Real-time surveying and mapping checking system and method based on total station and RTK

Abstract

The embodiment of the present disclosure discloses a mobile terminal real-time surveying and mapping verification system and method based on a total station and RTK. Real-time communication between a total station or an RTK device and a mobile terminal is realized through a Bluetooth module. A coordinate conversion engine built in the mobile terminal automatically completes the conversion of measurement data to a map coordinate system, and real-time superimposed display of measurement points on a vector map and a high-definition image map is realized. A design drawing is synchronously loaded for on-site comparison. The system calculates the deviation value of the measured point and the design point in real time, triggers a three-level early warning according to the deviation degree, and prompts the possible error causes. After the measurement is completed, a verification report containing the measured coordinates, the design coordinates, the deviation value and the map screenshot is automatically generated. The present disclosure deeply integrates traditional measurement and mobile mapping technology, realizes the whole-process closed loop of measurement and verification, solves the problems of complicated coordinate conversion and disconnection between design and real scene, and significantly improves the work efficiency.

Description

Technical Field

[0001] Applications generally relate to the field of engineering surveying technology, especially to mobile real-time surveying and verification systems and methods based on total stations and RTK. Background Technology

[0002] Currently, engineering surveying is a fundamental task in various engineering construction projects, and its accuracy and efficiency directly affect the quality and progress of the project. There are three main problems in current engineering surveying operations: First, data from total stations or RTK measurements must be manually entered into computers before comparison with design drawings. This makes it difficult to detect positional deviations in real time during on-site work, leading to frequent rework. Second, coordinate transformation is cumbersome. The conversion between the WGS84 coordinate system used by mobile map software such as AVC Interactive Maps and the commonly used CGCS2000 coordinate system in engineering relies on manual calculations, and errors are prone to occur during parameter settings. Third, multi-source data is relatively isolated. Real-time linkage analysis of high-definition imagery, vector boundaries, and measured data is difficult to achieve on-site, affecting operational efficiency.

[0003] To address the aforementioned issues, several solutions exist in existing technologies. For example, using GPS-RTK, a base map, and a total station to complete detail point measurements and achieve coordinate transformation through common points still requires manual intervention in the coordinate transformation process and lacks real-time linkage and verification with the moving map. Coordinate transformation methods based on remote systems solve the accuracy and convenience problems of traditional methods, but primarily focus on remote coordinate transformation and do not address real-time comparison between on-site measurements and the map. Furthermore, wireless connection solutions between total stations and handheld devices are mostly limited to data recording functions and do not form a closed-loop verification with map software; RTK coordinate transformation methods rely on specialized algorithms, which are difficult for ordinary users to master; and data import into mobile map software requires manual operation and lacks real-time measurement correction capabilities.

[0004] Therefore, a more convenient calibration scheme is needed that can achieve real-time linkage between measurement data and maps and design drawings to solve the problems of low efficiency and complex operation in existing technologies. Summary of the Invention

[0005] This disclosure addresses some deficiencies mentioned in the background art by providing a mobile real-time surveying and verification system and method based on a total station and RTK.

[0006] In a first aspect, embodiments of this disclosure provide a mobile real-time mapping verification system based on a total station and RTK, comprising: The wireless communication module is used to establish a real-time data transmission link between the measuring equipment and the mobile terminal; A coordinate transformation engine, connected to the wireless communication module, is used to receive raw coordinate data transmitted by the measuring device and automatically convert the raw coordinate data into coordinate data that matches the target map coordinate system based on preset transformation parameters. The dual-map comparison module, connected to the coordinate transformation engine, is used to synchronously mark the measurement points corresponding to the transformed coordinate data on the vector map and satellite imagery, and supports loading external design drawings for real-time comparison with the measurement points; The deviation warning unit is connected to the dual-image comparison module and is used to calculate the deviation value between the measurement point and the corresponding position on the design drawing in real time, and trigger different levels of warning signals according to the preset deviation threshold. The data management module, connected to the dual-image comparison module and the deviation early warning unit, is used to store measurement data, generate verification reports, and support the export of measurement results.

[0007] In one embodiment of the first aspect, the wireless communication module includes a first communication unit disposed on a total station or RTK measurement device and a second communication unit disposed on a mobile terminal. The first communication unit and the second communication unit establish a wireless connection through Bluetooth radio frequency technology to realize the real-time transmission of measurement data.

[0008] In one embodiment of the first aspect, the coordinate transformation engine has a built-in multi-parameter coordinate transformation model, which calculates transformation parameters using the coordinate values ​​of at least three known control points in two coordinate systems, and automatically applies the transformation parameters to each received original coordinate during the measurement process to perform real-time coordinate transformation.

[0009] In one embodiment of the first aspect, the dual-image comparison module includes: The map rendering unit is used to load and display vector maps and satellite imagery; The drawing registration unit, connected to the map rendering unit, is used to register the imported design drawings with the base map by selecting feature points of the same name, and generate an overlay layer. The point marking unit, connected to the coordinate transformation engine and map rendering unit, is used to simultaneously mark measurement points on vector maps and satellite imagery and display relevant attribute information.

[0010] In one embodiment of the first aspect, the deviation warning unit includes: The deviation calculation subunit is used to calculate the shortest distance from the measurement point to the nearest design line or design point as the deviation value. The threshold judgment subunit is connected to the deviation calculation subunit, and presets at least two levels of deviation thresholds to generate a corresponding warning level based on the threshold range in which the deviation value is located. The early warning execution subunit is connected to the threshold judgment subunit and executes at least one of the following prompts based on the early warning level: visual signage change, vibration reminder, or sound alarm.

[0011] In one embodiment of the first aspect, the warning execution subunit is further configured to: trigger a first-level warning when the deviation value exceeds a first threshold, and change the measurement point label symbol to a first color; trigger a second-level warning when the deviation value exceeds a second threshold, and in addition to changing the color, also provide a vibration reminder; and trigger a third-level warning when the deviation value exceeds a third threshold, and simultaneously provide an audible alarm and display a preset error reason prompt.

