CN107340530A - A kind of split type GNSS geographical north orienting device based on RTK - Google Patents
A kind of split type GNSS geographical north orienting device based on RTK Download PDFInfo
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- CN107340530A CN107340530A CN201710789126.5A CN201710789126A CN107340530A CN 107340530 A CN107340530 A CN 107340530A CN 201710789126 A CN201710789126 A CN 201710789126A CN 107340530 A CN107340530 A CN 107340530A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The present invention relates to a kind of split type GNSS geographical north orienting device based on RTK, it takes aim at equipment using sight and is taken aim at the split type setting of equipment, remove the trouble of calibration from, distance can be zoomed in or out arbitrarily, according to the difference of north finding precision requirement, the distance of adjustment therebetween, bar is taken aim at as long as seeing the gun sight mechanism taken aim in equipment and visible can be taken aim in equipment.The present invention is using the round-the-clock positioning and directing functions in real time of GNSS, utilize RTK technologies and split type directional technology, high-precision orientating function can be realized in shorter baseline, combined high precision photoelectric observing takes aim at equipment and realizes high-precision geographical north orientation, can not be worked long hours by time restriction, territory restriction, equipment to be calibrated, and maintenance cost is low, high accuracy can be achieved in short distance seeks northern orientation.In view of above reason, the present invention can be widely used in the field such as mine, geodesic survey, ordnance survey and satellite orientation with dual-use.
Description
Technical field
The present invention relates to satellite orientation field, especially with regard to a kind of split type GNSS geographical north orienting device based on RTK.
Background technology
GNSS (Global Navigation Satellite System, GLONASS), it is to refer to institute
Some satellite navigation systems, including it is the whole world, region and enhancing, the GPS such as the U.S., Russian Glonass, Europe
Galileo and the Beidou satellite navigation system of China, and related strengthening system.At least can by 4 satellites of the sky
It is quick to determine the position of GNSS receiver on earth.
RTK (Real-Time Kinematic, carrier phase difference technology) location technology is namely based on carrier phase observation
The real time kinematic survey system of value, using GNSS worldwide navigation positioning systems, it can provide survey station point in real time and specify seat
Three-dimensional localization result in mark system, and reach a centimetre class precision.Under RTK work patterns, base station is seen by Data-Link
Measured value and survey station coordinate information send rover station to together.Rover station not only receives the data from base station by Data-Link,
GPS observation data are also gathered, and forms difference observation in system and is handled in real time, while provide centimeter-level positioning knot
Fruit, last less than one second.Rover station can be at inactive state, can also be in motion state；Can first it be carried out just on fixing point
Dynamic job is entered back into after beginningization, also can directly be started shooting in a dynamic condition, and integer ambiguity is completed under dynamic environment
Search finding.After the fixation of integral cycle unknown solution, you can the real-time processing of each epoch is carried out, as long as more than four can be kept to defend
The tracking of star carrier phase observable and necessary geometric figure, then rover station can provide centimeter-level positioning result at any time.
Introduce in geographical north：Geographical north (True North, TN) refers to the arctic of the earth, i.e., the ground that 90 degree of north latitude or longitude circle cross
Side, also known as direct north, to cross on the earth direction for a little pointing to the earth geography arctic.Pass through the true meridian of earth surface point
The tangential direction of line, turn into the true meridian direction of the point.The direction of the arctic is pointed to real north in true meridian direction.Geographical north
It is the north geographic pole of earth rotation, the starting point of all warps on real north tellurion.
Magnetic north introduction：Magnetic north is the north indicated by compass, this mainly due to the earth magnetic field the two poles of the earth with it is geographic
North and south the two poles of the earth are misaligned, therefore the north of compass instruction is magnetic north rather than geographical north, and magnetic north can change over time.Magnetic north direction
It is extremely inaccurate, it is typically only used for travelling.Magnetic north is referred to as magnetic declination to the angle in geographical north.
Introduce in coordinate north：Figure north, grid north are also in coordinate north, refer to " upper " of longitudinal grid line instruction on certain map
Side.Namely so-called up north and down south.In Gaussian parabolic line system, the signified direction of axis of ordinates or and axis of ordinates
Parallel direction is exactly the coordinate north in work is measured, when azimuth is zero, the signified direction of instrument is exactly coordinate
The north to.In engineering survey and construction, China generally uses the gauss projection plane in 1954 Beijing or 1980 Xi'an
Rectangular coordinate system, the north that general layout is used at present are coordinate north.
