GNSS-assisted elevation measurement system and method

Abstract

The invention belongs to the technical field of surveying and mapping, and particularly relates to a GNSS (Global Navigation Satellite System)-assisted elevation measurement system and method. The first scale comprises a GNSS antenna / receiver and a data processing, communication and navigation module, a starting station provides reference position data, and a subsequent station calculates and navigates to the optimal position of the next station; the second scale is similar to the first scale in structure, and calculates and navigates to the optimal position in real time according to the first scale and the observation station position; the observation station end integrates a high-precision level gauge and a GNSS assembly, calculates the optimal position and height of the observation station end after receiving scale position data, and navigates the level gauge to a target position. During operation, all the components exchange data through a data transfer radio. According to the system, 1-2 measuring personnel can be reduced, the working efficiency in a plain is improved by 30%, the working efficiency in a mountainous area is improved by 100%, the front-back sight distance difference is controlled at the cm level, the i-angle error is effectively weakened, and the height measurement precision is remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of surveying and mapping technology, and in particular relates to a GNSS-assisted elevation measurement system and method. Background Technology

[0002] Elevation measurement is a core foundational task in surveying engineering, civil engineering, and other fields. High-precision leveling, due to its irreplaceable accuracy advantages, remains the preferred technology for establishing high-level elevation control networks and monitoring settlement in large-scale projects. However, traditional leveling techniques suffer from the following key problems: i-angle error compensation relies on manual operation: the line of sight of the level instrument is not parallel to the axis of the level tube, which will cause i-angle error. In order to compensate for this error, it is necessary to ensure that the "foresight and backsight distances are basically consistent" in each station measurement - this requirement is highly dependent on experienced surveyors and has a low tolerance for operational errors.

[0003] Extremely low efficiency in complex terrain: High-level leveling requires the foresight and backsight distances to be measured in advance. Although this can be achieved manually by two people in plains areas, it is labor-intensive. In complex terrains such as mountains and uphill slopes, problems such as "the station cannot observe the back rod" and "the lowest line of sight of the front rod does not meet the requirements" often occur after manual measurement, which leads to repeated movement and adjustment of the station and rod, greatly reducing the efficiency of the operation.

[0004] Precision and efficiency are difficult to balance: Existing technologies cannot accurately control foresight and backsight distances through automation, and can only balance precision and efficiency through "manual trial and error" - even in plains areas, manual operation is difficult to consistently meet the requirements of the specifications (such as the second-order leveling specifications: foresight and backsight distance difference ≤ 1m, cumulative sight distance difference ≤ 3m), and the labor cost is high (traditional solutions require 3-4 people to work together). Summary of the Invention

[0005] This invention addresses the aforementioned problems in existing technologies by providing a GNSS-assisted elevation measurement system and method.

