GNSS receiver automatic calibration apparatus and method of use

Abstract

The application relates to the technical field of engineering safety monitoring, and discloses a GNSS receiver automatic calibration device and a use method, wherein the device comprises a base, the upper surface of the base is fixedly connected with a support seat, the inside of the support seat is fixedly connected with an electric push rod, the output end of the electric push rod is fixedly connected with a limiting ring, the outer wall of the limiting ring is rotationally connected with a limiting cylinder, the top end of the limiting cylinder is fixedly connected with a spline shaft, the top end of the limiting cylinder is fixedly connected with a connecting block, the outer wall of the connecting block is fixedly connected with a shell, and the inner wall of the shell is slidably connected with a horizontal square tube. Through remote instruction issuing of a system platform, a driving device automatically completes the whole calibration process, the cumbersome work of professional personnel frequently rushing to a monitoring point for dismounting, inspection and reinstallation is avoided, time and economic cost are significantly reduced, and operation and maintenance efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of engineering safety monitoring technology, specifically to an automatic calibration device for a GNSS receiver and its usage method. Background Technology

[0002] Currently, in the field of engineering safety monitoring, such as slope and dam construction, GNSS receivers are mainly used for long-term continuous observation of surface displacement. However, throughout the monitoring cycle, the system generally lacks an online calibration and periodic calibration mechanism for the measurement performance of the GNSS receiver itself. The current practice is to send professionals to the site periodically to disassemble the receiver from the monitoring point and send it back to the laboratory for testing. This method is not only inefficient and costly to maintain, but also has a severely limited scope of testing: it can only roughly determine whether the measuring point itself is stable and whether the physical connection of the equipment is normal, but it cannot verify the absolute accuracy of the data output by the GNSS receiver in the actual working environment. This means that systematic measurement deviations caused by factors such as satellite signal propagation errors, receiver internal clock drift, hardware aging, or environmental interference cannot be detected and quantified by existing methods. This "out-of-control" state of data accuracy creates a potential risk of misjudgment in safety early warning and stability assessments based on this data, which may directly affect the timeliness and reliability of engineering safety decisions. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an automatic calibration device and method for GNSS receivers, solving the problem that existing technologies generally lack online calibration and periodic calibration mechanisms for measuring the performance of GNSS receivers themselves.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automatic calibration device for a GNSS receiver, comprising a base, a support seat fixedly connected to the upper surface of the base, an electric push rod fixedly connected inside the support seat, a limit ring fixedly connected to the output end of the electric push rod, a limit cylinder rotatably connected to the outer wall of the limit ring, a spline shaft fixedly connected to the top end of the limit cylinder, a connecting block fixedly connected to the top end of the limit cylinder, a housing fixedly connected to the outer wall of the connecting block, a horizontal square tube slidably connected to the inner wall of the housing, a receiver fixedly connected to the upper surface of the horizontal square tube, a groove formed on the outer wall of the horizontal square tube, a rectangular plate fixedly connected to the inner wall of the housing, the outer wall of the rectangular plate slidably connected to the inner wall of the groove, a transverse rotation mechanism provided on the outer wall of the support seat, and a transverse movement mechanism provided on the lower surface of the housing.

[0005] Preferably, the outer wall of the spline shaft is slidably connected to a ring, and the inner wall of the ring is slidably connected to the inner wall of the support.

[0006] Preferably, the transverse rotation mechanism includes a motor, the outer wall of which is fixedly connected to the outer wall of the support base, a drive gear is fixedly connected to the output end of the motor, a driven gear is meshed with the tooth end of the drive gear, and the driven gear is internally slidably connected to the outer wall of the spline shaft.

[0007] Preferably, the transverse rotation mechanism further includes a U-shaped frame, the lower surface of which is fixedly connected to the upper surface of the support base, the interior of which is slidably connected to the outer wall of the spline shaft, and the two ends of the driven gear are rotatably connected to the inner wall of the U-shaped frame.