[0012] In one embodiment of the first aspect, the data management module supports generating a verification report containing the coordinates of the measurement points, design coordinates, deviation values, measurement time, and corresponding map screenshots of the points, and supports batch exporting the measurement points as result files in DXF, SHP, or KML formats.

[0013] Secondly, the mobile real-time mapping verification method based on total station and RTK, applied to the mobile real-time mapping verification system based on total station and RTK as described above, includes the following steps: S1: Establish a wireless communication connection between the measuring equipment and the mobile terminal, input the coordinates of two sets of coordinate systems of at least three known control points in the survey area, calculate and store the coordinate transformation parameters; S2: Download vector map data and satellite image data of the work area, import design drawings, and complete the registration of drawings and maps by selecting feature points with the same name; S3: The raw coordinate data collected by the measuring equipment is transmitted to the mobile terminal in real time via wireless communication. After coordinate transformation, it is synchronously marked on the vector map and satellite imagery. The deviation between the measured point and the corresponding position on the design drawing is calculated in real time, and the corresponding level of early warning is triggered according to the preset deviation threshold. S4: After the measurement is completed, a verification report containing measurement point information and deviation records is generated, and the measurement results file in the specified format is exported.

[0014] In one embodiment of the second aspect, step S1 further includes: Input at least three known control point coordinate pairs in the engineering coordinate system and the target map coordinate system, and use the least squares method to solve for seven parameters as transformation parameters.

[0015] In one embodiment of the second aspect, step S2 further includes: The design drawings are in DXF or DWG format. The drawings are registered by selecting at least three feature points with the same name on the drawings and maps, and using affine transformation or polynomial transformation models.

[0016] This disclosure proposes a mobile real-time surveying and verification system and method based on total station and RTK, which has the following beneficial effects: (1) Measurement and verification can be carried out simultaneously through a graphical interface. Operators do not need to have professional coordinate transformation knowledge to complete the work, and the training cycle for new surveyors is greatly shortened. It supports a single person to complete the entire process of measurement, recording and comparison, which reduces the dependence on personnel in traditional operation methods and significantly improves the efficiency of field operations.

[0017] (2) The dual-map cross-verification mechanism can detect point deviations in real time during on-site operations, advancing the deviation detection time from the office processing stage to the field measurement stage, effectively reducing the rework rate. The measurement process is controlled through a three-level early warning mechanism to ensure that the measurement error is kept within a small range.

[0018] (3) It supports mainstream total stations and RTK devices on the market and can seamlessly integrate with existing mobile map software functions without requiring modifications to the original software. When the measurement deviation exceeds the limit, the system can automatically prompt the possible source of error, helping operators to quickly locate the cause of the problem and make corrections, thus improving the efficiency of on-site problem handling. It realizes real-time linkage display of measured data, satellite imagery, vector maps and design drawings, solving the problem that multi-source data cannot be analyzed synchronously on the work site, and providing more comprehensive data support for on-site decision-making. Attached Figure Description

[0019] Figure 1 The following is an architecture diagram of a mobile real-time surveying and verification system based on a total station and RTK, according to this disclosure. Figure 2 This is a flowchart of a mobile real-time surveying and verification method based on a total station and RTK according to this disclosure. Detailed Implementation

[0020] The present application / disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application / disclosure and are not intended to limit the scope of the present application / disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present application / disclosure are shown in the accompanying drawings, not the entire structure.

[0021] Example 1 Figure 1 Based on the architecture diagram of the mobile real-time surveying and verification system based on total station and RTK disclosed herein, as follows: Figure 1As shown, this embodiment provides a surveying and mapping correction system based on real-time verification of total station / RTK and moving map, including a wireless communication module 10, a coordinate transformation engine 20, a dual-map comparison module 30, a deviation early warning unit 40, and a data management module 50. These modules can be software function modules deployed in a mobile terminal application, or they can include hardware components that cooperate with the surveying equipment. The wireless communication module 10 is used to establish a real-time data transmission channel between the measuring equipment and the mobile terminal. It includes a first communication unit and a second communication unit.

[0022] In this embodiment, the wireless communication module 10 is configured between the total station or RTK device and the mobile terminal to establish a communication connection and transmit measurement data in real time.

[0023] The first communication unit is located on the total station or RTK surveying equipment. Specifically, this unit is a data interface adapter, physically a Bluetooth serial port module. One end of the first communication unit has a physical interface matching the data output port of the surveying equipment, while the other end integrates a Bluetooth RF chip and antenna. The first communication unit obtains the raw measurement data stream from the motherboard of the surveying equipment through the physical interface. This data stream typically follows the NMEA0183 protocol or a proprietary binary protocol defined by the surveying equipment manufacturer. The microcontroller built into the first communication unit parses and repackages this data according to the protocol, and then transmits it wirelessly via the Bluetooth RF unit.

[0024] The second communication unit is located inside a mobile terminal, which can be a smartphone or tablet. The second communication unit includes a Bluetooth adapter and its driver, which are standard on the mobile terminal. When the mobile terminal runs a dedicated application, the application interacts with the second communication unit by calling the Bluetooth API interface at the operating system level, controlling it to search for, pair with, and connect to the first communication unit. After the connection is established, the second communication unit continuously receives wireless signals from the first communication unit, restores them to the original measurement data stream, and transmits it to the coordinate transformation engine 20 in the application through an inter-process communication mechanism.

[0025] As an example, the working mechanism of the wireless communication module 10 is as follows: the first communication unit continuously monitors the data output port of the measuring device. Whenever a point is measured, the device automatically outputs a set of data, which the first communication unit immediately captures, encapsulates, and sends. After receiving the data, the second communication unit immediately triggers the event callback function in the application, pushing the data to the coordinate transformation engine 20 for processing. Throughout the process, the first and second communication units maintain bidirectional handshake communication to ensure the integrity and order of data transmission.