[0006] The objective of this invention is primarily achieved through the following approach: The GNSS-assisted elevation measurement system includes a No. 1 scale assembly, a No. 2 scale assembly, and a station terminal assembly. Each assembly interacts with the other through a communication module. The No. 1 scale assembly includes a No. 1 scale body, a No. 1 GNSS antenna, a No. 1 GNSS receiver, a No. 1 data processing module, a No. 1 communication module, and a No. 1 navigation module. The No. 1 GNSS antenna is mounted on the top of the No. 1 scale body and is used to receive GNSS satellite signals. The No. 1 GNSS receiver is electrically connected to the No. 1 GNSS antenna and is used to process GNSS satellite signals and differential data, outputting the three-dimensional position information of the No. 1 scale. The No. 1 data processing module communicates with the No. 1 GNSS receiver via Bluetooth. At the first station, it processes the three-dimensional position information of the No. 1 scale and transmits it through the No. 1 communication module. At the second station and thereafter, it calculates the optimal position of the No. 1 scale based on the real-time three-dimensional coordinates of the No. 1 scale, the three-dimensional coordinates of the station, and the measurement level requirements. The No. 1 navigation module is electrically connected to the No. 1 data processing module and is used to guide the movement and positioning of the No. 1 scale based on its optimal position. The second scale assembly includes a second scale body, a second GNSS antenna, a second GNSS receiver, a second data processing module, a second communication module, and a second navigation module. The second GNSS antenna is mounted on the top of the second scale body and is used to receive GNSS satellite signals. The second GNSS receiver is electrically connected to the second GNSS antenna and is used to process GNSS satellite signals and differential data, outputting the three-dimensional position information of the second scale. The second data processing module communicates with the second GNSS receiver via Bluetooth and calculates the optimal position of the second scale based on the real-time three-dimensional coordinates of the first scale, the three-dimensional coordinates of the station, and the measurement level requirements. The second navigation module is electrically connected to the second data processing module and is used to guide the movement and positioning of the second scale based on its optimal position. The station-end components include a high-precision level, a station GNSS antenna, a station GNSS receiver, a station data processing module, a station communication module, and a station navigation module. The station GNSS antenna is integrated with the high-precision level and is used to receive GNSS satellite signals. The station GNSS receiver is electrically connected to the station GNSS antenna and is used to process GNSS satellite signals and differential data, outputting real-time three-dimensional position information of the station. The station data processing module communicates with the station GNSS receiver via Bluetooth, receives the three-dimensional position information of scale components 1 and 2, calculates the optimal position and optimal height of the station based on the real-time three-dimensional position information, and determines whether the minimum line-of-sight observation requirements are met. The station communication module is used to exchange data with communication modules 1 and 2. The station navigation module is electrically connected to the station data processing module and is used to guide the high-precision level to move and position itself based on the real-time and optimal positions of the station.

[0007] Preferably, the No. 1 communication module, the No. 2 communication module, and the station communication module are all data transmission radios, and the transmission distance of the data transmission radios is ≥5km, which meets the transmission requirement of ≤200m in leveling surveys.

[0008] Preferably, the No. 1 scale assembly, the No. 2 scale assembly, and the station terminal assembly also include a power module, which is a rechargeable battery with a battery life of ≥8 hours, and each power module is equipped with a backup rechargeable battery.

[0009] Preferably, when calculating the optimal position, the No. 1 data processing module, the No. 2 data processing module, and the station data processing module all take the requirement of the foresight and backsight distance difference corresponding to the measurement level as the core constraint.

[0010] Preferably, the GNSS satellite signals include satellite signals from GPS, BeiDou, and GLONASS systems.

[0011] The GNSS-assisted elevation measurement control method, based on the above system, includes the following steps: S1: First Station Positioning and Measurement S11: Guide the No. 1 scale assembly to move to the leveling starting control point and fix it through the No. 1 navigation module. The No. 1 GNSS receiver processes the satellite signals received by the No. 1 GNSS antenna to obtain the three-dimensional position information of the No. 1 scale, and transmits it to the station communication module through the No. 1 communication module. S12: The station's GNSS receiver processes the satellite signals received by the station's GNSS antenna to obtain the station's real-time three-dimensional position information, which is then transmitted to the station's data processing module. The station's data processing module combines the three-dimensional position information from scale 1 to calculate the station's optimal position and determine whether it meets the minimum line-of-sight observation requirements. S13: The station communication module transmits the station's optimal position information to the No. 2 communication module. The No. 2 data processing module combines the No. 1 scale's three-dimensional position information and the station's optimal position information to calculate the No. 2 scale's optimal position. S14: The station navigation module guides the high-precision level to the optimal position of the station, and the No. 2 navigation module guides the No. 2 scale assembly to the optimal position of the No. 2 scale, and starts the high-precision level to perform the first station elevation measurement. S2: Positioning and measurement of the second and subsequent stations: S21: After the first station measurement is completed, the No. 1 data processing module receives the optimal position information of the station, combines it with the real-time three-dimensional position information of the No. 1 scale, calculates the optimal position of the No. 1 scale for the next station, and the No. 1 navigation module guides the No. 1 scale component to move to the optimal position and fix it. S22: The station data processing module receives the optimal position information of the next station from the No. 1 scale, combines it with the real-time three-dimensional position information of the No. 2 scale, calculates the optimal position of the next station, and the station navigation module guides the high-precision level to move to the optimal position. S23: Data processing module 2 receives the optimal position information of the next station of the measuring station, combines it with the optimal position information of the next station of scale 1, calculates the optimal position of the next station of scale 2, and navigation module 2 guides scale 2 component to move to the optimal position. S24: Start the high-precision level instrument to measure the current station elevation; S3: Repeat step S2 until the elevation measurement of all leveling sections is completed.

