RTK receiver with laser ranging module
By arranging the first, second and third laser ranging modules at different parts of the RTK receiver, the problem in the existing technology that the receiver needs to maintain a large tilt angle is solved, the measurement accuracy and the number of satellite searches are improved, and the Receiver performance and ease of operation.
Patent Information
- Application Number
- CN202322413504.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-06
- Publication Date
- 2025-01-21
- Estimated Expiration
- 2033-09-06
AI Technical Summary
The existing RTK receiver with laser ranging module needs to maintain a large inclination angle when measuring points at a certain height from the ground, resulting in a decrease in measurement accuracy and star searches, and it is impossible to measure measurement points higher than the ground.
Design an RTK receiver with a laser ranging module, in which the first laser ranging module is placed on the side of the receiver, the second laser ranging module is placed on the bottom of the receiver, and a third laser ranging module is added inside the receiver module, allowing the selection of the optimal laser ranging module for work.
By arranging laser ranging modules in different parts, the tilt angle when measuring different height points is reduced, the measurement accuracy and number of satellite searches are improved, the overall measurement performance of the receiver is improved, and the operation is simplified.
Smart Images
Figure CN222379895U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of satellite navigation, in particular to an RTK receiver with a laser ranging module. Background Art
[0002] An RTK receiver is a device specifically used for real-time dynamic differential positioning technology (RTK). It is a global navigation satellite system (GNSS) receiver that can receive satellite signals and perform high-precision position calculations. An RTK receiver usually consists of hardware and software. The hardware part includes a receiving antenna, a GNSS chip, a processor, and a communication module. The receiving antenna is used to receive satellite signals, the GNSS chip converts the received signals into usable positioning data, the processor processes and calculates the positioning data, and the communication module is used to transmit differential correction data.
[0003] Laser RTK system integrates and processes data from two measurement technologies by using laser rangefinders and GPS receivers simultaneously. Laser rangefinders calculate distance by sending laser pulses and measuring the time for the return pulses, while GPS receivers calculate position by receiving satellite signals. Laser RTK is widely used in land surveying, construction surveying, machine control, and navigation. Its high-precision positioning can improve work efficiency, reduce measurement errors, and provide reliable data support for applications that require precise positioning.
[0004] Existing RTK receivers with laser ranging modules usually install the laser ranging module at the bottom of the receiver, or install the laser rangefinder below the receiver. This will result in the need to maintain a certain tilt angle of the receiver when measuring points at a certain height from the ground, and it is impossible to measure points higher than the ground. The tilt angle will greatly reduce the number of satellite searches and accuracy during measurement, and reduce the measurement performance of the receiver. Utility Model Content
[0005] The utility model now proposes an RTK receiver with a laser ranging module to solve the technical problems existing in the above-mentioned prior art.
[0006] Specifically, the utility model provides an RTK receiver with a laser ranging module, comprising: a GNSS module, a processor module, an IMU module, a first laser ranging module, and a second laser ranging module. The first laser ranging module is arranged on the side of the receiver, and the second laser ranging module is arranged on the bottom of the receiver.
[0007] In some embodiments, the first laser ranging module includes: a laser transmitter, a receiver, a processor, and a control circuit.
[0008] In some embodiments, the second laser ranging module includes: a laser transmitter, a receiver, a processor, and a control circuit.
[0009] In some embodiments, the IMU module includes: an accelerometer, a gyroscope, and a magnetometer.
[0010] Furthermore, the RTK receiver with a laser ranging module provided by the utility model also includes: a receiver upper shell, a receiver lower shell, a control panel, and a power module. The control panel is installed on the receiver lower shell. There are cavities in the receiver upper shell and the receiver lower shell. The GNSS module, the processor module, the IMU module, the first laser ranging module, and the second laser ranging module are arranged in the cavity inside the upper shell and the lower shell.
[0011] Furthermore, it also includes: a first laser protection cover, a first laser protection sheet, a second laser protection cover, and a second laser protection sheet. The first laser protection cover is fixedly installed on the side of the lower shell of the receiver, the first laser protection sheet is fixedly installed between the first laser protection cover and the first laser ranging module, the second laser protection cover is fixedly installed on the bottom of the lower shell of the receiver, and the second laser protection sheet is fixedly installed between the second laser protection cover and the second laser ranging module.
[0012] In some embodiments, it also includes: a third laser ranging module, the third laser ranging module is installed in a direction opposite to the second laser ranging module, and the third laser ranging module is electrically connected to the processor.
