signal, model accuracy may temporarily decrease." Simultaneously, the mobile client application can activate a "cloud collaboration" mode, uploading the collected raw data stream to the cloud via the network. The cloud server utilizes its superior computing power for global optimization and detailed modeling, and upon completion, sends the optimized model back to the mobile phone, achieving a high-precision output of the final model.

[0075] A mobile phone external intelligent surveying and mapping system includes the aforementioned mobile phone external intelligent surveying and mapping device; a cloud processing device, which is a cloud processing platform, used to receive data uploaded by the smartphone, perform high-precision offline optimization, data storage and large-scale model management; wherein, the mobile phone external intelligent surveying and mapping device, the smartphone and the cloud processing device together constitute an end-to-cloud collaborative closed-loop surveying and mapping ecosystem.

[0076] Smartphones and surveying equipment are responsible for on-site data collection, synchronization, and real-time preliminary modeling. A cloud processing device builds a cloud server-based processing platform. The platform deploys high-precision offline optimization algorithms to perform global adjustment, generating a final model with centimeter-level accuracy. Data storage services utilize blockchain technology to hash and upload the uploaded raw data and processed model to the blockchain, ensuring data authenticity and immutability for use in judicial surveying, engineering acceptance, and other scenarios. A spatial database is established through large-scale model management, dividing, indexing, and publishing the generated realistic 3D models, supporting online browsing, measurement, and analysis on both web and mobile devices. After completing data collection and preliminary modeling on-site via a mobile client application, users can upload the project to the cloud with one click. After cloud processing, the results are pushed back to the mobile client application and updated to the user's model library. Users can also log in to the web interface on a computer for more in-depth model analysis. The entire process, from data collection and processing to application management, forms a complete end-to-end cloud collaborative closed loop.

[0077] This invention achieves several groundbreaking benefits through deep hardware integration and intelligent algorithm collaboration: it innovatively integrates a centimeter-level RTK positioning module, a high-precision clock source, and an optional lidar module into a portable peripheral, solving the core challenge of multi-source sensor data alignment through a microsecond-level synchronization pulse mechanism; the built-in intelligent decision-making system has multi-scenario adaptive capabilities, can optimize data acquisition strategies in real time based on signal quality thresholds, and automatically switch working modes in open areas, urban canyons, and indoor environments, significantly improving data reliability under complex working conditions; leveraging the heterogeneous computing capabilities of mobile phone graphics processors, it achieves real-time reconstruction of the actual 3D model from raw data acquisition, constructing a new paradigm of mobile surveying and mapping that integrates high-precision positioning, environmental perception, adaptive acquisition, and real-time visualization, completely breaking through the traditional limitations of professional surveying and mapping equipment in terms of cost, portability, and operational barriers.

[0078] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims. Furthermore, for the purpose of providing a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features not relevant to the currently considered best mode for carrying out the invention, or those features not relevant to implementing the invention) may be omitted.

[0079] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A mobile phone-based external intelligent mapping device based on RTK, characterized in that, include: A signal receiving and positioning device, comprising a multi-frequency GNSS RTK chip disposed within a housing, for receiving satellite signals and providing positioning data with centimeter-level accuracy; The control and timing device includes a main control chip and a high-precision clock source housed within a housing; the high-precision clock source in the control and timing device serves as the main clock, used to timestamp the positioning data generated by the signal receiving and positioning device, and to send synchronization pulse signals to the connected smartphone through a communication and synchronization interface device. A communication and synchronization interface device, which is a wired communication interface, is used to connect to a smartphone and provide data communication and synchronization signal transmission for the smartphone; The mobile phone external intelligent mapping device adopts a modular design and can be equipped with an environmental sensing device, which is integrated into the housing and is a miniature lidar module used to acquire the distance and point cloud data of the target; the main control chip in the control and timing device is used to initially package and synchronize the positioning data provided by the signal receiving and positioning device and the lidar point cloud data provided by the environmental sensing device. The control and timing device has an embedded intelligent decision-making device, which is a fixed rule base. The rule base pre-stores thresholds for judging the quality of radio signals. The main control chip in the control and timing device monitors the signal status of the signal receiving and positioning device in real time based on the intelligent decision-making device, and can automatically adjust the data output frequency or trigger data markers according to the signal quality. The mobile phone external intelligent mapping device performs the following mapping method, including the following steps: Step S901: Connection and synchronization. The external intelligent mapping device of the mobile phone is connected to the smartphone through the communication and synchronization interface device to complete hardware initialization and establish a time synchronization mechanism based on the high-precision clock source in the control and timing device. Step S902: Data acquisition. During the movement of the device, the external intelligent mapping device of the mobile phone continuously outputs RTK positioning data with timestamps and outputs laser point cloud data. At the same time, the smartphone synchronously acquires its own image and inertial measurement unit data. Step S903: Real-time processing: The smartphone receives all synchronized data, utilizes its heterogeneous computing capabilities, and uses the RTK positioning data as the absolute position constraint to calculate and generate a real-scene 3D model in real time. Step S904: Adaptive output, the smartphone dynamically adjusts the modeling accuracy or triggers cloud collaboration based on the signal quality information obtained from the signal receiving and positioning device or the user's preset instructions, and outputs the final model.

2. The mobile phone external intelligent mapping device according to claim 1, characterized in that: When only the signal receiving and positioning device is activated, the control and timing device operates in basic positioning mode; when both the signal receiving and positioning device and the environmental sensing device are activated simultaneously, the automatic control device switches to enhanced mapping mode.

3. The mobile phone external intelligent mapping device according to claim 1, characterized in that: The smartphone has a client application stored locally. The client application recognizes and drives the external smart module and provides a user interface for users to select surveying modes, preview 3D models, and manage data.

4. The mobile phone external intelligent surveying and mapping device according to claim 1, characterized in that: The intelligent decision-making device contains a rule base and multiple predefined working mode parameter sets corresponding to different application scenarios.

5. The mobile phone external intelligent surveying and mapping device according to claim 1, characterized in that: The main control chip in the control and timing device receives mode switching instructions and calls the corresponding parameter set in the intelligent decision-making device to adjust the working status of the signal receiving and positioning device and the optional environmental sensing device.

6. A mobile phone external intelligent surveying and mapping system, characterized in that, include: The mobile phone external intelligent mapping device according to any one of claims 1 to 5; The cloud processing device, which is a cloud processing platform, is used to receive data uploaded by smartphones and perform high-precision offline optimization, data storage and large-scale model management. The mobile phone external intelligent surveying and mapping device, the smartphone, and the cloud processing device together constitute a closed-loop surveying and mapping ecosystem with end-to-cloud collaboration.

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