[0012] As a preferred embodiment, in step S12, the station data processing module also calculates the distance between the No. 1 scale and the real-time position of the station, and determines whether it meets the line-of-sight requirements corresponding to the current measurement level. If it does not meet the requirements, the station's real-time position is adjusted and the optimal position of the station is recalculated.

[0013] Preferably, in step S21, the optimal position of the next station of scale 1 is the optimal position of scale component 2 of the previous station.

[0014] Therefore, compared with the prior art, the present invention has the following advantages: (1) The accuracy of this invention is greatly improved. Through GNSS positioning and data processing, the difference between fore and back sight distances can be controlled at the cm level, and the cumulative difference between sight distances can be controlled at the dm level, which is far below the requirements of the second-order leveling standard. This effectively offsets the i-angle error and ensures high-level measurement accuracy. (2) The present invention significantly improves efficiency, eliminates the manual distance measurement process, eliminates the need for repeated trial and error adjustments in complex terrain, improves work efficiency by 30% in plains areas and 100% in mountainous areas, and greatly shortens the construction period; (3) The present invention reduces labor costs and has a high degree of system automation. Only 2-3 people are needed to complete the work, saving 1-2 surveyors; (4) The present invention has strong applicability. The data transmission radio and long-endurance power supply are adapted to different terrains such as plains and mountains, and can cope with extreme operating conditions to ensure measurement continuity. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the composition and data transmission of the GNSS-assisted elevation measurement system of the present invention. Detailed Implementation

[0016] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any modifications and / or alterations made to the present invention will fall within the protection scope of the present invention.

[0017] In this invention, unless otherwise specified, all parts and percentages are by weight, and the equipment and raw materials used are commercially available or commonly used in the art. Unless otherwise specified, the methods in the following embodiments are conventional methods in the art. Unless otherwise specified, the components or equipment in the following embodiments are general standard parts or components known to those skilled in the art, and their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0018] Example: like Figure 1 As shown, this invention provides a technical solution: a GNSS-assisted elevation measurement system. Through the collaboration of "Scale Component No. 1, Scale Component No. 2, and Station Terminal Component," combined with GNSS positioning and data interaction, it achieves automated positioning and accuracy control of the station and scale. The specific system components are as follows: Ruler component #1: The No. 1 leveling rod assembly is a "backsight leveling rod" used to provide reference position information for leveling measurements, including: The body of the No. 1 leveling rod is made of high-strength, lightweight materials (such as carbon fiber), and its length is adapted to leveling measurement specifications (such as 3m) to ensure vertical stability. GNSS antenna No. 1: Installed on the top of scale No. 1, it supports the reception of satellite signals from multiple systems including GPS, BeiDou, and GLONASS, ensuring signal stability in complex terrain. GNSS Receiver No. 1: Electrically connected to GNSS Antenna No. 1, used to process satellite signals and differential data, and output the three-dimensional position information (plane coordinates X / Y, elevation H) of GNSS Receiver No. 1, with an accuracy of "plane ≤ 5mm + 1ppm, elevation ≤ 10mm + 1ppm"; Data Processing Module 1: Communicates with GNSS Receiver 1 via Bluetooth; its functions are implemented in stages. First station: Only the three-dimensional position information of scale 1 is processed and transmitted to the measuring station via the communication module; For the second station and beyond: Based on the "real-time three-dimensional coordinates of scale 1, three-dimensional coordinates of the station, and measurement level requirements", calculate the optimal position of the next station for scale 1; Communication Module 1: This is a data transmission radio (transmission distance ≥ 5km, operating frequency 433MHz), used to exchange data with the station and the No. 2 scale component, meeting the transmission requirements of ≤200m in leveling measurements; Navigation Module 1: Electrically connected to Data Processing Module 1, it receives the optimal location information and guides Module 1 to the target location using "distance + orientation" guidance. Power module 1: Uses a 12V rechargeable lithium battery, with a battery life of ≥8 hours, and is equipped with a backup battery to cope with extreme operating conditions.

