Domain laser elevation measurement method and system combined with GNSS (Global Navigation Satellite System) positioning

Abstract

The invention discloses a domain laser elevation measurement method combined with GNSS positioning. The method comprises the following steps: calculating a horizontal distance between a laser transmitter and a laser receiver according to coordinates of the laser transmitter and the laser receiver; based on the laser pulse data, judging whether the characteristic wave crest of the circle is a theoretical beam quantity characteristic value of laser, and if not, directly rejecting the data of the circle; if yes, calculating an instantaneous height difference based on the horizontal distance and the timestamp according to the space-time geometrical relationship of the laser transmitter and / or the laser receiver, and then constructing an effective data set; and arranging the effective data sets according to an ascending order to obtain an ordered sequence, then constructing a core data set, taking an arithmetic mean value of the core data set as a final height difference output value in a data updating period, and determining the elevation of the to-be-measured point based on the final height difference output value. According to the invention, high-precision measurement under the condition of a single sensor is realized, the dependence on a mechanical leveling mechanism and double sensors is eliminated, and precise elevation measurement under any attitude is realized while the hardware time sequence precision requirement is greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering surveying, and in particular to a domain laser elevation measurement method combined with GNSS positioning and a system thereof. BACKGROUND

[0002] In road paving, flatness detection and digital construction, elevation measurement technology based on rotating scanning laser (commonly known as "N-Beam" or "domain laser") is widely used. The principle is to emit fan-shaped laser beams arranged in the shape of "N" by rotating laser transmitters, and the receiving end uses the detected light pulse time difference ratio to calculate the elevation. In order to solve the problem of limited measurement range caused by uneven distribution of traditional Gaussian beam energy, in the prior art, a Chinese patent application (publication number CN119126084A) discloses a scheme of using a Powell prism to shape the light beam. This scheme significantly improves the signal-to-noise ratio and edge trigger stability of the signal by converting the Gaussian beam into a flat-top beam.

[0003] Although the introduction of the Powell prism optimizes the signal quality at the optical level, the existing domain laser measurement system still has the following technical bottlenecks in system architecture and calculation mechanism: First, high hardware redundancy and easy introduction of mechanical errors. In order to eliminate the influence of transmitter tilt or speed fluctuation, the existing technology is forced to use a double sensor or sensor array structure at the receiving end, i.e. installing two fixed-interval sensors vertically. The algorithm must rely on the physical interval between the two sensors as a reference quantity. This design not only increases the weight, volume and manufacturing cost of the receiving device, but more seriously, the severe vibration and temperature changes on the construction site easily cause the receiving rod to deform slightly, causing the physical interval to drift, thereby introducing systematic errors that are difficult to detect.

[0004] Second, lack of true "free leveling" anti-inclination calculation capability. Although the existing technology uses some statistical filtering or double sensor difference methods to alleviate the impact of transmitter tilt, its core mathematical model is still based on the assumption that the transmitter and the receiving end are approximately vertical. When the receiving device is significantly tilted due to large fluctuations in the construction site, the projection of the N-shaped beam in space will be geometrically distorted. The existing technology lacks an accurate geometric compensation model combined with the three-dimensional position in space, resulting in measurement failure or a sharp decline in accuracy in such working conditions, forcing the construction party to frequently stop for calibration or equip with expensive automatic leveling gimbals.

[0005] Third, the simple dependence on optical measurement leads to extremely high requirements for timing accuracy. The existing scheme is essentially a pure optical "angle intersection system", and in the case of unknown horizontal distance, the height calculation completely depends on the small change of pulse time difference. According to the error propagation law, when operating at a long distance, the time resolution of the signal acquisition circuit is extremely high, which greatly increases the hardware cost of the equipment and limits the low-cost promotion and application of the technology.

[0006] Fourth, the existing data processing algorithm lacks universality and weak anti-interference ability. The existing regional laser height measurement system is developed for a single "N" type (usually composed of three lasers (two parallel and one inclined), forming an "N" shape when scanning in space) laser feature, and its effectiveness discrimination logic is fixed (only identifying 3 pulses). Such design not only limits the upgrade and expansion of hardware by being incompatible with new scanning modes such as "M" type (four-beam) or simplified "V" shape (two-beam) with higher redundancy, but also lacks a dynamic filtering mechanism based on statistics when facing complex environmental disturbances on the construction site, which easily leads to height misjudgment due to accidental matching of pulse number, seriously affecting the safety of automated construction. SUMMARY

[0007] The purpose of the present application is to provide a regional laser height measurement method and system combined with GNSS positioning, which solves the technical problems in the existing regional laser height measurement technology that the receiving end hardware structure is complex and difficult to maintain measurement accuracy in the tilted state of the transmitting end.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical solutions: On the one hand, the present application provides a regional laser height measurement method combined with GNSS positioning, which realizes high-precision measurement under single sensor conditions, completely eliminates the dependence on mechanical leveling mechanism and double sensor structure, and realizes accurate height calculation in any attitude while greatly reducing the hardware timing accuracy requirement.