[0026] The coordinate transformation engine 20, built into the mobile terminal, is used to receive measurement data and, based on preset transformation parameters, convert the measurement data from the source coordinate system to the target map coordinate system in real time to obtain map coordinate data.

[0027] In this embodiment, the coordinate transformation engine 20 is a core data processing module built into the mobile terminal application. It interacts with the wireless communication module 10, the dual-image comparison module 30, and the graphical user interface of the application.

[0028] In one embodiment, the coordinate transformation engine 20 includes a parameter calculation unit, a real-time transformation unit, and a quality monitoring unit, wherein... The parameter calculation unit is connected to the input controls in the application's graphical user interface. When the user inputs coordinate pairs of at least three known control points in two coordinate systems in the project settings interface, these coordinate pairs are passed to the parameter calculation unit. Internally, the parameter calculation unit encapsulates the solution algorithm for the Bursa-Wolf seven-parameter transformation model. The unit first checks if the number of input coordinate pairs meets the solution requirements, then uses the least squares method for iterative calculation to obtain the optimal estimates of the seven transformation parameters, including three translation parameters, three rotation parameters, and one scale factor. After the solution is completed, the unit stores the calculated seven-parameter values ​​in the project configuration file and returns the solution residuals to the graphical user interface for display, allowing the user to evaluate the accuracy of the parameter calculation.

[0029] In one embodiment, the parameter solving unit implements the parameter solving of the Bursa-Wolf seven-parameter coordinate transformation model, the mathematical form of which is: = +(1+δμ)·R(ε X , ε Y , ε Z )·

[0030] in, There are three translation parameters, δμ is the scale change parameter, and R(ε) is the translation parameter. X , ε Y , ε Z ) is a rotation matrix consisting of three rotation angles.

[0031] When the user inputs the coordinates of at least three common points in two coordinate systems through the application interface, the parameter solving unit obtains these coordinate pairs, denoted as (P... i原始 , P i目标Let i = 1, 2, ..., n (n ≥ 3). For each common point, three error equations can be established. By simultaneously solving the error equations of all common points, we obtain the matrix form of the total error equation: V = A·dX - L. Where V is the residual vector, A is the coefficient matrix (composed of the original coordinates and the linearized rotation matrix), dX is the vector of corrections for the seven parameters to be determined, and L is the constant term vector (composed of the difference between the target coordinates and the original coordinates after approximate transformation).

[0032] In one embodiment, the parameter solving unit uses the least squares principle to solve the normal equation: A T ·P·A·dX =A T ·P·L. Where P is the weight matrix, which can initially be set as the identity matrix, or assigned different weights based on prior information about the accuracy of the common points. Solve this normal equation to obtain dX. Iterate this process until dX converges to less than a set threshold, finally obtaining the optimal estimates of the seven parameters.

[0033] After the solution is completed, the parameter solution unit will also calculate the residual V at each common point. i and the conversion error σ0= These accuracy metrics are stored along with the seven parameters and can be displayed to the user to help them assess the reliability of the parameter calculations.

[0034] The real-time conversion unit establishes a data connection with the wireless communication module 10. The real-time conversion unit continuously monitors the raw measurement data stream transmitted by the wireless communication module 10. Whenever a new set of data is received, the real-time conversion unit immediately extracts the coordinate values ​​(X, Y, F, Z) in the original coordinate system. raw Y raw Z raw Then, the real-time transformation unit reads the seven parameters previously calculated and stored from the project configuration file, applies the Bursa model to perform coordinate transformation calculations, and outputs the coordinate values ​​(X, Y, F, G, F) in the target coordinate system. target Y target Z target The conversion process is automatically triggered each time data is received. The converted coordinate data is encapsulated into a data packet, which contains information such as the original coordinates, the converted coordinates, and the timestamp, and is ready to be passed to the next module.

[0035] In one embodiment, the real-time conversion unit performs forward coordinate transformation calculations. When an original coordinate point P is received from the wireless communication module 10... raw = (X raw Y raw Z raw When performing this operation, the seven pre-stored parameters (ΔX, ΔY, ΔZ, δμ, ε) are read from the project configuration file. X , εY , ε Z First, construct the rotation matrix R. For small-angle rotations, the rotation matrix can be approximated as: R =

[0036] Then, the Bursa model is applied for calculation: = +(1+δμ)· ·

[0037] The calculated (X) target Y target Z target The original coordinates, target coordinates, and timestamp are the coordinates in the target coordinate system. The real-time transformation unit combines the original coordinates, target coordinates, and timestamp into a data packet and transmits it to the point labeling unit of the dual-image comparison module 30. The entire calculation process is triggered each time data is received, and the calculation time is in the millisecond range, which meets the real-time requirements.

[0038] The quality monitoring unit operates in parallel with the real-time conversion unit. The quality monitoring unit continuously monitors the input and output data of the real-time conversion unit. Specifically, it checks data quality indicators in the raw data stream, such as the fixed solution status indicator in RTK measurements and the distance signal-to-noise ratio in total station measurements. Simultaneously, the quality monitoring unit also monitors the numerical stability during the real-time conversion process, such as checking whether the converted coordinates fall within a reasonable geographical range. When a data quality degradation or abnormal conversion result is detected, the quality monitoring unit generates a quality status flag, which is transmitted to subsequent modules along with the converted coordinate data.

[0039] The dual-map comparison module 30 is built into the mobile terminal and connected to the coordinate transformation engine 20. It is used to load and display at least one of the vector map and the high-definition image map, and to overlay the measurement points corresponding to the map coordinate data onto the vector map and the high-definition image map in real time. At the same time, it loads and displays the design drawings for on-site comparison.