[0019] Ruler component #2: The No. 2 scale assembly is a "forward-looking scale," and its structure is basically the same as that of the No. 1 scale assembly. The core difference lies in the function of the No. 2 data processing module: it does not require phased processing and calculates its own optimal position based on the "real-time three-dimensional coordinates of the No. 1 scale, the three-dimensional coordinates of the station, and the measurement level requirements" throughout the entire process. The structure and function of the other components (No. 2 GNSS antenna, receiver, communication module, navigation module, and power supply module) are the same as those of the No. 1 scale assembly.

[0020] Station-end components: The station terminal component is the core control unit of the system, integrating leveling and GNSS positioning functions, including: High-precision level: i-angle error ≤ 0.5″, meeting the accuracy requirements of high-level leveling measurements; The station's GNSS antenna is integrated with a high-precision level (e.g., installed on top of the level), and functions the same as GNSS antenna No. 1. Station GNSS Receiver: Electrically connected to the station GNSS antenna, with the same function as GNSS Receiver No. 1, outputting real-time three-dimensional position information of the station; The station data processing module communicates with the station's GNSS receiver via Bluetooth. Its core functions include: Receive the three-dimensional position information of scales 1 and 2, and calculate the optimal position and optimal height of the station by combining the real-time position of the station; Determine whether the position of the station and the scale meets the "minimum line of sight observation requirements" and the "foresight and backsight distance difference requirements" (e.g., second-order leveling ≤ 1m). Transmit the optimal location information of the measuring station to scale components No. 1 / No. 2; Station communication module: Same as communication module 1 / 2 (data transmission radio), enabling three-way data interaction; Station navigation module: Electrically connected to the station data processing module, it guides the level instrument to move and position based on the distance and orientation between the "real-time position of the station and the optimal position". Station power module: Same as power module 1, ensuring continuous power supply to the level and GNSS equipment.

[0021] Based on the above system, the present invention also provides a corresponding control method, the steps of which are as follows: S1: Positioning and Measurement of the First Station (Starting Control Point) 1. Scale positioning: The 1. Scale is guided by the 1. Module 1 to move to the "known starting control point" (such as a national second-order leveling point). After it is fixed, the 1. GNSS receiver processes the satellite signals to generate the 3D position information (X1, Y1, H1) of the 1. Scale is then transmitted to the station via the 1. Module 1.

[0022] Optimal station position calculation: The station's GNSS receiver acquires the station's real-time three-dimensional position (Xz0, Yz0, Hz0) and transmits it to the station's data processing module; the processing module, combined with the position information from scale 1, completes two judgments: Calculate the distance between the No. 1 level and the station to determine whether it meets the stadia requirement of the current surveying level (e.g., 20-50m for second-order leveling). Analyze whether the line-of-sight height of the station meets the "minimum line-of-sight requirement" (e.g., to avoid obstruction, the line-of-sight height should be ≥1.2m). If both conditions are met, the optimal position of the station (Xz1, Yz1, Hz1) is calculated directly; if not, the real-time position of the station is adjusted and the judgment is made again until the optimal position is obtained.