[0008] Preferably, the lateral movement mechanism includes a second motor, the upper end of which is fixedly connected to the lower surface of the housing, the output end of which is rotatably connected to the inside of the housing and fixedly connected to a first pulley, the outer wall of which is connected to a transmission belt, the inner wall of which is connected to a second pulley, the bottom end of which is rotatably connected to the inside of a rectangular plate, the outer wall of which is fixedly connected to a clamping plate, the lower surface of which is fixedly connected to the inner wall of a horizontal square tube, and the second pulley is equipped with an encoder for calculating the horizontal movement distance.

[0009] Preferably, the outer wall of the horizontal square tube is provided with a measuring scale.

[0010] Preferably, a method of using an automatic calibration device for a GNSS receiver includes the following steps:

[0011] S1. Issue calibration commands through the GNSS system platform;

[0012] S2, A horizontal square tube extends out in the X direction. GNSS system platform reads data ;

[0013] S3. Drive the transverse rotation mechanism in the Y direction to rotate the horizontal square tube 90 degrees, moving the actual distance as follows: GNSS system platform reads data ;

[0014] S4. In the Z direction, the electric actuator begins to extend and retract, with the extension value being [value missing]. GNSS system platform reads data ;

[0015] S5. Determine the error through the GNSS system platform;

[0016] S6. If the error meets the allowable error value requirement of S5, then the instrument usage requirements are met. If not, optimization is performed during GNSS data parsing.

[0017] Preferably, the allowable error value in step S5 is:

[0018] - |< ;

[0019] - |< ;

[0020] | - |< ;

[0021] Where a = 2.5 mm, b = 1 × , The distance between the measuring station and the base station is expressed in km.

[0022] Working principle: When the electric push rod is activated, its output end extends and drives the limiting cylinder upward through the limiting ring. The upward movement of the limiting cylinder causes the spline axis to move upward and slide inside the ring, thereby driving the connecting block to move upward, thus enabling the receiver to adjust in the Z direction.

[0023] When horizontal rotation, i.e., rotation in the Y direction, is required, motor one is started. The start of motor one causes the drive gear one to rotate. The rotation of drive gear one causes the driven gear two, which meshes with it, to rotate synchronously. This causes the driven gear two to drive the spline shaft to rotate. When the spline shaft rotates, it causes the ring to rotate on the inner wall of the support base. The rotation of the spline shaft causes the connecting block fixedly connected to its upper end to rotate horizontally. This causes the outer shell to drive the receiver to rotate horizontally through the horizontal square tube.

[0024] The X-direction displacement is achieved through the lateral movement mechanism. The second motor starts, causing the output shaft to drive the first pulley to rotate. During the rotation of the first pulley, the transmission belt runs and drives the bottom end of the second pulley to rotate inside the rectangular plate. The operation of the transmission belt causes the clamping plate fixedly connected to it to move. The movement of the clamping plate causes the horizontal square tube to move outward and slide in the inner wall of the slide groove. The movement of the horizontal square tube then drives the receiver to achieve horizontal displacement in the X direction.

[0025] This invention provides an automatic calibration device for a GNSS receiver and a method for using it. It has the following beneficial effects:

[0026] 1. This invention remotely issues commands through the system platform, driving the device to automatically complete the entire calibration process, avoiding the tedious work of professionals frequently traveling to monitoring points for disassembly, inspection, and reinstallation, significantly reducing time and economic costs, and improving operation and maintenance efficiency. Attached Figure Description

[0027] Figure 1 This is a perspective view of an automatic calibration device for a GNSS receiver proposed in this invention;

[0028] Figure 2 This is a partial structural diagram of the housing of an automatic calibration device for a GNSS receiver proposed in this invention;

[0029] Figure 3 This is a cross-sectional schematic diagram of the internal structure of the support base of an automatic calibration device for a GNSS receiver proposed in this invention;

[0030] Figure 4 This is a partial structural diagram of the electric push rod of an automatic calibration device for a GNSS receiver proposed in this invention;

[0031] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0032] Figure 6 This is a partial structural diagram of the drive belt of an automatic calibration device for a GNSS receiver proposed in this invention;

[0033] Figure 7 This is a cross-sectional schematic diagram of the internal structure of the limiting cylinder of the automatic calibration device for a GNSS receiver proposed in this invention;

[0034] Figure 8 This is a schematic diagram of a partial structure of the receiver of an automatic calibration device for a GNSS receiver proposed in this invention.