[0040] In this embodiment, the dual-image comparison module 30 is the core visualization module in the application, and it interacts with the coordinate transformation engine 20, the deviation warning unit 40, and the graphics hardware of the mobile terminal.

[0041] In one embodiment, the dual-image comparison module 30 includes a map rendering unit, a drawing registration unit, and a point annotation unit, wherein... The map rendering unit is responsible for loading and displaying vector maps and satellite imagery. It incorporates a map tile management engine, capable of reading pre-downloaded vector and image tile data from local storage or network cache. The unit maintains two independent layers: a vector layer for displaying line features such as roads, administrative divisions, and waterways; and an image layer for displaying remote sensing imagery. These two layers use the same projection and coordinate range, and by setting different transparency levels, they can be overlaid or displayed for split-screen comparison. The unit also provides a map operation interface that responds to user zoom and pan gestures, updating the screen display area in real time.

[0042] The drawing registration unit connects to the application's file import interface and interacts with the map rendering unit. When the user selects and loads a DXF or DWG format design drawing file through the file import interface, the drawing registration unit parses the file, extracts the point, line, and polygon vector features, and constructs a temporary vector layer in memory. Subsequently, the drawing registration unit enters registration mode. In this mode, the user sequentially selects feature points on the drawing and corresponding feature points on the map displayed by the map rendering unit through the graphical user interface. For each selected pair of feature points, the drawing registration unit records its drawing coordinates and map coordinates. When the number of selected feature point pairs reaches a preset requirement (usually three or more), the drawing registration unit calls an affine transformation or polynomial transformation algorithm to calculate a set of registration parameters, transforming all features in the drawing coordinate system to the map coordinate system. After the transformation is complete, the drawing registration unit passes the registered drawing features as a new overlay layer to the map rendering unit for display. This overlay layer can have its transparency, color, and other display attributes set independently.

[0043] The point annotation unit establishes a connection with the real-time conversion unit of the coordinate transformation engine 20. Whenever the real-time conversion unit outputs a set of converted coordinate data, the point annotation unit immediately receives the data packet. The point annotation unit extracts the coordinate values ​​in the target coordinate system from the data packet, converts them to the screen pixel coordinates currently used by the map rendering unit, and draws annotation symbols at the corresponding pixel positions on both layers (vector layer and image layer). The annotation symbols can be custom graphics, such as dots or crosshairs, and include coordinate labels displaying information such as the point number and deviation value. The point annotation unit supports simultaneous annotation on both maps, meaning that the same measurement point appears with annotation symbols on both the vector map and satellite imagery simultaneously, and the two annotation symbols move in tandem with map operations.

[0044] The deviation early warning unit 40 is connected to the dual-map comparison module 30. It is used to calculate the deviation value between the measurement point and the corresponding design point on the design drawing in real time, and generate and output graded early warning information according to the magnitude of the deviation value.

[0045] In this embodiment, the deviation warning unit 40 is a logic control module in the application, which interacts with both the dual-image comparison module 30 and the data management module 50.

[0046] In one embodiment, the deviation warning unit 40 includes a deviation calculation subunit, a threshold judgment subunit, and a warning execution subunit, wherein, The deviation calculation subunit establishes a connection with the point labeling unit and drawing registration unit of the dual-map comparison module 30. When a new measurement point is labeled by the point labeling unit, the deviation calculation subunit immediately obtains the map coordinates of that point. Simultaneously, the deviation calculation subunit retrieves the registered design drawing vector data from the drawing registration unit. Then, the deviation calculation subunit calls the spatial distance calculation algorithm to calculate the shortest distance from the point to the nearest design line or design point; this distance is the deviation value of the current point. The calculated deviation value is assigned to the measurement point and transmitted back to the point labeling unit for display in the label, while also being passed to the threshold judgment subunit.

[0047] The threshold judgment subunit connects to the application's settings management module, reading user-preset deviation threshold parameters. Internally, the threshold judgment subunit maintains a three-level threshold judgment logic. It receives the deviation value from the deviation calculation subunit and compares it sequentially with the first and second thresholds. Based on the comparison results, the threshold judgment subunit generates a warning level code, for example: 0 indicates no warning (deviation ≤ first threshold), 1 indicates a level two warning (first threshold < deviation ≤ second threshold), and 2 indicates a level three warning (deviation > second threshold). This warning level code, along with the deviation value, is passed to the warning execution subunit.

[0048] The early warning execution subunit interacts with both the hardware driver layer and the graphical user interface of the mobile terminal. This subunit receives the early warning level code from the threshold judgment subunit and performs different operations based on the different levels. When the early warning level is 0, the early warning execution subunit sets the color of the marker symbol in the point marking unit to the first color (e.g., green) through the graphical user interface. When the early warning level is 1, the early warning execution subunit sets the marker symbol color to the second color (e.g., yellow) and calls the vibrator driver interface of the mobile terminal to trigger a brief vibration. When the early warning level is 2, the early warning execution subunit sets the marker symbol color to the third color (e.g., red), calls the audio system interface to play a preset alarm audio file, and simultaneously calls the pop-up interface of the graphical user interface to display a prompt box containing preset error cause options. The options in this prompt box, such as "Please check prism height setting," "Please check instrument height setting," and "There may be map registration deviation," are static texts pre-stored in the application resource file and are displayed in combinations based on different measurement scenarios and deviation characteristics.