[0023] Calculation of the optimal position of scale 2: The station communication module transmits the optimal position of the station (Xz1, Yz1, Hz1) to scale 2; the data processing module 2, combined with the position of scale 1 (X1, Y1, H1), calculates the optimal position of scale 2 (X2, Y2, H2) to ensure that the distance and line-of-sight difference between scale 2 and station meet the requirements.

[0024] Positioning and Measurement: The station navigation module guides the level to (Xz1, Yz1, Hz1), and the second navigation module guides the second scale rod to (X2, Y2, H2). After both are fixed, the high-precision level is started to complete the elevation measurement of the first station, and the elevation difference ΔH1 between the first and second scale rods is recorded.

[0025] S2: Positioning and measurement of the second and subsequent stations Scale No. 1 relocation: After the first station measurement is completed, data processing module No. 1 receives the optimal position of the station (Xz1, Yz1, Hz1), and calculates the optimal position of scale No. 1 at the next station (i.e., the position of scale No. 2 at the previous station, X2, Y2, H2) by combining its own current position (starting control point); navigation module No. 1 guides scale No. 1 to move to this position and fix it, while transmitting the new position information to the station.

[0026] Station relocation: The station data processing module receives the new position information of the No. 1 scale and, combined with the real-time position of the No. 2 scale (X2, Y2, H2), calculates the optimal position of the second station (Xz2, Yz2, Hz2); the station navigation module guides the level instrument to move to this position and fix it.

[0027] Scale No. 2 shift: Data processing module No. 2 receives the optimal position of the second station (Xz2, Yz2, Hz2), and calculates the optimal position of scale No. 2 at the second station (X3, Y3, H3) by combining it with the new position of scale No. 1 (X2, Y2, H2); navigation module No. 2 guides scale No. 2 to move to this position and fix it.

[0028] Measurement: Start the level instrument to complete the elevation measurement of the second station and record the elevation difference ΔH2.

[0029] S3: Cyclic Measurement Repeat step S2 to complete the "scale relocation - station relocation - elevation measurement" for subsequent stations in sequence until all leveling sections are completed; finally, summarize the elevation differences (ΔH1 + ΔH2 + ... + ΔH) of all stations. n The total elevation difference between the starting point and the ending point is obtained, thus completing the measurement task.

[0030] The following specific data will further illustrate this application: First station (starting point A, known coordinates: X=321000.000m, Y=512000.000m, H=1250.000m): The No. 1 scale is positioned at point A via the navigation module and fixed in place; the No. 1 receiver processes the satellite signal to obtain the three-dimensional position (X1=321000.002m, Y1=512000.001m, H1=1250.001m), which is then transmitted to the measuring station via a data transmission radio.

[0031] The station receiver acquires the real-time position (Xz0=321030.000m, Yz0=512000.000m, Hz0=1250.500m); the station data processing module calculates the distance between point A and the station to be 30m (meeting the requirements for second-order leveling sight distance), and the line-of-sight height to be 1.5m (meeting the minimum line-of-sight requirement of 1.2m), and outputs the optimal position of the station (Xz1=321030.000m, Yz1=512000.000m, Hz1=1250.500m).

[0032] The station sends the optimal position to scale No. 2; data processing module No. 2 combines the coordinates of point A to calculate the optimal position B of scale No. 2 (X2=321060.000m, Y2=512000.000m, H2=1251.000m), and the navigation module guides scale No. 2 to point B and fixes it.

[0033] Navigate the station to (Xz1, Yz1, Hz1), start the leveling instrument to measure, and obtain the elevation difference ΔH1 = +1.002m between AB.

[0034] Second stop (point B): Data processing module 1 receives the optimal position of the station (Xz1, Yz1, Hz1), calculates the optimal position of the next station as point B (X1'=321060.000m, Y1'=512000.000m, H1'=1251.000m), guides the navigation scale 1 to move from A to B and fix it, and sends the coordinates of point B to the station at the same time.