[0035] The components are as follows: 1. Foundation; 2. Support base; 3. Electric push rod; 4. Limiting ring; 5. Limiting cylinder; 6. Splined shaft; 7. Circular ring; 8. Motor 1; 9. Drive gear 1; 10. Driven gear 2; 11. U-shaped frame; 12. Connecting block; 13. Housing; 14. Horizontal square tube; 15. Receiver; 16. Measuring scale; 17. Motor 2; 18. Pulley 1; 19. Transmission belt; 20. Clamping plate; 21. Pulley 2; 22. Rectangular plate; 23. Slide groove. Detailed Implementation

[0036] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Please see the appendix Figure 1 - Appendix Figure 8This invention provides an automatic calibration device for a GNSS receiver, comprising a base 1, a support 2 fixedly connected to the upper surface of the base 1, an electric push rod 3 fixedly connected inside the support 2, a limit ring 4 fixedly connected to the output end of the electric push rod 3, a limit cylinder 5 rotatably connected to the outer wall of the limit ring 4, a spline shaft 6 fixedly connected to the top end of the limit cylinder 5, a connecting block 12 fixedly connected to the top end of the limit cylinder 5, a housing 13 fixedly connected to the outer wall of the connecting block 12, a horizontal square tube 14 slidably connected to the inner wall of the housing 13, a receiver 15 fixedly connected to the upper surface of the horizontal square tube 14, a groove 23 formed on the outer wall of the horizontal square tube 14, a rectangular plate 22 fixedly connected to the inner wall of the housing 13, the outer wall of the rectangular plate 22 slidably connected to the inner wall of the groove 23, a transverse rotation mechanism provided on the outer wall of the support 2, and a transverse movement mechanism provided on the lower surface of the housing 13.

[0038] Specifically, the base 1 can support and fix the support seat 2, and the support seat 2 can fix the electric push rod 3. The electric push rod 3 is used to realize the horizontal movement of the receiver 15 in the Z direction. Specifically, when the electric push rod 3 is started, its output end extends and drives the limiting cylinder 5 to move upward through the limiting ring 4. The upward movement of the limiting cylinder 5 causes the spline shaft 6 to move upward and slide inside the ring 7, thereby driving the connecting block 12 to move upward, thus enabling the receiver 15 to achieve adjustment in the Z direction.

[0039] A transverse rotation mechanism is provided on the outer wall of the support base 2, which is used to rotate horizontally to accurately align the extension and retraction direction of the horizontal square tube 14 with the geographical north direction, and generate and measure the displacement in the north Y direction.

[0040] A lateral moving mechanism is provided on the lower surface of the outer casing 13, which is used to drive the horizontal square tube 14 to extend and retract linearly along its axial direction to generate and measure the displacement in the east X direction.

[0041] The receiver 15 is propelled to complete three basic movements in space by the electric push rod 3, the horizontal rotation mechanism and the horizontal movement mechanism working together. These movements include lifting and lowering in the Z direction, horizontal rotation to align in the Y direction, and linear extension and retraction in the X direction. This generates and measures the known displacements in the three directions of North (Y), East (X), and Height (Z), providing a reliable spatial reference for the automatic calibration of the receiver 15.

[0042] The outer wall of the spline shaft 6 is slidably connected to a ring 7, and the inner wall of the ring 7 is slidably connected to the inner wall of the support 2.

[0043] Specifically, the ring 7 provides an intermediate support point for the fine spline shaft 6 during rotation and lifting, effectively ensuring smooth and precise rotation.

[0044] The transverse rotation mechanism includes a motor 8, the outer wall of which is fixedly connected to the outer wall of the support base 2. The output end of the motor 8 is fixedly connected to a drive gear 9, and the tooth end of the drive gear 9 is meshed with a driven gear 10. The driven gear 10 is internally slidably connected to the outer wall of the spline shaft 6. The transverse rotation mechanism also includes a U-shaped frame 11, the lower surface of which is fixedly connected to the upper surface of the support base 2. The interior of the U-shaped frame 11 is internally slidably connected to the outer wall of the spline shaft 6, and the two ends of the driven gear 10 are rotatably connected to the inner wall of the U-shaped frame 11.