[0049] As an example, the workflow of the deviation warning unit 40 is driven by a measurement event. When the dual-image comparison module 30 completes the annotation of a new measurement point, the deviation warning unit 40 is activated, and its internal sub-units execute in the following order: (1) Start the deviation calculation subunit. This subunit first obtains the coordinates P of the current measurement point from the dual-image comparison module 30. measured Then, it iterates through all geometric objects in the registered design drawing feature layer. For linear features, the deviation calculation sub-unit calculates point P. measured The shortest distance to the line, i.e., the perpendicular distance. For planar features, if the point is inside the planar feature, the deviation is 0; if the point is outside the planar feature, the shortest distance to the planar boundary is calculated. For point features, the straight-line distance between the two points is calculated. The deviation calculation sub-unit records the minimum of all these distances as the final deviation value d. This calculation process uses the Euclidean distance formula and is performed in the drawing coordinate system. The calculated d value is simultaneously passed to the point annotation unit (for display) and the threshold judgment sub-unit (for judgment).

[0050] (2) Threshold judgment subunit activation. This subunit has two preset thresholds: a first threshold T1 (which can be set to deviation ≤ 5cm) and a second threshold T2 (which can be set to deviation ≤ 20cm). After receiving the d value, the threshold judgment subunit executes the following judgment logic: if d ≤ T1, then the warning level code = 0; if T1 ≤ T2, then the warning level code = 0. <d ≤ t2，则预警等级代码="1；如果" d>If it is T2, then the warning level code = 2.

[0051] After the judgment is completed, the warning level code along with the d value is passed to the warning execution subunit.

[0052] (3) Start the early warning execution subunit, which performs multi-branch operations based on the received early warning level code: If the code is 0, the warning execution subunit calls the drawing property setting interface of the graphical user interface to set the color of the label symbol of the measurement point to green.

[0053] If the code is 1, the warning execution subunit first calls the drawing attribute setting interface to set the annotation symbol color to yellow. Then, it sends a vibration command lasting 200 milliseconds to the vibration driver by calling the vibration service interface of the mobile terminal operating system, causing the device to vibrate briefly.

[0054] If the code is 2, the warning execution subunit performs the following operations in sequence: First, it sets the color of the annotation symbol to red; then, it calls the audio service interface to play a WAV format alarm audio file pre-stored in the application resource folder; finally, it calls the graphical user interface pop-up control interface to display a modal dialog box in the center of the current screen. The dialog box is titled "Deviation Exceeds Limit Warning" and its content is "The current deviation value is XX cm, which has exceeded the preset threshold. Please check: 1. Instrument height setting; 2. Prism height setting; 3. Control point coordinates; 4. Drawing registration." The dialog box contains an "OK" button, which closes the dialog box after the user clicks it.

[0055] In this embodiment, the above three sub-units are executed sequentially to complete the complete early warning processing flow for a measurement point, and then wait for the next measurement event to be triggered.

[0056] The data management module 50, connected to the deviation warning unit 40, is used to record and manage data including measurement points, deviation values ​​and map screenshots, and generate verification reports.

[0057] In this embodiment, the data management module 50 is a storage and output module in the application, which interacts with the deviation warning unit 40, the dual-image comparison module 30, and the file system of the mobile terminal.

[0058] In one embodiment, the data management module 50 comprises three subunits: a data recording subunit, a report generation subunit, and a data export subunit. The data recording subunit establishes a connection with the deviation warning unit 40. Whenever a measurement point completes all processing steps (including labeling and warning), the deviation warning unit 40 transmits the complete information of that measurement point, including original coordinates, transformed coordinates, deviation value, warning level, and timestamp, as a data record to the data recording subunit. Simultaneously, the data recording subunit establishes a connection with the dual-image comparison module 30. Upon receiving information from a measurement point, it immediately calls the screenshot interface of the dual-image comparison module 30 to capture the current screen view containing the label of that measurement point, generating an image file. The data recording subunit associates these structured text data and image files and writes them to a designated item table in the mobile terminal's local database.

[0059] The report generation subunit is connected to the "Generate Report" button in the application's user interface. When the user clicks this button, the report generation subunit reads all measurement records for the current project from the local database. It calls the template engine to populate this data into a preset report template, generating a document containing tables and embedded images. The document can be in HTML, PDF, or DOCX format, selected by the user during generation. The generated report file is saved to a designated folder on the mobile device and can be sent or printed by the user via the system sharing interface.

[0060] The data export subunit is connected to the "Export Data" button in the application's user interface. When the user clicks this button and selects an export format (such as SHP, DXF, or KML), the data export subunit reads all measurement records for the current project from the local database. It reorganizes the coordinates and attribute information of the measurement points according to the data structure specifications of the selected format and writes them to the corresponding format files. For example, when exporting to SHP format, the data export subunit simultaneously generates multiple files such as .shp, .shx, .dbf, and .prj, writing the coordinate information to the .shp file, the point number, deviation value, and other attribute information to the .dbf file, and the coordinate system definition to the .prj file. The generated files are saved to a designated folder on the mobile terminal for later use by the user.

[0061] This disclosure proposes a mobile real-time surveying and verification system based on a total station and RTK. It enables real-time communication between the total station / RTK and a mobile terminal loaded with Ovi Interactive Maps and 91 Satellite Imagery via a Bluetooth wireless module. It innovatively introduces a "dual-map dynamic comparison" mechanism, automatically converting measurement data into map coordinates and overlaying them onto satellite imagery and vector base maps, while simultaneously loading design drawings for real-time on-site verification. This disclosure solves the problems of cumbersome coordinate transformation and the disconnect between design and reality in traditional surveying. Through a three-level deviation warning algorithm, it controls field operation errors to within 2cm, allowing a single person to complete the entire measurement-verification process. It is suitable for scenarios such as road construction, land registration, and pipeline layout. Compared with existing technologies, this disclosure is simpler to operate, improves efficiency by more than 50%, and reduces the rework rate to below 5%, demonstrating significant economic value.

[0062] Example 2 Figure 2 To apply the flowchart of the mobile real-time surveying and verification method based on total station and RTK disclosed herein to the system described above, the following will refer to... Figure 2 This paper provides a detailed description of the mobile real-time mapping verification method based on total station and RTK.