As shown in figure 1, the relation schematic diagram in geographical north, magnetic north and coordinate north, it is public can to pass through certain calculating between three
Formula is changed mutually.
Geographical north orientation method classification is found at present：
(1) magnetic seeks north, and magnetic seeks the mainly magnetic north of north searching, passes through a series of azimuths being transformed into geographical north.
(2) astronomy seeks north, and the real north of observation station is determined by the elevation angle or hour angle of observing Polaris.
(3) gyrotheodolite seeks north, and gyroscope has directionality and precession, and during earth rotation, gyroscope is low
Under the influence of turning active constituent, its main shaft is positively retained at meridian plane and nearby done successively always to the precession of meridian plane direction
, unattenuated oval simple harmonic quantity swing, using this characteristic by rough orientation, precise orientation, finally give angle with geographical north,
Real north can be being determined by rotating theodolite.
(4) satellite seeks northern method, and satellite, which seeks north and refers mainly to GNSS (GLONASS), seeks north, determines the point institute of space two
Into sensing of the geometric vector under given coordinate system, 2 lines and the angle in geographical north can be obtained by series of computation.
The process for seeking north using above method has following defect：
(1) magnetic seeks northern method：Orientation accuracy is easily by electromagnetic environmental impact；It is more numerous to realize that accurate magnetic north is changed to geographical north
It is trivial；Latitude is more highly directional, and precision is poorer.Annual magnetic north is all not stop to change daily, and its track is about an ellipse
Shape.
(2) astronomy seeks north：Influenceed by weather and time conditions, can not round-the-clock real-time high-precision measurement.
(3) gyrotheodolite seeks north：Gyroscope is expensive, and service life is limited；Gyro long-time service precision can be sent out
, it is necessary to recalibrate, maintenance cost is high for raw drift.
(4) satellite seeks northern method：Such method north finding precision is vulnerable to stand-alone position error influence, while to two receivers
Between baseline requirement it is higher (generally more than 100m), be unfavorable for setting up under more narrow environment.This method obtain simply
With the angle in geographical north, geographical north cannot be quick and precisely pointed to.
The content of the invention
The technical problem to be solved in the present invention is：It is affected by environment and can not be round-the-clock in order to solve to seek north in the prior art
The problem of seeking north, the present invention provide a kind of split type GNSS geographical north orienting device based on RTK to solve the above problems.
The present invention is that technical scheme is used by solving its technical problem：A kind of split type GNSS geographical north based on RTK
Orienting device, it is characterised in that：It takes aim at equipment including sight and is taken aim at equipment；Equipment is taken aim in the sight includes the first tripod, high-precision
Spend GNSS positioning photoelectricity view instrument, first antenna connector and the first GNSS antenna；Wherein, first GNSS antenna with it is described
High-precision GNSS positioning photoelectricity view instrument is passed the first antenna connector in principle using Central Symmetry and linked together, and one
Block is arranged on first tripod；The high-precision GNSS positioning photoelectricity view instrument is seen to take aim at including the first high precision photoelectric to be set
It is standby, and first high precision photoelectric sight takes aim at equipment and includes gun sight mechanism and laser red light transmitter；It is described to be taken aim at equipment bag
Include the second tripod, high-precision GNSS wireless location instrument, the second antenna connector, the second GNSS antenna and taken aim at bar, and it is described
Bar is taken aim to be arranged in the range of the taking aim at and penetrate of the gun sight mechanism and the laser red light transmitter；Wherein, it is described to be taken aim at bar and set
Put in the geometric center of second GNSS antenna；Second GNSS antenna leads to the high-precision GNSS wireless location instrument
Cross second antenna connector to link together using Central Symmetry principle, the high-precision GNSS wireless location instrument is arranged on
On second tripod.
The bar of being taken aim at includes being taken aim at lever switch, being taken aim at bar battery, LED, vertical groove post and transparent material；Wherein,
Described to be taken aim at that lever switch connection is described to be taken aim at bar battery, the bar battery of being taken aim at connects the LED, described to be taken aim at lever switch use
In the opening and closing for controlling the LED；The vertical groove post, the vertical groove post are provided with below the LED
One of groove is provided with, the periphery of the vertical groove post is provided with the transparent material.
The transparent material uses transparent plastic or clear glass.