[0045] Specifically, when horizontal rotation, i.e., rotation in the Y direction, is required, motor 8 is started. The start of motor 8 causes the drive gear 9 to rotate, which in turn causes the driven gear 10, which meshes with it, to rotate synchronously. This drives the spline shaft 6 to rotate, and the rotation of the spline shaft 6 causes the ring 7 to rotate on the inner wall of the support 2. The rotation of the spline shaft 6 causes the connecting block 12, which is fixedly connected to its upper end, to rotate laterally. This causes the outer casing 13 to drive the receiver 15 to rotate horizontally through the horizontal square tube 14, thereby generating a known and highly accurate northward displacement. .

[0046] The lateral movement mechanism includes a second motor 17, the upper end of which is fixedly connected to the lower surface of the outer casing 13. The output end of the second motor 17 is rotatably connected to the inside of the outer casing 13 and fixedly connected to a pulley 18. A transmission belt 19 is connected to the outer wall of the pulley 18, and a second pulley 21 is connected to the inner wall of the transmission belt 19. The bottom end of the second pulley 21 is rotatably connected to the inside of the rectangular plate 22. A clamping plate 20 is fixedly connected to the outer wall of the transmission belt 19, and the lower surface of the clamping plate 20 is fixedly connected to the inner wall of the horizontal square tube 14. The second pulley 21 is equipped with an encoder for calculating the horizontal movement distance.

[0047] Specifically, the displacement in the X direction is achieved through the lateral movement mechanism. The second motor 17 starts, causing the output shaft to drive the first pulley 18 to rotate. During the rotation of the first pulley 18, the transmission belt 19 runs and drives the bottom end of the second pulley 21 to rotate inside the rectangular plate 22. The operation of the transmission belt 19 causes the clamping plate 20 fixedly connected to it to move. The movement of the clamping plate 20 causes the horizontal square tube 14 to move outward and slide in the inner wall of the slide groove 23. The movement of the horizontal square tube 14 then drives the receiver 15 to achieve horizontal displacement in the X direction.

[0048] The outer wall of the horizontal square tube 14 is provided with a measuring scale 16.

[0049] Specifically, a measuring scale 16 is directly provided on the outer wall of the horizontal square tube 14, which can be used for initial installation and debugging or for quick manual rough verification, and is cross-checked with the reading of the encoder of motor-8 to ensure the eastward displacement transmitted to the receiver 15. The accuracy and reliability of [the system / mechanism].

[0050] This embodiment also provides a method for using an automatic calibration device for a GNSS receiver, including the following steps:

[0051] S1. Issue calibration commands through the GNSS system platform;

[0052] S2, Extending out of the horizontal square tube 14 in the X direction GNSS system platform reads data ;

[0053] S3. Drive the transverse rotation mechanism in the Y direction to rotate the horizontal square tube 14 by 90 degrees, moving the actual distance as follows: GNSS system platform reads data ;

[0054] S4. In the Z direction, the electric actuator 3 begins to extend and retract, with the extension value being [value missing]. GNSS system platform reads data ;

[0055] S5. Determine the error through the GNSS system platform;

[0056] S6. If the error meets the allowable error value requirement of S5, then the instrument usage requirements are met. If not, optimization is performed during GNSS data parsing.

[0057] The allowable error value in step S5 is:

[0058] - |< ;

[0059] - |< ;

[0060] | - |< ;

[0061] Where a = 2.5 mm, b = 1 × , The distance between the measuring station and the base station is expressed in km.

