Control method for measurement system, and measurement system and computer-readable medium

Abstract

Disclosed in the present application are a control method for a measurement system, wherein the measurement system comprises a navigation module, a laser ranging module and a support portion. The control method comprises: obtaining a relative position parameter between a navigation module and a laser ranging module; obtaining parameter information of a support portion; switching to a first measurement mode, acquiring first measurement information of the navigation module, and acquiring coordinates of a point to be measured on the basis of the first measurement information and the parameter information of the support portion; or, switching to a second measurement mode, acquiring second measurement information of the navigation module, and acquiring the coordinates of said point on the basis of the second measurement information and the parameter information of the support portion; or, switching to a third measurement mode, acquiring the second measurement information of the navigation module and distance information between the laser ranging module and said point, and acquiring the coordinates of said point on the basis of the second measurement information, the relative position parameter between the navigation module and the laser ranging module, and the distance information. The measurement system and the control method provided in the present application have the advantages of high positioning and navigation precision, and have various operating modes available for freely switching therebetween, which still have a certain level of applicability in the case of a special measurement scenario.

Description

A control method for a measurement system, a measurement system, and a computer-readable medium Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a control method for a measurement system, a measurement system using the control method, and a computer-readable medium. Background Art

[0002] RTK (Real-time kinematic) technology can achieve centimeter-level positioning accuracy in real time in the wild and is widely used in unmanned driving, precision agriculture, deformation monitoring, mechanical control, and drones.

[0003] However, RTK technology requires satellite signal reception for positioning. For example, when a vehicle passes through forests, tree canyons, urban canyons, bridges, tunnels, and other locations, obstruction can lead to poor satellite signal quality, resulting in erroneous RTK positioning results. Consequently, the application of positioning and navigation equipment is often subject to numerous environmental constraints, requiring the integration of multiple sensors to complement each other in providing positioning and navigation information.

[0004] Summary of the Invention

[0005] To solve the above problems, an embodiment of the present application provides a control method for a measurement system, wherein the measurement system includes a navigation module, a laser ranging module and a support part, and the control method includes: obtaining relative position parameters of the navigation module and the laser ranging module; obtaining parameter information of the support part; switching to a first measurement mode, obtaining first measurement information of the navigation module, and obtaining coordinates of a point to be measured based on the first measurement information and the parameter information of the support part, or; switching to a second measurement mode, obtaining second measurement information of the navigation module, and obtaining coordinates of the point to be measured based on the second measurement information and the parameter information of the support part, or; switching to a third measurement mode, obtaining the second measurement information of the navigation module and distance information between the laser ranging module and the point to be measured, and obtaining coordinates of the point to be measured based on the second measurement information, the relative position parameters of the navigation module and the laser ranging module, and the distance information.

[0006] In some embodiments, the method further includes: initializing the navigation module to obtain an initial value of the navigation module.

[0007] In some embodiments, initializing the navigation module to obtain an initial value of the navigation module includes: performing initialization using the navigation module and the support portion or performing initialization using the navigation module and the laser ranging module.

[0008] In some embodiments, the navigation module includes an inertial measurement unit and a GNSS positioning unit.

[0009] In some embodiments, obtaining the relative position parameters of the navigation module and the laser ranging module includes: obtaining the relative position parameters among the inertial measurement unit, the GNSS positioning unit, and the laser ranging module.

[0010] In some embodiments, acquiring the first measurement information of the navigation module includes: acquiring positioning information output by the GNSS positioning unit.

[0011] In some embodiments, acquiring the second measurement information of the navigation module includes: acquiring positioning information output by the GNSS positioning unit and attitude information output by the inertial measurement unit.

[0012] In some embodiments, the switching of the measurement mode includes manual switching and automatic switching.

[0013] An embodiment of the present application also provides a measurement system for implementing the above-mentioned control method, wherein the measurement system includes a navigation module, a laser ranging module, a support part, and a control module, wherein the control module is configured to obtain relative position parameters of the navigation module and the laser ranging module; obtain parameter information of the support part; control the measurement system to switch to a first measurement mode, obtain first measurement information of the navigation module, and obtain the coordinates of the point to be measured based on the first measurement information and the parameter information of the support part; or control the measurement system to switch to a second measurement mode, obtain second measurement information of the navigation module, and obtain the coordinates of the point to be measured based on the second measurement information and the parameter information of the support part; or control the measurement system to switch to a third measurement mode, obtain the second measurement information of the navigation module and the distance information between the laser ranging module and the point to be measured, and obtain the coordinates of the point to be measured based on the second measurement information, the relative position parameters of the navigation module and the laser ranging module, and the distance information.