[0035] The station data processing module receives the coordinates of point B and combines them with the real-time position (X) of scale No. 2. 20 =321090.000m, Y 20 =512000.000m, H 20 =1251.500m), calculate the optimal position of the second station (Xz2=321090.000m, Yz2=512000.000m, Hz2=1251.500m), and navigate to that position.

[0036] The No. 2 data processing module combines the coordinates of point B with the optimal position of the measuring station to calculate the optimal position C of the No. 2 scale (X2'=321120.000m, Y2'=512000.000m, H2'=1252.000m), and navigates to point C for fixation.

[0037] The level instrument was started to measure, and the elevation difference between BC and BC was obtained as ΔH2 = +1.001m.

[0038] Implementation in cycles: Repeat the steps of the second station above to complete the measurements of stations CD, DE, etc. Finally, summarize all elevation differences to obtain the total elevation difference ΔH_total from the starting point A to the ending point E = +5.008m, thus completing the project measurement task.

[0039] It should be understood that this embodiment is for illustrative purposes only and is not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

Claims

1. A GNSS-aided height measurement system, characterized by: The application relates to a leveling device, which comprises a No.1 scale assembly, a No.2 scale assembly and a station end assembly, and data interaction is realized through communication modules. The No.1 scale assembly comprises a No.1 scale body, a No.1 GNSS antenna, a No.1 GNSS receiver, a No.1 data processing module, a No.1 communication module and a No.1 navigation module. The No.1 GNSS antenna is installed on the top of the No.1 scale body and is used for receiving GNSS satellite signals. The No.1 GNSS receiver is electrically connected with the No.1 GNSS antenna and is used for processing GNSS satellite signals and differential data and outputting No.1 scale three-dimensional position information; the No.1 data processing module communicates with the No.1 GNSS receiver through Bluetooth, processes the No.1 scale three-dimensional position information at the first station and transmits the information through the No.1 communication module, and calculates the optimal position of the No.1 scale according to the real-time three-dimensional coordinates of the No.1 scale, the three-dimensional coordinates of the station end and the measurement level requirement at the second station and later; the No.1 navigation module is electrically connected with the No.1 data processing module and is used for guiding the movement and positioning of the No.1 scale according to the optimal position of the No.1 scale. The No.2 scale assembly comprises a No.2 scale body, a No.2 GNSS antenna, a No.2 GNSS receiver, a No.2 data processing module, a No.2 communication module and a No.2 navigation module. The No.2 GNSS antenna is installed on the top of the No.2 scale body and is used for receiving GNSS satellite signals. The No.2 GNSS receiver is electrically connected with the No.2 GNSS antenna and is used for processing GNSS satellite signals and differential data and outputting No.2 scale three-dimensional position information. The No.2 data processing module communicates with the No.2 GNSS receiver through Bluetooth and calculates the optimal position of the No.2 scale according to the real-time three-dimensional coordinates of the No.1 scale, the three-dimensional coordinates of the station end and the measurement level requirement; the No.2 navigation module is electrically connected with the No.2 data processing module and is used for guiding the movement and positioning of the No.2 scale according to the optimal position of the No.2 scale. The station end assembly comprises a high-precision level, a station GNSS antenna, a station GNSS receiver, a station data processing module, a station communication module and a station navigation module. The station GNSS antenna is integrally arranged with the high-precision level and is used for receiving GNSS satellite signals. The station GNSS receiver is electrically connected with the station GNSS antenna and is used for processing GNSS satellite signals and differential data and outputting station real-time three-dimensional position information. The station data processing module communicates with the station GNSS receiver through Bluetooth, receives the three-dimensional position information of the No.1 scale assembly and the No.2 scale assembly, combines the station real-time three-dimensional position information to calculate the optimal position and optimal height of the station and judges whether the minimum line-of-sight observation requirement is met; the station communication module is used for interacting data with the No.1 communication module and the No.2 communication module; and the station navigation module is electrically connected with the station data processing module and is used for guiding the movement and positioning of the high-precision level according to the real-time position and the optimal position of the station.