[0009] Specifically includes the following steps: The horizontal distance between the "N" type laser transmitter and the "N" type laser receiver is calculated according to the GNSS coordinates, and the "N" type laser receiver collects laser pulse data of the "N" type laser transmitter in the data update period ; Based on the laser pulse data, it is judged whether the first circle feature peak is the theoretical beam number characteristic value of laser, if not, the circle data is directly eliminated; if yes, the effective data set is constructed after calculating the instantaneous height difference based on the horizontal distance and time stamp according to the space-time geometric relationship of the "N" type laser transmitter and / or the "N" type laser receiver; constructing a core data set after arranging the effective data set in ascending order to obtain an ordered sequence, taking an arithmetic mean value of the core data set as the data update period determining the elevation of the point to be measured based on the final height difference output value.

[0010] In some embodiments, the calculation expression of the horizontal distance is: ; In the formula, , are the horizontal and vertical coordinates of the arrangement points of the “N” type laser transmitter respectively; , are the horizontal and vertical coordinates of the “N” type laser receiver respectively; , is the structural installation deviation between the phase center of the GNSS antenna installed on the “N” type laser receiver and the photoelectric sensor.

[0011] The application utilizes the horizontal distance to reduce the dimension of the originally complex three-element nonlinear equation set. The sensitivity coefficient of the height solution result to the pulse time stamp is significantly reduced, so that the system can still achieve high-precision long-distance measurement without the need for expensive nanosecond-level high-frequency acquisition circuits.

[0012] In some embodiments, the validity discrimination function discriminates whether the characteristic peak is the theoretical beam quantity characteristic value of the laser: ; In the formula, is the theoretical beam quantity characteristic value of the laser; is the actual peak quantity captured by the photoelectric sensor in the first turn; is the laser beam rotating the first turn; is the signal time stamp received by the “N” type laser receiver.

[0013] In some embodiments, the plumb state of the “N” type laser transmitter and / or the “N” type laser receiver includes: The leading laser and the trailing laser of the “N” type laser transmitter are both plumb to the ground, and the “N” type laser receiver is plumb to the ground; The leading laser and the trailing laser of the “N” type laser transmitter are both not plumb to the ground, and the “N” type laser receiver is plumb to the ground; The “N” type laser receiver is not plumb to the ground, and the leading laser and the trailing laser of the “N” type laser transmitter are both plumb to the ground or both not plumb to the ground.

[0014] In some embodiments, the leader laser and the trailing laser of the "N"-type laser emitter are not perpendicular to the ground. When the "N"-type laser receiver is perpendicular to the ground, the leader laser and the trailing laser are either parallel or non-parallel.

[0015] This invention utilizes a three-dimensional spatial position geometric model to solve the problem of distortion in the spatial projection of the "N"-shaped beam caused by the transmitter not being in an ideal vertical position, eliminating the need for expensive automatic leveling gimbals. It achieves accurate elevation calculation even when the transmitter or receiver is not strictly horizontal and vertical, improving adaptability to construction sites.

[0016] In some embodiments, both the leader laser and the follower laser are perpendicular to the ground. When the "N"-shaped laser receiver is perpendicular to the ground, the instantaneous height difference is: ; When neither the leader laser nor the trailing laser is perpendicular to the ground, and the "N"-shaped laser receiver is perpendicular to the ground, and the leader laser and the trailing laser are parallel, the instantaneous height difference is: ; When neither the leader laser nor the follower laser is perpendicular to the ground, and the "N"-shaped laser receiver is perpendicular to the ground, and the leader laser and the follower laser are not parallel, the instantaneous height difference is: ; in, ; When the “N” type laser receiver is not vertical to the ground, the instantaneous height difference is equal to the instantaneous height difference when both the leading laser and the trailing laser of the “N” type laser transmitter are vertical to the ground or neither are vertical to the ground. In the formula, The rotational angular velocity of the "N"-type laser emitter; Horizontal distance; This is the timestamp captured when the leader laser passes through the photoelectric sensor; The timestamp captured when the tilted laser passes through the photoelectric sensor; The timestamp captured when the trailing laser passes through the photoelectric sensor; The angle between the tilted laser and the leader laser; The angle formed by the inclined laser relative to the vertical direction; This is the sensitivity coefficient; This represents the angular offset of the trailing laser relative to the leading laser.