[0013] The third laser ranging module includes: a laser transmitter, a receiver, a processor, and a control circuit.
[0014] Compared with the prior art, the RTK receiver with a laser ranging module provided by the utility model has the following beneficial technical effects:
[0015] The first laser ranging module is set at the side of the receiver, so when measuring a measuring point at a certain height from the ground, there is no need to maintain a large inclination angle of the receiver, which greatly increases the measurement accuracy and the number of satellite searches. The second and third laser ranging modules are added to different parts of the receiver, so that when measuring measuring points at different heights from the ground, the receiver can select the laser ranging module with the best measurement performance to work, which improves the overall measurement accuracy of the receiver, optimizes the performance of the receiver, and makes the operation easier. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a structural schematic diagram of an embodiment of the utility model;
[0017] Figure 2 It is a schematic diagram of the specific external structure of an embodiment of the utility model;
[0018] Figure 3 It is a schematic diagram of the internal specific structure of an embodiment of the utility model;
[0019] Figure 4 It is a structural schematic diagram of another embodiment of the utility model;
[0020] Figure 5 It is a specific structural schematic diagram of another embodiment of the utility model;
[0021] Figure 6 It is a schematic diagram of the receiver of the utility model performing measurement test. DETAILED DESCRIPTION
[0022] The embodiments of the present utility model will now be described in detail with reference to the accompanying drawings.
[0023] Example 1
[0024] like Figure 1 As shown, an RTK receiver with a laser ranging module provided by the utility model includes: a GNSS module 4, a processor module 5, an IMU module 6, a first laser ranging module 1, and a second laser ranging module 2. The first laser ranging module 1 is arranged on the side of the receiver, and the second laser ranging module 2 is arranged on the bottom of the receiver.
[0025] like Figure 2 As shown, it is a schematic diagram of the external structure of the receiver of the utility model, including: a receiver upper shell 11, a receiver lower shell 12, a control panel 13, and a power module 14. The control panel 13 is installed on the receiver lower shell 12. There are cavities in the receiver upper shell 11 and the receiver lower shell 12. The GNSS module 4, the processor module 5, the IMU module 6, the first laser ranging module 1, and the second laser ranging module 2 are arranged in the cavities inside the upper shell 11 and the lower shell 12.
[0026] The first laser ranging module 1 and the second laser ranging module 2 both include: a laser transmitter, a receiver, a processor, and a control circuit; the IMU module 6 includes: an accelerometer, a gyroscope, and a magnetometer.
[0027] like Figure 3 As shown, it is a schematic diagram of the internal structure of the receiver of the utility model, including: a first laser glass protection cover 101 and a first laser protection sheet 102. The first laser glass protection cover is fixedly installed on the side of the lower shell 12 of the receiver, and the first laser protection sheet 102 is fixedly installed between the first laser glass protection cover 101 and the first laser ranging module 1.
[0028] Example 2
[0029] like Figure 4As shown, it is another embodiment of the present utility model. On the basis of embodiment 1, embodiment 2 provides an RTK receiver with a laser ranging module, which also includes: a third laser ranging module 3. The direction of the installation of the third laser ranging module 3 is opposite to that of the second laser ranging module 2. The third laser ranging module 3 is electrically connected to the processor.
[0030] The third laser distance measurement module (3) comprises: a laser transmitter, a receiver, a processor, and a control circuit.
[0031] like Figure 5 As shown, it is a schematic diagram of the specific structure of Example 2 of the utility model, including: a third laser glass protection cover 301, a third laser protection sheet 302, the third laser glass protection cover 301 is fixedly installed on the top of the receiver upper shell 11, and the third laser protection sheet 302 is fixedly installed between the third laser glass protection cover 301 and the third laser ranging module 3.
[0032] The conventional receiver, the receiver equipped with the second laser ranging module and the receiver provided in this embodiment are measured and tested respectively, and the test method is as follows:
[0033] Step 1: Use a total station to measure, obtain the coordinates of the wall points, and record the coordinate values as known points;
[0034] Step 2: Turn on the receiver and perform inertial navigation initialization or laser initialization;
[0035] Step 3: Aim the rod tip or laser at a known point at a distance of 2m and record the coordinates measured after compensation;
[0036] Step 4: Compare the recorded series of coordinate values with the known point coordinate values.
[0037] Specifically, Figure 6 As shown, it is a schematic diagram of the measurement test, wherein the ground point 43 is located at the connection between the wall and the ground, the second facade point 42 is located on the wall at 2m above the ground, and the first facade point 41 is located on the wall at 4m above the ground.