[0062] Specifically, at the start of calibration, the electric push rod 3 is activated, causing the spline shaft 6 to displace vertically. Subsequently, motor 8 drives spline shaft 6 to rotate through meshing drive gear 9 and driven gear 10, which in turn drives housing 13 to rotate horizontally by 90 degrees via U-shaped frame 11 and connecting block 12, simulating displacement in the Y direction. Finally, the motor 17 located inside the outer casing 13 operates, driving the horizontal square tube 14, which is marked with measuring scale 16, to extend and retract along the slide groove 23 via pulley 18, transmission belt 19, and pulley 20, thereby achieving displacement in the X direction. A GNSS receiver 15, installed at the end of the horizontal square tube 14, accompanies the process and, throughout the process, acquires the true value of mechanical displacement in real time by monitoring the number of rotations of the drive gear 9 through a built-in encoder. and satellite positioning data reported by GNSS receiver 15 The system platform performs automatic comparisons. If the error exceeds the allowable value specified in the standard, the platform's analysis algorithm is corrected. This enables fully automatic, high-precision closed-loop calibration of the GNSS receiver, significantly improving the reliability of displacement monitoring data.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic calibration device for a GNSS receiver, comprising a base (1), characterized in that, A support base (2) is fixedly connected to the upper surface of the base (1). An electric push rod (3) is fixedly connected inside the support base (2). A limit ring (4) is fixedly connected to the output end of the electric push rod (3). A limit cylinder (5) is rotatably connected to the outer wall of the limit ring (4). A spline shaft (6) is fixedly connected to the top of the limit cylinder (5). A connecting block (12) is fixedly connected to the top of the limit cylinder (5). A shell (13) is fixedly connected to the outer wall of the connecting block (12). A horizontal square tube (14) is slidably connected to the inner wall of the shell (13). A receiver (15) is fixedly connected to the upper surface of the horizontal square tube (14). A groove (23) is opened on the outer wall of the horizontal square tube (14). A rectangular plate (22) is fixedly connected to the inner wall of the shell (13). The outer wall of the rectangular plate (22) is slidably connected to the inner wall of the groove (23). A transverse rotation mechanism is provided on the outer wall of the support base (2). A transverse movement mechanism is provided on the lower surface of the shell (13). The outer wall of the spline shaft (6) is slidably connected to a ring (7), and the inner wall of the ring (7) is slidably connected to the inner wall of the support base (2); The transverse rotation mechanism includes a motor (8), the outer wall of which is fixedly connected to the outer wall of the support base (2), the output end of which is fixedly connected to a drive gear (9), the tooth end of which is meshed with a driven gear (10), and the interior of the driven gear (10) is slidably connected to the outer wall of the spline shaft (6). The lateral movement mechanism includes a second motor (17), the upper end of which is fixedly connected to the lower surface of the outer shell (13). The output end of the second motor (17) is rotatably connected to the inside of the outer shell (13) and fixedly connected to a pulley (18). The outer wall of the pulley (18) is connected to a transmission belt (19). The inner wall of the transmission belt (19) is connected to a second pulley (21). The bottom end of the second pulley (21) is rotatably connected to the inside of a rectangular plate (22). The outer wall of the transmission belt (19) is fixedly connected to a clamping plate (20). The lower surface of the clamping plate (20) is fixedly connected to the inner wall of a horizontal square tube (14). The second pulley (21) is equipped with an encoder for calculating the horizontal movement distance. The outer wall of the horizontal square tube (14) is provided with a measuring scale (16).

2. The automatic calibration device for a GNSS receiver according to claim 1, characterized in that, The transverse rotation mechanism also includes a U-shaped frame (11), the lower surface of which is fixedly connected to the upper surface of the support base (2), the interior of which is slidably connected to the outer wall of the spline shaft (6), and the two ends of the driven gear (10) are rotatably connected to the inner wall of the U-shaped frame (11).

3. A method for using an automatic calibration device for a GNSS receiver, characterized in that, An automatic calibration device for a GNSS receiver as described in any one of claims 1-2, comprising the following steps: S1. Issue calibration commands through the GNSS system platform; S2, Extending out of the horizontal square tube (14) in the X direction GNSS system platform reads data ; S3. Drive the transverse rotation mechanism in the Y direction to rotate the horizontal square tube (14) by 90 degrees, moving the actual distance as follows: GNSS system platform reads data ; S4. In the Z direction, the electric push rod (3) starts to extend and retract, with an extension value of [value missing]. GNSS system platform reads data ; S5. Determine the error through the GNSS system platform; S6. If the error meets the allowable error value requirement of S5, then the instrument usage requirements are met. If not, optimization is performed during GNSS data parsing.

4. The method of using the automatic calibration device for a GNSS receiver according to claim 3, characterized in that, The allowable error value in step S5 is: - |< ； - |< ； | - |< ； Where a = 2.5 mm, b = 1 × , The distance between the measuring station and the base station is expressed in km.

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