[0063] In step 101, a wireless communication connection is established between the total station or RTK device and the mobile terminal; at least one set of coordinate pairs of known control points in the survey area is input on the mobile terminal to automatically calculate and store the parameters for coordinate transformation.

[0064] In one embodiment, the operator inserts the Bluetooth adapter into the data output interface of the total station or RTK device, ensuring a tight connection between the adapter and the device. The measuring device is then powered on and put into data output mode. The operator then opens the dedicated application installed on their mobile terminal and selects the "Device Connection" function on the application's main interface. The application automatically invokes the Bluetooth scanning interface of the mobile terminal's operating system to search for discoverable Bluetooth devices in the vicinity. The scan results are presented in a list format, including device names and signal strength information. The operator locates the device name corresponding to the inserted Bluetooth adapter in the list and clicks to pair. If a pairing code is required for the first connection, the default code from the adapter's instruction manual can be entered. After successful pairing, the application establishes a stable serial communication link with the measuring device and automatically saves the device information for subsequent quick connections.

[0065] After successful device connection, the application interface automatically redirects to the "Project Settings" or "Parameter Calculation" interface. Operators must input the coordinates of known control points within the survey area on this interface. At least three control points are required and should be evenly distributed across the survey area. For each control point, operators need to input its coordinates in two coordinate systems: one is the engineering coordinate system currently used by the surveying equipment (such as CGCS2000 or a local independent coordinate system), and the other is the target map coordinate system (such as WGS84). Input can be done manually or by batch loading from a text file. After input, the application checks the completeness and rationality of the coordinate data, for example, checking whether the two sets of coordinates for the same control point are obviously contradictory.

[0066] After confirming everything is correct, the operator clicks the "Solve Parameters" button. The coordinate transformation engine in the application's background then starts the parameter solution unit. This unit reads all input control point coordinate pairs and constructs a Bursa-Wolf seven-parameter transformation model. Specifically, for each common point, an error equation is established based on its original and target coordinates, and the error equations of all points are combined to form the normal equation. The parameter solution unit uses the least squares method to iteratively solve the normal equation, obtaining the optimal estimates of the seven transformation parameters, including three translation parameters, three rotation parameters, and one scale factor. After the solution is complete, the application stores the calculated seven parameters in the project configuration file and displays the solution residuals or unit weighted mean square error on the interface for the operator to evaluate the parameter accuracy. If the residuals are too large, the application will prompt the operator to check whether the control point coordinates are accurate or whether the control point distribution is reasonable. The operator can choose to re-enter or accept the current parameters. After the parameter solution is successful, all subsequent measurement data will automatically apply this set of parameters for real-time transformation without the need for repeated settings.

[0067] In step 102, the vector map data and high-definition image map data of the work area are loaded on the mobile terminal; the design drawings are imported, and the registration between the design drawings and the loaded map is completed by selecting at least three feature points.

[0068] In one embodiment, after completing device pairing and parameter calculation, the operator enters the "Map Management" interface of the application. This interface displays a map overview of the vicinity of the current geographical location in thumbnail form. The operator can zoom and swipe with their finger to select the actual area for the current operation on the screen. After selection, the application displays download options, including map level, data type (vector map, satellite imagery, or both). The operator can select according to the operation needs and the mobile terminal's storage space. Clicking "Start Download" activates the application's map rendering unit to start the tile download engine, downloading map tiles within the selected area level by level from preset map service sources based on the current network connection status. During the download process, the interface displays a progress bar and the number of downloaded tiles. After all tiles are downloaded, they are stored in the mobile terminal's local cache directory for subsequent offline use. After the download is complete, the application automatically switches to map display mode, overlaying the downloaded vector map and satellite imagery on the screen, allowing the operator to check whether the map coverage and clarity meet the requirements.

[0069] Next, the operator needs to import the design drawings. Clicking the "Import Design Drawings" button opens the system file selector, allowing the operator to choose a DXF or DWG format design file from the mobile terminal's local storage or an external storage device. Once the file is selected, the application's drawing registration unit parses the file, extracting point, line, and polygon features, and constructs a temporary vector layer in memory. After parsing, the application automatically enters "Drawing Registration" mode. In this mode, the map rendering unit keeps the base map displayed while overlaying the drawing features on it in a semi-transparent manner. The operator needs to find clearly identifiable corresponding feature points on both the drawing and the base map, such as the center of a road intersection, a building corner, or the center of an isolated feature. The operator first clicks on a feature point on the drawing, then clicks the corresponding point on the base map; the application records this pair of coordinates. This operation is repeated at least three times, and the feature points should be distributed as widely as possible around the survey area. Once the number of feature point pairs collected meets the requirements, the operator clicks "Perform Registration". The drawing registration unit calculates registration parameters based on these pairs of corresponding points using affine or polynomial transformation models, and transforms all elements of the drawing into the base map coordinate system according to the registration parameters. After registration, the drawing is displayed on top of the base map as a layer with adjustable transparency. Operators can zoom to check the registration accuracy, and if there are any unsatisfactory aspects, they can re-register or manually fine-tune it. The registered drawing and its registration parameters are saved in the project file for subsequent measurement use.

[0070] In step 103, the raw coordinate data collected by the measuring device is transmitted to the mobile terminal in real time via wireless communication. After coordinate transformation, it is simultaneously marked on the vector map and satellite imagery. The deviation between the measured point and the corresponding position on the design drawing is calculated in real time, and the corresponding level of early warning is triggered according to the preset deviation threshold.

[0071] In one embodiment, a worker carries surveying equipment into the survey area to begin measuring or setting out points. Once the surveying equipment completes the observation and recording of a point, it sends the measurement data as a data stream through its data output interface. A Bluetooth adapter connected to the equipment captures this data in real time, performs simple encapsulation, and then sends it to a mobile terminal via a Bluetooth wireless link. Upon receiving the data, the mobile terminal's second communication unit immediately triggers an event callback function in the application, passing the raw data to the coordinate transformation engine.