[0017] In some embodiments, the data is cleaned according to the quartile rule, and the median is selected from the ordered sequence as the core dataset. This effectively eliminates outliers caused by high-frequency vibration interference and signal blockage during engineering machinery operation, ensuring the stability of dynamic measurement data. The arithmetic mean of the core dataset is: ; In the formula, This represents the number of remaining samples. , It is the third quartile. It is the first quartile.

[0018] In some embodiments, the elevation of the point to be measured is: ; In the formula, Elevation of the locations for the "N"-type laser emitter; The straight-line distance between the laser source and the location of the laser receiver of the "N"-type laser transmitter; The final height difference output value is the arithmetic mean of the core dataset; This refers to the mast length of the "N"-type laser receiver.

[0019] In some embodiments, when the "N"-type laser receiver is not vertically aligned with the ground, the elevation of the point to be measured is: ; In the formula, The angle between the laser receiver and the vertical plane.

[0020] On the other hand, the present invention provides a domain laser elevation measurement system combined with GNSS positioning, which uses the above method and includes: RTK base station: Used to acquire the planar coordinates of the "N"-type laser receiver; using the centimeter-level planar coordinates of the transmitter and receiver provided by RTK, a high-precision horizontal distance is calculated, serving as a strong constraint on the mathematical model. This eliminates the traditional structure that requires two sensors with a fixed spacing to calculate the distance at the receiver. It also eliminates systematic errors caused by "physical spacing drift" of the two sensors due to thermal expansion and contraction or mechanical vibration of the receiver rod, while simultaneously achieving lightweight and low-cost receiver equipment.

[0021] "N" type laser emitter: used to emit "N" type laser with uniform energy distribution; "N" type laser receiver: used to capture the timestamp of the arrival of the laser signal and determine the tilt angle of the laser receiver relative to the vertical direction; The calculation output module calculates the horizontal distance between the "N"-type laser transmitter and receiver based on their GNSS coordinates. The "N"-type laser receiver acquires data from the "N"-type laser transmitter during the data update cycle. Laser pulse data within; Based on laser pulse data, the first... If the characteristic peak of the circle is not a theoretical characteristic value of the number of laser beams, the circle data is directly discarded; if it is, an effective dataset is constructed based on the vertical state of the “N” type laser transmitter and / or “N” type laser receiver, and the instantaneous height difference is calculated based on the horizontal distance and timestamp. After arranging the valid datasets in ascending order to obtain an ordered sequence, a core dataset is constructed, and the arithmetic mean of the core dataset is used as the data update period. The final elevation difference output value is used to determine the elevation of the point to be measured.

[0022] Compared with the prior art, the present invention has the following beneficial effects: This invention reduces the extremely high requirements for time measurement accuracy, enabling high-precision measurement with low-cost hardware. Existing technologies are purely optical angle rendezvous systems, where elevation calculation relies entirely on minute changes in pulse time difference when the horizontal distance is unknown. According to the error propagation law, these systems are extremely sensitive to time measurement errors. This invention utilizes the horizontal distance to reduce the dimensionality of the ternary nonlinear equations, significantly reducing the sensitivity coefficient of elevation errors to time parameters.

[0023] This invention utilizes a validity discrimination function based on the theoretical beam quantity characteristic value. It is not only applicable to "N"-type lasers, but can also be directly compatible with various line laser scanning modes by adjusting the characteristic value parameters. Combined with a quartile statistical filtering mechanism, this invention can effectively identify and eliminate abnormal data caused by high-frequency vibrations of construction machinery, on-site obstruction, or beam splitting, ensuring the stability of dynamic measurement data under different laser source configurations. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the elevation measurement model when the leader laser and the trailing laser are perpendicular to the ground in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the elevation measurement model in Embodiment 1 of the present invention, where the leader laser and the trailing laser are parallel to each other and not perpendicular to the ground. Figure 4 This is a schematic diagram of the elevation measurement model in Embodiment 1 of the present invention when the leader laser and the trailing laser are not parallel and not perpendicular to the ground. Figure 5This is a schematic diagram of the "N"-type laser receiver in Embodiment 1 of the present invention, which is not vertically perpendicular to the ground; Figure 6 This is a schematic diagram of the connection between the "N"-type laser emitter and the slotted optical coupler in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the overall structure of the "N"-type laser receiver in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the system structure in Embodiment 2 of the present invention; Figure 9 This is a schematic diagram of the electronic device structure in Embodiment 2 of the present invention.