[0038] The following data can be obtained:
[0039]
[0040]
[0041] As can be seen from the table above, when measuring ground points, the second laser ranging module has the smallest inclination angle and the most accurate measurement results. When measuring the vertical point at a height of 2m above the ground, the first laser ranging module has the smallest inclination angle and the most accurate measurement results. When measuring the vertical point at a height of 4m above the ground, the ordinary inertial navigation and the second laser ranging module can no longer work properly. At this time, the measurement results of the first laser ranging module are the most accurate.
[0042] In summary, the technical solution of an RTK receiver with a laser ranging module provided by the utility model has the following beneficial technical effects including but not limited to:
[0043] The first laser ranging module is set close to the side of the receiver, so that when measuring a measuring point at a certain height from the ground, there is no need to maintain a large inclination angle of the receiver, thereby increasing the measurement accuracy and the number of searched stars at this time. The second and third laser ranging modules are added in different parts inside the receiver, wherein: the second laser ranging module is located at the bottom of the receiver, and when measuring a ground point or a point at a low height from the ground, there is no need to maintain a large inclination angle of the receiver, thereby increasing the measurement accuracy at this time. The third laser ranging module is located at the top of the receiver, and when measuring a measuring point at a higher height from the ground, there is no need to maintain a large inclination angle of the receiver, thereby increasing the measurement accuracy at this time.
[0044] Therefore, when measuring measuring points at different heights from the ground, the RTK receiver with a laser ranging module provided by the utility model can select the laser ranging module with the best measurement performance to work, thereby improving the overall measurement accuracy of the receiver, optimizing the performance of the receiver, and making the operation easier.
[0045] So far, it is a detailed description of the implementation mode of the utility model. It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the utility model are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the utility model described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0046] The above embodiments are only used to illustrate the technical solution of the present disclosure rather than to limit it. Although the present disclosure has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present disclosure can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present disclosure, which should be included in the scope of the technical solution requested for protection in the present disclosure.
Claims
1. An RTK receiver with a laser ranging module, comprising: The GNSS module (4), the processor module (5), and the IMU module (6) are characterized in that they also include: a first laser ranging module (1) and a second laser ranging module (2), wherein the first laser ranging module (1) is arranged on the side of the receiver, and the second laser ranging module (2) is arranged on the bottom of the receiver.
2. The RTK receiver with a laser ranging module according to claim 1, characterized in that: The first laser distance measurement module (1) comprises: a laser transmitter, a receiver, a processor, and a control circuit.
3. The RTK receiver with a laser ranging module according to claim 1, characterized in that: The second laser distance measuring module (2) comprises: a laser transmitter, a receiver, a processor, and a control circuit.
4. The RTK receiver with a laser ranging module according to claim 1, characterized in that: The IMU module (6) comprises: an accelerometer, a gyroscope, and a magnetometer.
5. The RTK receiver with a laser ranging module according to claim 1, characterized in that: Also includes: A receiver upper shell (11), a receiver lower shell (12), a control panel (13), and a power module (14); the control panel (13) is mounted on the receiver lower shell (12); the receiver upper shell (11) and the receiver lower shell (12) have cavities therein; the GNSS module (4), the processor module (5), the IMU module (6), the first laser ranging module (1), and the second laser ranging module (2) are arranged in the cavities inside the upper shell and the lower shell.
6. The RTK receiver with a laser ranging module according to claim 5, characterized in that: Also includes: A first laser protection cover (101), a first laser protection sheet (102), a second laser protection cover (201), and a second laser protection sheet (202), wherein the first laser protection cover (101) is fixedly mounted on a side of a lower housing (12) of the receiver, the first laser protection sheet (102) is fixedly mounted between the first laser protection cover (101) and the first laser ranging module (1), the second laser protection cover (201) is fixedly mounted on the bottom of the lower housing (12) of the receiver, and the second laser protection sheet (202) is fixedly mounted between the second laser protection cover (201) and the second laser ranging module (2).
7. The RTK receiver with a laser ranging module according to claim 1, characterized in that: Also includes: A third laser ranging module (3), the third laser ranging module (3) being installed in a direction opposite to that of the second laser ranging module (2), and the third laser ranging module (3) being electrically connected to the processor.
8. The RTK receiver with a laser ranging module according to claim 7, characterized in that: The third laser distance measuring module (3) comprises: a laser transmitter, a receiver, a processor, and a control circuit.