High-precision GNSS positioning photoelectricity view instrument includes the first display device, the first high-precision GNSS position indicator, the
One high precision photoelectric is seen and takes aim at equipment, the first Wireless Telecom Equipment and the first main control device；Wherein, the first main control device difference
Connect first display device, the first high-precision GNSS position indicator, first high precision photoelectric see take aim at equipment and institute
State the first Wireless Telecom Equipment；First display device uses OLED display screen or LCD display；First high accuracy
GNSS position indicators use Big Dipper location equipment or GPS location equipment with difference function；First high precision photoelectric is seen and taken aim at
Equipment uses theodolite；First Wireless Telecom Equipment is set using data radio station, wireless bridge device or 2G/3G/4G networks
It is standby；First main control device uses arm processors or x86 embeded processors.
First high-precision GNSS position indicator position level directional precision≤1cm under RTK patterns.
The high-precision GNSS wireless location instrument includes the second display device, the second high-precision GNSS position indicator, the second nothing
Line communication equipment and the second main control device；Wherein, second main control device connects second display device, described respectively
Two high-precision GNSS position indicators and second Wireless Telecom Equipment；Second display device is shown using OLED display screen, LCD
Display screen or LED light；The second high-precision GNSS position indicator uses the Big Dipper location equipment with difference function or GPS to determine
Position equipment；Second Wireless Telecom Equipment uses data radio station, wireless bridge device or the 2G/3G/4G network equipments；Described
Two main control devices use arm processors or x86 embeded processors.
Second high-precision GNSS position indicator position level directional precision≤1cm under RTK patterns.
It is within 200m that equipment and the optimal observed range taken aim between equipment are taken aim in the sight.
The beneficial effects of the invention are as follows：1st, the present invention takes aim at equipment using sight and is taken aim at the split type setting of equipment, removes calibration from
Trouble, distance can zoom in or out arbitrarily, according to the difference of north finding precision requirement, adjust distance therebetween, as long as
The gun sight mechanism that sight is taken aim in equipment, which visible can be taken aim in equipment, is taken aim at bar.The present invention uses the round-the-clock realities of GNSS
When positioning and directing function, using RTK technologies and split type directional technology, high-precision orientating function can be realized in shorter baseline,
Combined high precision photoelectric observing takes aim at equipment and realizes high-precision geographical north orientation, you can not by time restriction, territory restriction, equipment for a long time
Work need not be calibrated, and maintenance cost is low, high accuracy can be achieved in short distance seeks northern orientation.2nd, the present invention uses quilt
Take aim at bar, taken aim at taken aim in bar lever switch connection taken aim at bar battery, taken aim at bar battery connection LED, taken aim at lever switch be used for control
The opening and closing of LED.Vertical groove post is provided with below LED, vertical groove post is provided with one of groove, vertical groove
The periphery of post is provided with transparent material, so that when being opened in night LED, light is reflected in vertical groove by transparent material
On post, it is easy to sighting at night to observe.In view of above reason, the present invention can be widely applied simultaneously with dual-use, can be used extensively
In mine, the field such as geodesic survey, ordnance survey and satellite orientation.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is geographical north, magnetic north and the graph of a relation in coordinate north；
Fig. 2 is the structural representation of the present invention；
Fig. 3 is the schematic diagram of high-precision GNSS positioning photoelectricity view instrument；
Fig. 4 is the schematic diagram of high-precision GNSS wireless location instrument；
Fig. 5 is to be taken aim at bar；
Fig. 6 is that coordinate north calculates schematic diagram；
The schematic device of high-precision GNSS positioning photoelectricity view instrument in a kind of Fig. 7 embodiments provided by the invention；
Fig. 8 is Fig. 7 structured flowchart；
Fig. 9 is the schematic device of the high-precision GNSS wireless location instrument in a kind of embodiment provided by the invention；
Figure 10 is Fig. 9 structured flowchart；
Figure 11 is the device signal of the high-precision GNSS positioning photoelectricity view instrument in another embodiment provided by the invention
Figure；
Figure 12 is Figure 11 structured flowchart.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
As shown in Fig. 2 the present invention takes aim at equipment 1 including sight and is taken aim at equipment 2.
Equipment 1 is taken aim in sight includes the first tripod 11, high-precision GNSS positioning photoelectricity view instrument 12, first antenna connector 13
With the first GNSS antenna 14.