[0025] The figure shows 1. Rotary motor; 2. Shielding disc; 3. Laser emitter; 4. Prism holder; 5. Beam splitter prism; 6. Beam splitter aperture; 7. Slotted optocoupler; 8. Light-transmitting slit; 9. Mast; 10. GNSS antenna; 11. Tilt sensor; 12. Photoelectric sensor. Detailed Implementation

[0026] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] Example 1: Please see Figure 1 - Figure 7 A domain laser elevation measurement method combining GNSS positioning includes the following steps: Step 1: Parameter setting and data acquisition; In one specific embodiment, the following device is included: RTK (Real Time Kinematic) base station: acquires centimeter-level planar coordinates of the laser receiver in real time.

[0028] "N" type laser emitter: The "N" type laser emitter consists of a tripod, an automatic leveling motor, a laser source and a Powell prism, and emits an "N" type laser with uniform energy distribution.

[0029] "N" type laser receiver: such as Figure 7As shown, the "N"-type laser receiver consists of a mast 9, a GNSS (Global Navigation Satellite System) antenna 10 capable of acquiring real-time planar coordinates, a tilt sensor 11, and a photoelectric sensor 12. The GNSS antenna 10, photoelectric sensor 12, and tilt sensor 11 are mounted sequentially from top to bottom on the mast 9. The photoelectric sensor 12 is a Thorlabs PDA36A2. When the rotating laser passes the receiver, the photoelectric sensor captures the timestamp of the laser signal arrival (the specific moment when the photoelectric sensor captures the laser pulse signal), and the tilt sensor determines the tilt angle of the laser receiver relative to the vertical direction.

[0030] The rotational angular velocity of the "N"-type laser emitter is set to The data update cycle is During the data update cycle Theoretically, the laser beam rotates the following number of revolutions: .

[0031] The "N"-type laser receiver collects data from the "N"-type laser emitter during the data update cycle. The laser pulse data within the range. Ideally, for an "N" type laser emitter, three characteristic peaks should be generated per revolution.

[0032] Step 2: Determine the first laser pulse based on laser pulse data. If the characteristic peak of the circle is not a theoretical characteristic value of the number of laser beams, the circle data is directly discarded; if it is, an effective dataset is constructed based on the vertical state of the "N" type laser transmitter and / or "N" type laser receiver, and the instantaneous height difference is calculated based on the horizontal distance and timestamp.

[0033] Establish a validity discriminant function to determine the validity of the first... Whether the characteristic peak of the loop is a theoretical characteristic value of the number of laser beams: ; In the formula, This represents the characteristic value of the theoretical number of laser beams. For photoelectric sensors to capture the first The actual number of wave peaks is circled; For the laser beam rotation lock up, ; This is the timestamp of the signal received by the "N"-type laser receiver.

[0034] like If the data in that circle is not included in subsequent calculations, it will be directly discarded.

[0035] like The effective number of revolutions is calculated based on the vertical orientation of the "N"-type laser emitter and / or "N"-type laser receiver. instantaneous elevation difference , , This is the total sample size, until the elevation of all points to be measured within the cycle is completed.

[0036] The vertical state of the "N"-type laser transmitter and / or "N"-type laser receiver includes the following three cases: Case 1, such as Figure 2 As shown, the leader laser and the trailing laser of the “N”-type laser emitter are both perpendicular to the ground, and the “N”-type laser receiver is also perpendicular to the ground.

[0037] The rotating "N"-shaped laser emitted by the "N"-shaped laser emitter comprises three beams, as shown in the figure: OD is the leading laser, DB is the tilting laser, and FG is the trailing laser. The leading laser and the trailing laser are parallel and perpendicular to the ground.

[0038] When the tilted laser and the leader laser reach the “N”-type laser receiver, the photoelectric sensor of the “N”-type laser receiver captures three timestamps of the “N”-type laser, which are as follows: The timestamp captured when the leader laser passes through the photoelectric sensor is Its projection is E; the timestamp captured when the tilted laser passes through the photoelectric sensor is Its projection is C; the timestamp captured when the trailing laser passes through the photoelectric sensor is Its projection is H. Point A is the laser source of the "N"-type laser emitter, and the three-dimensional coordinates of the arrangement points of the "N"-type laser emitter are... It can be determined by engineering design documents or measured by RTK base stations.

[0039] RTK base stations can provide centimeter-level planar coordinates of the laser receiver in real time. ,set up , The structural installation deviation between the phase center of the GNSS antenna mounted on the "N"-type laser receiver and the photoelectric sensor is determined during the equipment manufacturing or installation phase.