[0014] An embodiment of the present application further provides a computer-readable medium having executable instructions stored thereon, and when the instructions are executed by one or more processors, the above-mentioned control method is performed.

[0015] Compared with the prior art, the embodiments of the present application have at least one of the following advantages:

[0016] The measurement system and control method provided in this application can comprehensively utilize differential Beidou satellite signals, single-point Beidou satellite signals and various sensor information including inertial navigation systems, laser ranging, etc., and have the advantages of high positioning and navigation accuracy, and have multiple working modes that can be freely switched. It still has certain applicability in special measurement scenarios such as facade and non-contact measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Non-limiting and non-exhaustive embodiments of the present application are described with reference to the following drawings, wherein like reference numerals refer to like parts throughout the various figures unless otherwise specified. The components in the figures are not drawn to scale and may be drawn out of scale to facilitate understanding of the embodiments of the present disclosure.

[0018] FIG1 is a flow chart of a control method provided in one embodiment of the present application;

[0019] FIG2 is a schematic structural diagram of a measurement system provided in one embodiment of the present application;

[0020] FIG3 is a schematic diagram of an application program according to an embodiment of the present application that applies the control method of FIG1 . DETAILED DESCRIPTION

[0021] The following description is made for the purpose of illustrating the general principles of the present application and is not meant to limit the concept of the application claimed herein.In addition, the specific features described herein can be used in conjunction with other described features in each of the various possible combinations and permutations.

[0022] It should be understood that the term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0023] It should be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.).

[0024] The terms used herein are used only to describe specific embodiments and are not intended to limit the example embodiments of the present application. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "comprise," "include," "include," and / or "comprising" when used herein specify the presence of claimed features, integers, steps, operations, units, and / or components, and do not exclude the presence or addition of one or more other features, quantities, steps, operations, units, components, and / or combinations thereof.

[0025] It should also be noted that in some alternative embodiments, the functions / acts that appear may be different from the order in which the figures appear. For example, depending on the functions / acts involved, they may actually be performed substantially concurrently, or two figures shown in succession may sometimes be performed in the reverse order.

[0026] Unless otherwise specifically defined herein, all terms are to be given their broadest interpretations, including the meanings implied by this specification, as well as those understood by those skilled in the art and / or as defined in dictionaries, papers, etc. To fully explain the technical content, structural features, achieved objectives, and efficacy of this application, the following will be described in detail with reference to the embodiments and accompanying drawings.

[0027] Please refer to Figure 1, which is a flow chart of a control method provided by an embodiment of the present application. This embodiment provides a control method for a measurement system, the measurement system including a navigation module, a laser ranging module, and a support unit, the control method including: initializing the navigation module to obtain an initial value of the navigation module; obtaining relative position parameters of the navigation module and the laser ranging module; obtaining parameter information of the support unit; switching to a first measurement mode to obtain first measurement information of the navigation module, and obtaining the coordinates of a point to be measured based on the first measurement information and the parameter information of the support unit; or; switching to a second measurement mode to obtain second measurement information of the navigation module, and obtaining the coordinates of the point to be measured based on the second measurement information and the parameter information of the support unit; or; switching to a third measurement mode to obtain the second measurement information of the navigation module and distance information between the laser ranging module and the point to be measured, and obtaining the coordinates of the point to be measured based on the second measurement information, the relative position parameters of the navigation module and the laser ranging module, and the distance information.

[0028] Among them, the steps of initializing the navigation module to obtain the initial value of the navigation module, obtaining the relative position parameters of the navigation module and the laser ranging module, and obtaining the parameter information of the support part are not in particular order. The parameters involved are independent of each other and can be collected separately according to user needs.