Wherein, the first GNSS antenna 14 and high-precision GNSS positioning photoelectricity view instrument 12 pass the in principle using Central Symmetry
One antenna connector 13 links together, and one piece is arranged on the first tripod 11.
As shown in figure 3, high-precision GNSS positioning photoelectricity view instrument 12 includes the first display device 121, the first operation button
122nd, the first battery 123, the first high-precision GNSS position indicator 124, the first high precision photoelectric are seen and take aim at equipment 125, first level is adjusted
Save equipment 126, the first Wireless Telecom Equipment 127 and the first main control device 128.
Wherein, the first main control device 128 connects the first display device 121, the first operation button 122, the first battery respectively
123rd, the first high-precision GNSS position indicator 124, the first high precision photoelectric, which are seen, takes aim at the Wireless Telecom Equipment 127 of equipment 125 and first.The
One level adjustment device 126 is used to adjust the high-precision GNSS positioning photoelectricity 12 relatively heavy line of forces of view instrument horizontal line in 90 °, uses
In the first tripod 11 of connection.
As shown in figure 3, equipment 125 is taken aim in the sight of the first high precision photoelectric includes horizontal coarse adjustment mechanism 1251, horizontal fine adjustment mechanism
1252nd, level code device 1253, vertical coarse adjustment mechanism 1254, vertical fine adjustment mechanism 1255, vertical direction encoder 1256, aiming
Illuminating apparatus structure 1257 and laser red light transmitter 1258, the top of gun sight mechanism 1257 set laser red light transmitter 1258.It is above-mentioned
The sight of first high precision photoelectric takes aim at equipment 125 and uses theodolite, and the high precision photoelectric of the above first sees the part warp for taking aim at the description of equipment 125
All have in latitude instrument, therefore be no longer described in detail.Level code device 1253, vertical direction encoder 1256 and laser red light transmitter 1258
The (not shown) of the first main control device 128 is connected respectively.
In above-described embodiment, the first display device 121 can use including but not limited to OLED (Organic Light-
Emitting Diode, also known as Organic Light Emitting Diode, Organic Electricity laser display, organic luminous semiconductor) display screen and LCD
(Liquid Crystal Display) display screen.
In above-described embodiment, the first high-precision GNSS position indicator 124 position level directional precision≤1cm under RTK patterns.
First high-precision GNSS position indicator 124 can use the Big Dipper location equipment for including but is not limited to have difference function and GPS to determine
Position equipment.
In above-described embodiment, equipment 125 is taken aim in the sight of the first high precision photoelectric can use including but not limited to theodolite, such as south
Square theodolite DT-05 and self-research equipment.
In above-described embodiment, the first Wireless Telecom Equipment 127 can use including but not limited to data radio station, wireless bridge
Equipment and the 2G/3G/4G network equipments.
In above-described embodiment, the first main control device 128 can use including but not limited to arm processors and x86 embedded
Processor.
Connect as shown in Fig. 2 being taken aim at equipment 2 and including the second tripod 21, high-precision GNSS wireless location instrument 22, the second antenna
Connect device 23, the second GNSS antenna 24 and taken aim at bar 25.
Wherein, bar 25 is taken aim to be arranged in the geometric center of the second GNSS antenna 24.Second GNSS antenna 24 and high accuracy
GNSS wireless locations instrument 22 is linked together by the second antenna connector 23 using Central Symmetry principle, and high-precision GNSS is wireless
Position indicator 22 is arranged on the second tripod 21.
In above-described embodiment, the position level directional precision≤1cm under RTK patterns of high-precision GNSS wireless location instrument 22.
As shown in figure 4, high-precision GNSS wireless location instrument 22 include the second display device 221, the second operation button 222,
Second battery 223, the second high-precision GNSS position indicator 224, the second level adjustment device 225, the and of the second Wireless Telecom Equipment 226
Second main control device 227.
Wherein, the second main control device 227 connects the second display device 221, the second operation button 222, the second battery respectively
223rd, the second high-precision GNSS position indicator 224 and the second Wireless Telecom Equipment 226.Second level adjustment device 225 is used to adjust
The 22 relatively heavy line of force of high-precision GNSS wireless location instrument horizontal line in 90 °, for connecting the second tripod 21.
In above-described embodiment, the second display device 221 can use including but not limited to OLED display screen, LCD display
And LED light.