[0040] Let the coordinates of points A, B, and E in the diagram be respectively , , The horizontal distance between the laser source of the "N"-type laser emitter and the photoelectric sensor of the "N"-type laser receiver is: ; The distance between the photoelectric sensor and the projection of the leading laser and the tilting laser is... ; in, ; In the formula, The angular interval between the projections of the “N”-type laser receiver onto the tilted laser and the leader laser and the projection onto the “N”-type laser emitter.

[0041] Point B is the intersection of the tilted laser and the horizontal plane passing through the "N"-type laser emitter. The equation of the tilted laser in the yOz plane can be obtained from the point-slope form equation, and its slope is... The x-intercept is: ; in, ; In the formula, The horizontal angular interval between the tilted laser and the leader laser relative to the laser emitter.

[0042] The plane equation of the tilted laser in the yOz plane can be obtained from the point-slope form of the straight line equation: ; As shown in the figure, The axis is the direction of the horizontal line connecting the laser emitter and the laser receiver. To and The horizontal direction perpendicular to the axis Elevation direction; This allows us to obtain the instantaneous height difference of the target object within the time it takes for the laser to pass through the photoelectric sensor: ; After sorting, we get: ; In the formula, The angle between the tilted laser and the leader laser.

[0043] Case 2, such as Figure 3 As shown, the leader and follower lasers of the “N”-type laser emitter are not perpendicular to the ground, while the “N”-type laser receiver is perpendicular to the ground.

[0044] The leader laser and the trailing laser are parallel and not vertical to the ground. As shown in the figure, the projection of the "N"-shaped laser receiver in the vertical direction is... point, The point is the intersection of the leading laser and the horizontal plane passing through the laser source. Let be the intersection of the leader laser and the tilted laser, and let its distance from the horizontal plane passing through the laser source be . ; Click straight-line distance between points for: ; and ; By the similarity theorem, we have: ; By combining the above two equations, the instantaneous elevation difference is obtained: ; In the formula, The angle formed by the inclined laser relative to the vertical direction; The distance from the intersection of the leader laser and the tilted laser to the horizontal plane passing through the laser source is the distance between point D and point O in the figure.

[0045] Situation 3, such as Figure 4 As shown, neither the leader laser nor the trailing laser is perpendicular to the ground, and they are not parallel.

[0046] In actual measurement, due to installation reasons, the trailing laser of the "N"-type laser emitter may not be strictly parallel to the leading laser, but rather have a very small error. In this case, the trailing laser has a distance of approximately [missing information] relative to the leading laser. The angular offset, and the trailing laser after the offset is .

[0047] at this time, Click straight-line distance between points for: ; in, ; Following the method in scenario 2, we can obtain: ; in, ; In the formula, This is the sensitivity coefficient; This represents the angular offset of the trailing laser relative to the leading laser. The linear offset of the sensor under conditions of trailing laser error (points in the figure) and (The distance between them).

[0048] Case 4, such as Figure 5 As shown, the "N"-type laser receiver is not vertical to the ground, while the leader laser and the trailing laser of the "N"-type laser emitter are either both vertical to the ground or neither is vertical to the ground.

[0049] When the "N"-shaped laser receiver is not vertically aligned with the ground, the angle between it and the vertical plane is: At that time, since the "N"-type laser receiver uses a single photoelectric sensor, the instantaneous height difference calculated through the above derivation is... Nothing has changed.

[0050] Case 5, such as Figure 6 As shown, due to the angular frequency error of the rotating laser, the actual angular velocity of the motor of the "N"-type laser emitter does not remain at the set value, but rather fluctuates within a certain range with the set value as the average. This embodiment calculates the average real-time angular velocity by using a zero-position optocoupler to record the time of each rotation of the rotating laser.

[0051] The zero-position optocoupler includes a circular shielding disc 2. A rectangular prism holder 4, which is closed at one end and open at the other, and is hollow, is fixedly mounted on one end of the shielding disc 2, with the open end facing the shielding disc 2. Inside the rectangular prism holder 4, a laser emitting head 3 is mounted in the center of the shielding disc 2. Above the laser emitting head 3, three beam-splitting prisms 5 are vertically mounted sequentially inside the prism holder 4, and three beam-splitting through holes are opened on the wall surface of the prism holder 4 corresponding to the beam-splitting prisms 5.

[0052] A slotted optical coupler 7 is provided next to the prism holder 4. The slotted optical coupler 7 is fixed on the base inside the "N"-type laser emitter and sends the measured real-time rotation speed (or period) to the receiver. The receiver receives the rotation speed data and uses it for elevation calculation (existing technology will not be described in detail). A portion of the shielding disc 2 extends into the slotted optical coupler 7. The shielding disc 2 has through holes as light-transmitting slits 8. The number of light-transmitting slits 8 is [number missing]. , The 8 light-transmitting slits are equally spaced and arranged along the circumference (with equal radii), which can reduce angular velocity measurement errors. In a specific embodiment, the slot-type optocoupler is an OmronEE-SX67x.