[0072] In one embodiment, the real-time transformation unit of the coordinate transformation engine parses the raw data stream and extracts the coordinate values ​​(X, Y, X) of the measurement point in the original coordinate system. raw Y raw Z raw Simultaneously, it reads the seven parameters previously calculated and stored from the project configuration file. The real-time transformation unit applies the Bursa-Wolf model to perform coordinate transformation calculations and outputs the coordinate values ​​(X, X) in the target coordinate system (i.e., the coordinate system used by the base map). target Y target Z target The transformation result, along with the original coordinates, timestamps, and other information, is encapsulated into a data packet and passed to the dual-image comparison module.

[0073] In one embodiment, after receiving the data packet, the point annotation unit of the dual-map comparison module extracts the target coordinate values ​​from the packet. The point annotation unit calls the coordinate transformation interface of the map rendering unit to convert the geographic coordinates into pixel coordinates of the current screen display area. Subsequently, the point annotation unit simultaneously draws annotation symbols at the corresponding pixel positions in the vector map layer and the satellite image layer. The annotation symbols can be preset dots, crosshairs, or other shapes, with a default color of green, and are accompanied by a label displaying the point number or a simple deviation placeholder. After annotation is completed, the map rendering unit updates the screen display, and the operator can immediately see the accurate location of the just measured point on the dual maps.

[0074] In one embodiment, while the point is being labeled, the deviation warning unit activates the deviation calculation subunit. This subunit acquires the map coordinates of the current measurement point and obtains the registered design drawing vector data from the drawing registration unit. The deviation calculation subunit calculates the shortest distance from the point to the nearest design line or design point, obtaining the deviation value. This deviation value is transmitted in real time to the point labeling unit to update the displayed content on the label, such as "deviation 0.08m". Simultaneously, the deviation value is transmitted to the threshold judgment subunit.

[0075] In one embodiment, the threshold judgment subunit reads preset deviation thresholds in the application settings, such as a first threshold of 0.05 meters and a second threshold of 0.20 meters. It compares the current deviation value with the threshold and generates a warning level code: Level 0 (deviation ≤ first threshold), Level 1 (first threshold < deviation ≤ second threshold), and Level 2 (deviation > second threshold). This level code, along with the deviation value, is passed to the warning execution subunit.

[0076] In one embodiment, the early warning execution subunit performs corresponding operations based on the level code. For level 0, the early warning execution subunit keeps the marker symbol green via the graphical user interface without providing any additional prompts. For level 1, the early warning execution subunit changes the marker symbol color to yellow and invokes the mobile terminal's vibrator drive interface to trigger a short vibration, alerting the operator that the deviation at that point is approaching the limit. For level 2, the early warning execution subunit changes the marker symbol color to red, simultaneously plays a preset alarm sound via the audio interface, and displays a modal prompt box in the center of the screen. The prompt box displays the deviation exceeding the limit and lists several possible causes of error, such as checking the instrument height setting, checking the prism height setting, checking the control point coordinates, and potential deviations in drawing registration. The operator performs on-site verification according to the prompts, troubleshoots, and remeasures until the deviation meets the requirements.

[0077] Throughout the measurement process, whenever a new point is measured, the data processing flow in step 103 above will be automatically repeated once, realizing real-time verification that is measured and verified immediately.

[0078] In step 104, after the measurement is completed, a verification report containing measurement point information and deviation records is generated, and the measurement result file in the specified format is exported.

[0079] In one embodiment, after completing the measurement of all or part of the measuring points, the operator can access the "Data Management" interface of the application at any time. This interface displays all measured point records under the current project in list form, including point number, measurement time, deviation value, and other information. The operator can click on any record to view detailed information, including the original coordinates, converted coordinates, deviation value, and a map screenshot automatically captured during the measurement.

[0080] In one embodiment, if operators need to generate a formal verification report, they can click the "Generate Report" button. The report generation subunit of the application's data management module is activated. It reads all measurement records for the current project from the local database, including the coordinates, deviations, timestamps, and associated screenshot file paths for each point. The report generation subunit populates this data into a preset report template, which can be in HTML or PDF format. After population, a structured verification report is generated, typically including the project name, operation date, a summary table of all points (including coordinates and deviations), and a detailed page for each point (including screenshots and deviation curves). The generated report file is saved to a designated folder on the mobile terminal, and a share menu pops up, allowing operators to send or back up the report via email, instant messaging tools, or cloud storage.

[0081] In one embodiment, if the operator needs to import the measurement results into other professional software for further processing, they can click the "Export Data" button. The application will display a format selection menu, supporting export to common formats such as DXF, SHP, and KML. After the operator selects the desired format, the data export subunit reads all measurement point data from the database and reorganizes and encodes it according to the data specifications of the selected format. For example, when exporting to SHP format, multiple files such as .shp, .shx, .dbf, and .prj will be generated simultaneously. The point coordinates will be written to the .shp file, the attribute information (such as point number and deviation value) will be written to the .dbf file, and the coordinate system definition will be written to the .prj file. After the export is complete, the generated files are also saved to the specified folder and can be shared or copied to a computer via USB connection.

[0082] This disclosure provides a mobile real-time surveying and verification method based on total station and RTK. It enables real-time communication between the total station / RTK and a mobile terminal loaded with Aowei Interactive Map and 91 Satellite Imagery via a Bluetooth wireless module. It innovatively introduces a "dual-map dynamic comparison" mechanism, automatically converting measurement data into map coordinates and overlaying them onto satellite imagery and vector base maps, while simultaneously loading design drawings for real-time on-site verification. This disclosure solves the problems of cumbersome coordinate transformation and the disconnect between design and reality in traditional surveying. Through a three-level deviation warning algorithm, it controls field operation errors to within 2cm, allowing a single person to complete the entire measurement-verification process. It is applicable to scenarios such as road construction, land registration, and pipeline layout. Compared with existing technologies, this disclosure is simpler to operate, improves efficiency by more than 50%, and reduces the rework rate to below 5%, demonstrating significant economic value.