In above-described embodiment, the second high-precision GNSS position indicator 224 position level directional precision≤1cm under RTK patterns.
Second high-precision GNSS position indicator 224 can use the Big Dipper location equipment for including but is not limited to have difference function and GPS to determine
Position equipment.
In above-described embodiment, the second Wireless Telecom Equipment 226 can use including but not limited to data radio station, wireless bridge
Equipment and the 2G/3G/4G network equipments.
In above-described embodiment, the second main control device 227 can use including but not limited to arm processors and x86 embedded
Processor.
As shown in figure 5, being taken aim at bar 25 includes being taken aim at lever switch 251, being taken aim at bar battery 252, LED 253, vertical groove post
254 and transparent material 255.
Wherein, taken aim at lever switch 251 and connected and taken aim at bar battery 252, taken aim at bar battery 252 and connect LED 253, taken aim at bar
Switch 251 is used for the opening and closing for controlling LED 253.The lower section of LED 253 is provided with vertical groove post 254, vertical groove
There is one of groove on post 254, the line of sight of gun sight mechanism 1257 in equipment 1 is taken aim at for seeing, just illustrate that sight is taken aim at equipment 1 and aimed at
Taken aim at equipment 2.The periphery of vertical groove post 254 is provided with transparent material 255, so as to when being opened in night LED 253,
Light is reflected on vertical groove post 254 by transparent material 255, is easy to sighting at night to observe.
In above-described embodiment, transparent material 255 can use including but not limited to transparent plastic or clear glass.
In above-described embodiment, it is within 200m to see the optimal observed range taken aim at equipment 1 and taken aim between equipment 2.
During present invention work：
1) see to take aim at equipment 1 and taken aim at equipment 2 and can arbitrarily be placed on place of the mutual distance more than 10m scopes, therebetween
The distance of distance is with looking for northern precision to have relation, and positioning precision is in 10mm in the horizontal direction by RTK at present, then：
Distance：10m, orientation accuracy：0.06°
Distance：100m, orientation accuracy：0.006°
Distance：300m, orientation accuracy：0.002°
Distance：600m, orientation accuracy：0.001°
2) the first high-precision GNSS position indicator inside the high-precision GNSS positioning photoelectricity view instrument 12 in equipment 1 is taken aim in sight
124 realize high accuracy with the second high-precision GNSS position indicator 224 taken aim in equipment 2 by GNSS satellite and Wireless Telecom Equipment
RTK is positioned, and sight takes aim at equipment 1 and taken aim at equipment 2 carries out direct Radio Link difference between the two, improves 2 relative accuracys, obtains
Know that sight takes aim at equipment 1 and taken aim at two point coordinates of equipment 2, so as to high-precision coordinate north between obtaining at 2 points according to 2 points of coordinate
Direction, taken aim at the coordinate of equipment 2 and pass to sight and take aim at equipment 1, seen the first master control taken aim in equipment 1 and equip 128 coordinates computeds north and son
Noon line convergency, so as to calculate real north.First master control equipment 128 in pre-set coordinate north, the convergence of meridians and
Calculation formula between the angle α of geographical north；Said process is prior art, therefore is no longer described in detail.
As shown in fig. 6,2 lines and the angle in geographical north are calculated by coordinate projection, 2 lines and geographical north are calculated
Angle α process it is as follows：
1st, set sight and take aim at equipment 1 as origin of coordinates O (y2, x2), it is A points (y1, x1) to be taken aim at equipment 2.
2nd, latitude and longitude coordinates are transformed on 2000 national geodetic coordinates by Coordinate Conversion, transverse axis in 2000 plane coordinates
For Y, longitudinal axis X.
3rd, coordinate north calculation formula is as follows：
Δ x=x1-x2
Δ y=y1-y2
β=| arctan (Δ x/ Δs y) |
It is the angle of O (y2, x2) points and A (y1, x1) point line and coordinate north X
Convergence of meridians γ calculation formula：
T=tan (O), O are origin latitude
H=T2
W=(L-L0) × cos (O), L0 is local central meridian, and L is a longitude
M=W2
Wherein a and b is 84 ellipsoid major axis radius and minor axis radius (WGS84, i.e. world geodetic system) is known quantity, therefore not
It is described in detail again.