[0053] The specific implementation steps are as follows: 1. A rotating motor drives the beam splitter prism and the shielding disc to rotate at a high speed at a specific angular velocity. During the rotation, the main body of the shielding disc 2 blocks the optical path of the slotted optocoupler 7 (outputting a low level). When the light-transmitting slit 8 rotates to the position of the slotted optocoupler 7, the optical path is instantly opened, and the slotted optocoupler 7 outputs a pulse signal (high level). 2. The "N"-type laser receiver is equipped with a wireless receiving module to receive the first signal transmitted from the photoelectric sensor. Circle laser pulse signal ( Simultaneously, the synchronization pulse signal from the zero-position optocoupler is recorded in parallel. Let the first The zero-position pulse time of the circle is ; 3. Calculate the first... The actual rotation period of the circle , and then calculate the first Average real-time angular velocity of the circle ; 4. Using the calculated first... Average real-time angular velocity Replace the elevation calculation formula .

[0054] Step 3: After sorting the valid datasets in ascending order to obtain an ordered sequence, construct the core dataset. Use the arithmetic mean of the core dataset as the data update period. The final elevation difference output value is used to determine the elevation of the point to be measured.

[0055] Let the valid dataset be The total sample size is Then we have: ; Due to high-frequency vibrations at construction sites, measurement data often contains outliers that deviate from a normal distribution. To eliminate the influence of outliers, the effective dataset... Sort in ascending order to obtain an ordered sequence: ; Determine the first quartile according to the interquartile rule. and third and fourth place : ; ; Retain the middle 50% of robust data from the ordered sequence as the core dataset. : ; At this point, the number of remaining samples is Then the final height difference output value within the update period T. for Arithmetic mean: ; The above final elevation difference output value Substitute the values ​​into the elevation calculation expression for the points to be measured, and solve for the elevation of the points to be measured until the elevations of all points to be measured are obtained.

[0056] Because the "N"-type laser emitter is fixed to the ground, while the "N"-type laser receiver moves with the construction machinery (the laser sweeps across the sensor for an extremely short time, and within this short time, the receiver and emitter are 30-200 meters apart; the laser emitter rotates at 600 rpm (10 revolutions per second); the timing cycle (data update cycle) is 1-3 seconds; and the displacement generated by low-speed construction machinery (such as a paver at 2.5 m / min) is negligible relative to the measurement accuracy requirements (millimeter level), and is considered "quasi-static"), the straight-line distance from the laser source of the "N"-type laser emitter to the location of the "N"-type laser receiver can be measured using traditional measurement methods. The length of the "N" type laser receiver mast is The millimeter-level elevation of the mast mounting location for the "N"-type laser receiver is: .

[0057] When the "N"-type laser receiver is not vertically aligned with the ground, the elevation to be measured is: ; It can be determined by the tilt sensor on the "N" type laser receiver.

[0058] This invention primarily addresses the technical problem in existing domain laser elevation measurement technology where the receiver hardware structure is complex and it is difficult to maintain measurement accuracy when the transmitter is tilted.

[0059] Eliminating systematic errors introduced by mechanical physical references: Existing "dual-sensor" structures make measurement accuracy heavily dependent on the physical stability of the sensor mounting spacing. Under severe vibrations or temperature changes at the construction site, the receiving rod is prone to slight deformation, causing the physical spacing reference to drift, which in turn leads to measurement errors that are difficult to calibrate. This invention aims to achieve lightweight, high-precision measurement requiring only a single sensor by introducing external distance constraints.

[0060] Overcoming the operational limitations of "strict leveling": Existing solution models are typically based on the ideal assumption that the receiver mast is vertical. Distortions in the spatial projection of the N-shaped beam caused by a non-horizontal receiver end are difficult to compensate for using effective geometric methods in existing technologies. This invention aims to establish a geometric compensation model that includes tilt parameters, enabling the system to output accurate elevation data even when the transmitter end is not level or its attitude changes.

[0061] Reducing reliance on ultra-high-speed timing circuits: Existing technologies are purely optical angle measurement and intersection systems. During long-distance measurements, extremely small time measurement jitter can be amplified into significant elevation fluctuations by geometric relationships, thus placing extremely high (nanosecond-level) demands on the timing accuracy of the hardware. This invention aims to reduce the algorithm's sensitivity to minute time difference variables by strengthening the constraint on the horizontal distance parameter and reducing the number of calculations for the time reception parameter, thereby lowering the system's hardware requirements for high-frequency acquisition circuits.