[0029] Among them, to initialize the navigation module to obtain the initial value of the navigation module, you can choose to use the navigation module and the support part to initialize or use the navigation module and the laser ranging module to initialize. Specifically, taking the support part as the centering rod as an example, the use of the navigation module and the centering rod for initialization can be initialized by tilting, translating, and rotating the centering rod in the horizontal plane. The use of the navigation module and the laser ranging module for initialization can use the laser ranging module in multiple positions, rotation, tilt and other different ways to make the laser point indicate the same position for initialization. The user can adopt different initialization schemes according to different test environments, which will not be repeated here. The relative position parameters of the navigation module and the laser ranging module can be obtained after the measurement device is assembled. The parameter information of the support part at least includes the height or length information of the support part.

[0030] In this embodiment, the navigation module includes an inertial measurement unit and a GNSS (Global Navigation Satellite System) positioning unit. Obtaining relative position parameters of the navigation module and the laser ranging module includes: obtaining relative position parameters between the inertial measurement unit, the GNSS positioning unit and the laser ranging module.

[0031] In the first measurement mode, after the measurement system is initialized and leveled, obtaining first measurement information from the navigation module includes obtaining positioning information output by the GNSS positioning unit. This positioning information can be obtained using single-point precision positioning or real-time differential positioning technology, which is not limited in this embodiment. After obtaining the positioning information output by the GNSS positioning unit, the coordinates of the bottom of the support unit, i.e., the point to be measured, can be obtained by combining the height or length information of the support unit. This measurement mode is suitable for measurements in open areas where the support unit can remain horizontal.

[0032] In the second measurement mode, after the measurement system is initialized, obtaining secondary measurement information from the navigation module involves acquiring positioning information from the GNSS positioning unit and attitude information from the inertial measurement unit. Combined with the support's height or length, this information determines the coordinates of the support's bottom, i.e., the point to be measured. This measurement mode is suitable for measuring in corners, where the support cannot remain level.

[0033] In the third measurement mode, after the measurement system is initialized, the navigation module acquires secondary measurement information, including positioning information from the GNSS positioning unit and attitude information from the inertial measurement unit. This information, combined with the relative position parameters of the navigation module and the laser ranging module, and the distance between the laser ranging module and the measured point, yields the coordinates of the laser indicator point (i.e., the measured point). This measurement mode is suitable for measurement scenarios where support poles cannot reach, such as on walls or in the air.

[0034] The switching of the above-mentioned measurement modes includes manual switching by the user and automatic switching. The control module can automatically switch the measurement mode by identifying whether the measuring device is kept level and whether the laser ranging module is turned on.

[0035] Figure 2 is a structural schematic diagram of a measurement system provided by an embodiment of the present application, which is used to implement the above-mentioned control method. The measurement system includes a navigation module, a laser ranging module, a support part and a control module, wherein the navigation module includes a GNSS positioning unit and an inertial measurement unit, and the control module is configured to obtain the relative position parameters of the navigation module and the laser ranging module; obtain parameter information of the support part; control the measurement system to switch to a first measurement mode, obtain the first measurement information of the navigation module, and obtain the coordinates of the point to be measured based on the first measurement information and the parameter information of the support part; or control the measurement system to switch to a second measurement mode, obtain the second measurement information of the navigation module, and obtain the coordinates of the point to be measured based on the second measurement information and the parameter information of the support part; or control the measurement system to switch to a third measurement mode, obtain the second measurement information of the navigation module and the distance information between the laser ranging module and the point to be measured, and obtain the coordinates of the point to be measured based on the second measurement information, the relative position parameters of the navigation module and the laser ranging module and the distance information.

[0036] Figure 3 is a schematic diagram of an application program implementing the control method of Figure 1, provided in one embodiment of the present application. This embodiment provides a computer-readable medium having executable instructions stored thereon. When the instructions are executed by one or more processors, the control method described above is performed. For example, when the instructions are executed by the processor, the application program interface shown in Figure 1 is displayed, and the coordinates of the measured point can be further displayed in the application program according to the measurement mode described above.

[0037] The measurement system and control method provided in this application can comprehensively utilize differential positioning satellite signals, single-point positioning satellite signals and various sensor information including inertial navigation systems, laser ranging, etc., and have the advantages of high positioning and navigation accuracy, and have multiple working modes that can be freely switched. It still has certain applicability in special terrain conditions such as corners and facades.

[0038] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus the necessary hardware platform, and of course it can also be implemented entirely by hardware. Based on this understanding, all or part of the contribution of the technical solution of the present application to the background technology can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present application or certain parts of the embodiments.