E=e'2×(cos(O))2
Q=1+E
γ=÷ the π of (T × W × (1+M × ((Q+E) × Q ÷ 3+M × (2-H) ÷ 15))) × 180
Geographical north angle α calculation formula：
3) see the high-precision GNSS positioning photoelectricity view instrument 12 taken aim in equipment 1 and equipment is taken aim at by the sight of the first high precision photoelectric
Horizontal coarse adjustment machine structure 1251, horizontal fine adjustment mechanism 1252, vertical coarse adjustment mechanism 1254 and vertical fine adjustment mechanism 1255 are carried out in 125
Coarse adjustment and fine tuning, make the gun sight mechanism 1257 of inside concentrate one's gaze on taken aim at the upper end of the second GNSS antenna 24 in equipment 2 taken aim at bar 25,
The relative clearing button in the first operation button 122 in high-precision GNSS positioning photoelectricity view instrument 12 is now pressed, this is existing
Part, therefore be no longer described in detail, then the numerical value now shown on the first display device 121 just takes aim at equipment 1 for current sight and is taken aim at equipment 2
2 lines and the angle α in geographical north；
4) rotate horizontally sight and take aim at high-precision GNSS positioning photoelectricity view instrument 12 in equipment 1, make to show in the first display device 121
The numerical value shown is 0, then the direction that now high-precision GNSS positioning photoelectricity view instrument 12 is concentrated one's gaze on is real north, in order to more square
Just observe, the laser red light transmitter 1258 in photoelectricity view instrument 12 can be positioned by high-precision GNSS and send laser red light, should
The direction that laser red light points to is exactly the direction in geographical north.
Embodiment one
Equipment 1 is taken aim in sight includes the first tripod 11, high-precision GNSS positioning photoelectricity view instrument 12, first antenna connector 13
With the first GNSS antenna 14.
Wherein, as shown in Figure 7 and Figure 8, high-precision GNSS positioning photoelectricity view instrument 12 includes the first display device 121, the
One operation button 122, the first battery 123, the first high-precision GNSS position indicator 124, the first high precision photoelectric see take aim at equipment 125,
First level adjustment equipment 126, the first Wireless Telecom Equipment 127 and the first main control device 128.
Above-mentioned first display device 121 uses 2.4 cun of 128*64 OLED display screen；
First battery 123 uses 4000mAh/12V lithium battery；
First high-precision GNSS position indicator 124 uses compass in ancient China K505 Big Dipper boards；
The sight of first high precision photoelectric takes aim at equipment 125 and uses theodolite；
First Wireless Telecom Equipment 127 uses TRP data radio stations, and (for TRP for data radio station model, science and technology is contained by Shenzhen China
TRP data radio stations module) and two kinds of complementary networks communication modes of 4G networks (Huawei's ME909u-5214G mixed-media network modules mixed-medias), meet not
Same application mode；
For first main control device 128 using STM32F427 arm processor, arm processor passes through serial ports and theodolite (the
One high precision photoelectric see take aim at equipment 125), compass in ancient China K505 Big Dippeves board (high-precision GNSS position indicator 124), TRP data radio stations with
4G networks (the first Wireless Telecom Equipment 127) are attached.
First GNSS antenna 14 uses big-dipper satellite reception antenna；
Sight takes aim at high precision photoelectric sight in equipment 1 and takes aim at the use of equipment 1 theodolite (the first high precision photoelectric is seen and takes aim at equipment 125),
Laser red light transmitter 1258 is placed on theodolite (the first high precision photoelectric is seen and takes aim at equipment 125) lens barrel, keeps flat with lens barrel
Row installation.
Being taken aim at equipment 2 includes second tripod (21), high-precision GNSS wireless location instrument 22, the second antenna connector
23rd, the second GNSS antenna 24 and bar 25 is taken aim at.
As shown in Figure 9 and Figure 10, high-precision GNSS wireless location instrument 22 is pressed including the operation of the second display device 221, second
Button 222, the second battery 223, the second high-precision GNSS position indicator 224, the second level adjustment device 225, the second radio communication are set
Standby 226 and second main control device 227.
Second display device 221 is shown using 1.69 cun of 128*64 OLED in above-mentioned high-precision GNSS wireless location instrument 22
Screen；Second battery 223 uses the compass in ancient China K505 Big Dippeves using 4000mAh/12V the second high-precision GNSS of lithium battery position indicator 224
Board；Second Wireless Telecom Equipment 226 is using TRP data radio stations and 4G networks (Huawei's ME909u-521 4G mixed-media network modules mixed-medias) two
Kind complementary networks communication mode, meets different application mode, and the second main control device 227 uses STM32F427 arm processor.