[0083] In a third aspect, embodiments of this disclosure provide an electronic device, including a memory and a processor, wherein the memory stores a program that runs on the processor, and the processor executes the steps of the mobile real-time mapping verification method based on total station and RTK as described in the first aspect. In a fourth aspect, embodiments of this disclosure provide a computer-readable storage medium having computer instructions stored thereon, which, when executed, perform the steps of the mobile real-time mapping verification method based on total station and RTK as described in the first aspect.< / d>

Claims

1. A mobile real-time surveying and verification system based on total station and RTK, characterized in that, include: The wireless communication module is used to establish a real-time data transmission link between the measuring equipment and the mobile terminal; A coordinate transformation engine, connected to the wireless communication module, is used to receive raw coordinate data transmitted by the measuring device and automatically convert the raw coordinate data into coordinate data that matches the target map coordinate system based on preset transformation parameters. The dual-map comparison module, connected to the coordinate transformation engine, is used to synchronously mark the measurement points corresponding to the transformed coordinate data on the vector map and satellite imagery, and supports loading external design drawings for real-time comparison with the measurement points; The deviation warning unit is connected to the dual-image comparison module and is used to calculate the deviation value between the measurement point and the corresponding position on the design drawing in real time, and trigger different levels of warning signals according to the preset deviation threshold. The data management module, connected to the dual-image comparison module and the deviation early warning unit, is used to store measurement data, generate verification reports, and support the export of measurement results.

2. The mobile real-time mapping and verification system based on total station and RTK as described in claim 1, characterized in that, The wireless communication module includes a first communication unit located on the total station or RTK measurement equipment and a second communication unit located on the mobile terminal. The first communication unit and the second communication unit establish a wireless connection through Bluetooth radio frequency technology to realize the real-time transmission of measurement data.

3. The mobile real-time mapping and verification system based on total station and RTK as described in claim 1, characterized in that, The coordinate transformation engine has a built-in multi-parameter coordinate transformation model. It calculates the transformation parameters by using the coordinate values ​​of at least three known control points in two coordinate systems, and automatically applies the transformation parameters to each received original coordinate during the measurement process to perform real-time coordinate transformation.

4. The mobile real-time mapping and verification system based on total station and RTK as described in claim 1, characterized in that, The dual-image comparison module includes: The map rendering unit is used to load and display vector maps and satellite imagery; The drawing registration unit, connected to the map rendering unit, is used to register the imported design drawings with the base map by selecting feature points of the same name, and generate an overlay layer. The point marking unit, connected to the coordinate transformation engine and map rendering unit, is used to synchronously mark measurement points on vector maps and satellite imagery and display relevant attribute information.

5. The mobile real-time mapping and verification system based on total station and RTK as described in claim 1, characterized in that, The deviation early warning unit includes: The deviation calculation subunit is used to calculate the shortest distance from the measurement point to the nearest design line or design point as the deviation value. The threshold judgment subunit is connected to the deviation calculation subunit, and presets at least two levels of deviation thresholds to generate a corresponding warning level based on the threshold range in which the deviation value is located. The early warning execution subunit is connected to the threshold judgment subunit and executes at least one of the following prompts based on the early warning level: visual signage change, vibration reminder, or sound alarm.

6. The mobile real-time mapping and verification system based on total station and RTK as described in claim 5, characterized in that, Furthermore, the warning execution subunit is also used to trigger a first-level warning when the deviation value exceeds a first threshold, changing the measurement point label symbol to a first color; trigger a second-level warning when the deviation value exceeds a second threshold, accompanied by a vibration reminder in addition to changing the color; and trigger a third-level warning when the deviation value exceeds a third threshold, simultaneously issuing an audible alarm and displaying a preset error reason prompt.

7. The mobile real-time mapping and verification system based on total station and RTK as described in claim 1, characterized in that, The data management module supports generating verification reports that include measurement point coordinates, design coordinates, deviation values, measurement time, and corresponding point map screenshots. It also supports batch exporting measurement points as output files in DXF, SHP, or KML formats.

8. A mobile real-time mapping verification method based on total station and RTK, applied to the mobile real-time mapping verification system based on total station and RTK as described in claims 1-7, characterized in that, Includes the following steps: S1: Establish a wireless communication connection between the measuring equipment and the mobile terminal, input the coordinates of two sets of coordinate systems of at least three known control points in the survey area, calculate and store the coordinate transformation parameters; S2: Download vector map data and satellite image data of the work area, import design drawings, and complete the registration of drawings and maps by selecting feature points with the same name; S3: The raw coordinate data collected by the measuring equipment is transmitted to the mobile terminal in real time via wireless communication. After coordinate transformation, it is synchronously marked on the vector map and satellite imagery. The deviation between the measured point and the corresponding position on the design drawing is calculated in real time, and the corresponding level of early warning is triggered according to the preset deviation threshold. S4: After the measurement is completed, a verification report containing measurement point information and deviation records is generated, and the measurement results file in the specified format is exported.

9. The mobile terminal real-time mapping verification method based on total station and RTK according to claim 8, characterized in that, Step S1 further includes: Input at least three known control point coordinate pairs in the engineering coordinate system and the target map coordinate system, and use the least squares method to solve for seven parameters as transformation parameters.

10. The mobile terminal real-time mapping verification method based on total station and RTK according to claim 8, characterized in that, Step S2 further includes: The design drawings are in DXF or DWG format. The drawings are registered by selecting at least three feature points with the same name on the drawings and maps, and using affine transformation or polynomial transformation models.

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