[0039] In embodiments of the present application, the unit / module can be implemented in software so that it can be executed by various types of processors. For example, an identified executable code module can include one or more physical or logical blocks of computer instructions, for example, which can be constructed as objects, processes or functions. Nevertheless, the executable code of the identified module does not need to be physically located together, but can include different instructions stored in different bits, which, when logically combined together, constitute the unit / module and achieve the specified purpose of the unit / module.

[0040] When a unit / module can be implemented using software, taking into account the current state of hardware technology, those skilled in the art can build corresponding hardware circuits to implement the corresponding functions of the unit / module that can be implemented using software, without considering the cost. The hardware circuits include conventional very large scale integration (VLSI) circuits or gate arrays, as well as existing semiconductors such as logic chips and transistors, or other discrete components. Modules can also be implemented using programmable hardware devices, such as field programmable gate arrays, programmable array logic, programmable logic devices, etc.

[0041] Although certain embodiments of the present application have been described, these embodiments have been presented by way of example only and are not intended to limit the scope of the present application. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions, and changes in the form of the methods and systems described herein may be made without departing from the spirit of the present application. The accompanying claims and their equivalents are intended to cover such forms or modifications as fall within the scope and spirit of the present application.

Claims

1. A control method for a measurement system, the measurement system comprising a navigation module, a laser ranging module and a support part, characterized in that: The control method comprises: Obtaining relative position parameters of the navigation module and the laser ranging module; Obtain parameter information of the support part; Switching to a first measurement mode, acquiring first measurement information of the navigation module, and acquiring coordinates of a point to be measured according to the first measurement information and parameter information of the support portion, or; Switching to a second measurement mode, acquiring second measurement information of the navigation module, and acquiring coordinates of the point to be measured according to the second measurement information and parameter information of the support portion, or; Switch to the third measurement mode, obtain the second measurement information of the navigation module and the distance information between the laser ranging module and the point to be measured, and obtain the coordinates of the point to be measured according to the second measurement information, the relative position parameters of the navigation module and the laser ranging module, and the distance information.

2. The control method according to claim 1, characterized in that: Also includes: Initialize the navigation module to obtain an initial value of the navigation module.

3. The control method according to claim 2, characterized in that: Initializing the navigation module to obtain an initial value of the navigation module includes: using the navigation module and the support part to perform initialization or using the navigation module and the laser ranging module to perform initialization.

4. The control method according to claim 1, characterized in that: The navigation module includes an inertial measurement unit and a GNSS positioning unit.

5. The control method according to claim 4, characterized in that: Obtaining the relative position parameters of the navigation module and the laser ranging module includes: obtaining the relative position parameters among the inertial measurement unit, the GNSS positioning unit and the laser ranging module.

6. The control method according to claim 4, characterized in that: Acquiring the first measurement information of the navigation module includes: acquiring positioning information output by the GNSS positioning unit.

7. The control method according to claim 4, characterized in that: Acquiring the second measurement information of the navigation module includes: acquiring positioning information output by the GNSS positioning unit and attitude information output by the inertial measurement unit.

8. The control method according to claim 1, characterized in that: The switching of the measurement mode includes manual switching and automatic switching.

9. A measurement system for implementing the control method according to any one of claims 1 to 8, characterized in that: The measurement system includes a navigation module, a laser ranging module, a support part and a control module, wherein the control module is configured to obtain relative position parameters of the navigation module and the laser ranging module; obtain parameter information of the support part; control the measurement system to switch to a first measurement mode, obtain first measurement information of the navigation module, and obtain coordinates of a point to be measured according to the first measurement information and parameter information of the support part; or control the measurement system to switch to a second measurement mode, obtain second measurement information of the navigation module, and obtain coordinates of a point to be measured according to the second measurement information and parameter information of the support part; or control the measurement system to switch to a third measurement mode, obtain second measurement information of the navigation module and distance information between the laser ranging module and the point to be measured, and obtain coordinates of a point to be measured according to the second measurement information, relative position parameters of the navigation module and the laser ranging module, and the distance information.

10. A computer-readable medium having executable instructions stored thereon, wherein when the instructions are executed by one or more processors, the control method according to any one of claims 1 to 8 is performed.

Images