[0062] Example 2 like Figure 8 As shown, a domain laser elevation measurement system combining GNSS positioning, using the above method, includes: RTK base station: used to obtain the planar coordinates of the "N"-type laser receiver; "N" type laser emitter: used to emit "N" type laser with uniform energy distribution; "N" type laser receiver: used to capture the timestamp of the arrival of the laser signal and determine the tilt angle of the laser receiver relative to the vertical direction; The calculation output module calculates the horizontal distance between the "N"-type laser transmitter and receiver based on their GNSS coordinates. The "N"-type laser receiver acquires data from the "N"-type laser transmitter during the data update cycle. Laser pulse data within; Based on laser pulse data, the first... If the characteristic peak of the circle is not a theoretical characteristic value of the number of laser beams, the circle data is directly discarded; if it is, an effective dataset is constructed based on the vertical state of the “N” type laser transmitter and / or “N” type laser receiver, and the instantaneous height difference is calculated based on the horizontal distance and timestamp. After arranging the valid datasets in ascending order to obtain an ordered sequence, a core dataset is constructed, and the arithmetic mean of the core dataset is used as the data update period. The final elevation difference output value is used to determine the elevation of the point to be measured.

[0063] The calculation output module of the domain laser elevation measurement system combined with GNSS positioning of the present invention can be installed in a computer device.

[0064] The module described in this invention refers to a series of computer program segments that can be executed by the processor of a computer device and can perform a fixed function, and which are stored in the memory of the computer device.

[0065] The system provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned method embodiment, and the corresponding content in the aforementioned method embodiment can be referred to.

[0066] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0067] Figure 9 A block diagram is shown that is suitable for implementing embodiments of the present application. Figure 9 The electronic device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0068] like Figure 9 As shown, the electronic device is represented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: one or more processors 410, memory 430, and communication bus 440 connecting different system components (including memory 430 and processing unit 410).

[0069] Communication bus 440 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) buses, Micro Channel Architecture (MAC) buses, Enhanced ISA buses, Video Electronics Standards Association (VESA) local buses, and Peripheral Component Interconnect (PCI) buses.

[0070] Electronic devices typically include a variety of computer-readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, and removable and non-removable media.

[0071] Memory 430 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Memory 430 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0072] A program / utility having a set (at least one) of program modules can be stored in memory 430. Such program modules include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules typically perform the functions and / or methods described in the embodiments of this application.

[0073] Processor 410 executes various functional applications and data processing by running programs stored in memory 430, such as implementing embodiments of this application. Figure 1 The illustrated embodiment provides a domain laser elevation measurement method that combines GNSS positioning.

[0074] This application provides a non-transitory computer-readable storage medium that stores computer instructions, which cause the computer to execute embodiments of this application. Figure 1 The illustrated embodiment provides a domain laser elevation measurement method that combines GNSS positioning.

[0075] The aforementioned computer-readable storage medium may be any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in connection with an instruction execution system, apparatus, or device.

[0076] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0077] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0078] Computer program code for performing the operations of the embodiments of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0079] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0080] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A domain laser elevation measurement method combining GNSS positioning, characterized in that, Includes the following steps: The horizontal distance between the "N"-type laser transmitter and receiver is calculated based on their GNSS coordinates. The "N"-type laser receiver acquires data from the "N"-type laser transmitter during the data update cycle. Laser pulse data within; Based on laser pulse data, the first... If the characteristic peak of the circle is not a theoretical characteristic value of the number of laser beams, the circle data is directly discarded; if it is, an effective dataset is constructed based on the spatiotemporal geometry of the "N" type laser emitter and / or "N" type laser receiver, and the instantaneous height difference is calculated based on the horizontal distance and timestamp. After arranging the valid datasets in ascending order to obtain an ordered sequence, a core dataset is constructed, and the arithmetic mean of the core dataset is used as the data update period. The final elevation difference output value is used to determine the elevation of the point to be measured.

2. The domain laser elevation measurement method combined with GNSS positioning according to claim 1, characterized in that, The expression for calculating the horizontal distance is: ; In the formula, , The coordinates of the locations of the "N"-type laser emitters are x and y, respectively. , The x and y coordinates are those of the "N"-type laser receiver, respectively. , The structural installation deviation between the phase center of the GNSS antenna mounted on the "N"-type laser receiver and the photoelectric sensor.

3. The domain laser elevation measurement method combined with GNSS positioning according to claim 1, characterized in that, Through the validity discriminant function Determining whether a characteristic peak is a theoretical beam quantity characteristic value of a laser: ； In the formula, This represents the characteristic value of the theoretical number of laser beams. For photoelectric sensors to capture the first The actual number of wave peaks is circled; For the laser beam rotation lock up; This is the timestamp of the signal received by the "N" type laser receiver.