2. The GNSS-aided elevation measurement system of claim 1, wherein: The No.1 communication module, the No.2 communication module and the station communication module are all data transmission radios, the transmission distance of the data transmission radio is greater than or equal to 5km, and the transmission requirement of less than or equal to 200m in leveling measurement is met.

3. The GNSS-aided elevation measurement system of claim 1, wherein: The first scale assembly, the second scale assembly and the station end assembly further comprise a power module, which is a rechargeable battery with a service life of more than 8 hours, and each power module is equipped with a backup rechargeable battery.

4. The GNSS-aided elevation measurement system of claim 1, wherein: The first data processing module, the second data processing module and the station data processing module take the requirement of the difference between the front and rear sight distances corresponding to the measurement level as the core constraint condition when calculating the optimal position.

5. The GNSS-aided elevation measurement system of claim 1, wherein: The GNSS satellite signals include satellite signals of GPS, Beidou and GLONASS systems.

6. A GNSS-aided height measurement control method applied to the GNSS-aided height measurement system according to any one of claims 1 to 5, characterized in that, The method comprises the following steps: S1: positioning and measurement of the first station: S11: guiding the first scale assembly to move to the starting control point of the leveling measurement and fix by the first navigation module, processing the satellite signals received by the first GNSS antenna by the first GNSS receiver to obtain the three-dimensional position information of the first scale, and transmitting the three-dimensional position information to the station communication module by the first communication module; S12: processing the satellite signals received by the station GNSS antenna by the station GNSS receiver to obtain the real-time three-dimensional position information of the station, transmitting the real-time three-dimensional position information to the station data processing module, combining the three-dimensional position information of the first scale by the station data processing module, calculating the optimal position of the station and judging whether the minimum line-of-sight observation requirement is met; S13: transmitting the optimal position information of the station to the second communication module by the station communication module, combining the three-dimensional position information of the first scale and the optimal position information of the station by the second data processing module, and calculating the optimal position of the second scale; S14: guiding the high-precision level to move to the optimal position of the station by the station navigation module, guiding the second scale assembly to move to the optimal position of the second scale by the second navigation module, and starting the high-precision level to perform the first station height measurement; S2: positioning and measurement of the second station and subsequent stations: S21: after the first station measurement is completed, receiving the optimal position information of the station by the first data processing module, combining the real-time three-dimensional position information of the first scale, calculating the optimal position of the next station of the first scale by the first data processing module, and guiding the first scale assembly to move to the optimal position by the first navigation module; S22: receiving the optimal position information of the next station of the first scale by the station data processing module, combining the real-time three-dimensional position information of the second scale, calculating the optimal position of the next station of the station by the station data processing module, and guiding the high-precision level to move to the optimal position by the station navigation module; S23: receiving the optimal position information of the next station of the station by the second data processing module, combining the optimal position information of the next station of the first scale, calculating the optimal position of the next station of the second scale by the second data processing module, and guiding the second scale assembly to move to the optimal position by the second navigation module; S24: starting the high-precision level to perform the current station height measurement; S3: repeating step S2 until the height measurement of all leveling measurement sections is completed.

7. A GNSS-aided height measurement control method according to claim 6, characterized in that, In step S12, the station data processing module further calculates the distance between the first scale and the real-time position of the station, judges whether the distance meets the sight distance requirement corresponding to the current measurement level, and if not, adjusts the real-time position of the station and recalculates the optimal position of the station.

8. The GNSS-aided height measurement control method according to claim 6, characterized in that, In step S21, the optimal position of the next station of the first scale is the optimal position of the second scale assembly of the previous station.

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