4. The domain laser elevation measurement method combined with GNSS positioning according to claim 1, characterized in that, The vertical state of the "N"-type laser emitter and / or "N"-type laser receiver includes: The leader and follower lasers of the "N"-type laser emitter are both perpendicular to the ground, and the "N"-type laser receiver is also perpendicular to the ground. The leader and follower lasers of the "N"-type laser emitter are not perpendicular to the ground, while the "N"-type laser receiver is perpendicular to the ground. The "N"-type laser receiver is not vertical to the ground, and the leader laser and the trailing laser of the "N"-type laser emitter are either both vertical to the ground or neither is vertical to the ground.

5. The domain laser elevation measurement method combined with GNSS positioning according to claim 4, characterized in that, The leader and follower lasers of the "N"-type laser emitter are not perpendicular to the ground. When the "N"-type laser receiver is perpendicular to the ground, the leader and follower lasers are either parallel or non-parallel.

6. The domain laser elevation measurement method combined with GNSS positioning according to claim 5, characterized in that, Both the leader and follower lasers are perpendicular to the ground. When the "N"-shaped laser receiver is perpendicular to the ground, the instantaneous height difference is: ; When neither the leader laser nor the trailing laser is perpendicular to the ground, and the "N"-shaped laser receiver is perpendicular to the ground, and the leader laser and the trailing laser are parallel, the instantaneous height difference is: ; When neither the leader laser nor the trailing laser is perpendicular to the ground, and the "N"-shaped laser receiver is perpendicular to the ground, and the leader laser and the trailing laser are not parallel, the instantaneous height difference is: ； in, ； When the "N" type laser receiver is not vertical to the ground, the instantaneous height difference is equal to the instantaneous height difference when both the leading laser and the trailing laser of the "N" type laser transmitter are vertical to the ground or neither are vertical to the ground. In the formula, The rotational angular velocity of the "N"-type laser emitter; Horizontal distance; This is the timestamp captured when the leader laser passes through the photoelectric sensor; The timestamp captured when the tilted laser passes through the photoelectric sensor; The timestamp captured when the trailing laser passes through the photoelectric sensor; The angle between the tilted laser and the leader laser; The angle formed by the inclined laser relative to the vertical direction; This is the sensitivity coefficient; This represents the angular offset of the trailing laser relative to the leading laser.

7. The domain laser elevation measurement method combined with GNSS positioning according to claim 1, characterized in that, According to the interquartile range rule, the median of the ordered sequence is taken as the core dataset, and the arithmetic mean of the core dataset is: ; In the formula, This represents the number of remaining samples. , It is the third quartile. It is the first quartile.

8. The domain laser elevation measurement method combined with GNSS positioning according to claim 1, characterized in that, The elevation of the point to be measured is: ； In the formula, Elevation of the locations for the "N"-type laser emitter; The straight-line distance between the laser source and the location of the "N"-type laser receiver of the "N"-type laser emitter; The final height difference output value is the arithmetic mean of the core dataset; The length of the "N" type laser receiver mast.

9. A domain laser elevation measurement method combining GNSS positioning according to claim 7, characterized in that, When the "N"-type laser receiver is not vertically aligned with the ground, the elevation of the point to be measured is: ； In the formula, The angle between the laser receiver and the vertical plane.

10. A domain laser elevation measurement system combined with GNSS positioning, using the method described in any one of claims 1-9, characterized in that, include: RTK base station: used to obtain the planar coordinates of the "N"-type laser receiver; "N" type laser emitter: used to emit "N" type laser with uniform energy distribution; "N" type laser receiver: used to capture the timestamp of the arrival of the laser signal and determine the tilt angle of the laser receiver relative to the vertical direction; The calculation output module calculates the horizontal distance between the "N"-type laser transmitter and receiver based on their GNSS coordinates. The "N"-type laser receiver acquires data from the "N"-type laser transmitter during the data update cycle. Laser pulse data within; Based on laser pulse data, the first... If the characteristic peak of the circle is not a theoretical characteristic value of the number of laser beams, the circle data is directly discarded; if it is, an effective dataset is constructed based on the vertical state of the "N" type laser emitter and / or "N" type laser receiver, and the instantaneous height difference is calculated based on the horizontal distance and timestamp. After arranging the valid datasets in ascending order to obtain an ordered sequence, a core dataset is constructed, and the arithmetic mean of the core dataset is used as the data update period. The final elevation difference output value is used to determine the elevation of the point to be measured.

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