During Big Dipper reception antenna (the first GNSS antenna 14) uses with theodolite (the first high precision photoelectric is seen and takes aim at equipment 125)
Heart symmetry principle is linked together by first antenna connector 13, and one piece is arranged on the first tripod 11.
Being taken aim at equipment 2 includes the second tripod 21, high-precision GNSS wireless location instrument 22, the second antenna connector 23, the
Two GNSS antennas 24 and taken aim at bar 25.
Wherein, bar 25 is taken aim to be arranged in the geometric center of the second GNSS antenna 24.Second GNSS antenna 24 and high accuracy
GNSS wireless locations instrument 22 is linked together by the second antenna connector 23 using Central Symmetry principle, and high-precision GNSS is wireless
Position indicator 22 is arranged on second tripod (21).
Sight, which takes aim at equipment 1 and taken aim at equipment 2, can arbitrarily be placed on the place of mutual distance about 100m scopes.Equipment 1 is taken aim in sight
In GNSS position indicators and the high-precision GNSS wireless location instrument 22 taken aim in equipment 2 by GNSS satellite and Wireless Telecom Equipment
Realize high-precision RTK positioning, so as between obtaining at 2 points the high-precision coordinate north to.It is calculated at 2 points by coordinate projection
Line and the angle in geographical north.
See and take aim at theodolite (the first high precision photoelectric see take aim at equipment 125) in equipment 1 by coarse adjustment and fine tuning, make theodolite
The gun sight mechanism 1257 of (the first high precision photoelectric is seen and takes aim at equipment 125), which concentrates one's gaze on, is taken aim at the upper end of the second GNSS antenna 24 in equipment 2
Taken aim on groove inside bar 25, now press it is relative in high-precision GNSS positioning photoelectricity view instrument 12 reset button, then this
When the first 121 equipment of display on the numerical value that shows just take aim at equipment 1 for current sight and taken aim at the angle of 2 two lines of equipment and geographical north
α。
The theodolite (the first high precision photoelectric is seen and takes aim at equipment 125) seen and taken aim in equipment 1 is rotated horizontally, shows 2.4 cun of OLED
The numerical value shown in display screen is 0, then the direction that now theodolite (the first high precision photoelectric is seen and takes aim at equipment 125) is concentrated one's gaze on is geographical north
Direction, it can be sent by the laser red light transmitter 1258 above theodolite (the first high precision photoelectric is seen and takes aim at equipment 125) lens barrel
Laser red light, the direction that the laser red light points to are exactly the direction in geographical north.
Embodiment two
As is illustrated by figs. 11 and 12, see and take aim at the use of equipment 1 self-research equipment, (the first high-precision GNSS positions by K505 boards
Instrument 124), TRP digital transmission modules and 4G modules (the first Wireless Telecom Equipment 127) battery, 2.4 cun of OLED (first display devices
121), high precision photoelectric view instrument, laser red light transmitter 1258 integrate.Other operations are basically identical with embodiment 1.
Therefore no longer it is described in detail.
Using it is above-mentioned according to the present invention desirable embodiment for enlighten, it is complete by above-mentioned description, relevant staff
Entirely can without departing from the scope of the technological thought of the present invention', carry out various changes and amendments.The technology of this invention
Property scope is not limited to content on specification, the technical scope of the invention should be determined in accordance with the scope of the claims.
Claims (8)
- A kind of 1. split type GNSS geographical north orienting device based on RTK, it is characterised in that：It takes aim at equipment (1) including sight and taken aim at Equipment (2)；Equipment (1) is taken aim in the sight includes the first tripod (11), high-precision GNSS positioning photoelectricity view instrument (12), first antenna company Connect device (13) and the first GNSS antenna (14)；Wherein, first GNSS antenna (14) and high-precision GNSS positioning photoelectricity view instrument (12) are former using Central Symmetry Then linked together by the first antenna connector (13), and one piece is arranged on first tripod (11)；High-precision GNSS positioning photoelectricity view instrument (12), which includes the first high precision photoelectric, to be seen and takes aim at equipment (125), and described the Equipment (125) is taken aim in the sight of one high precision photoelectric includes gun sight mechanism (1257) and laser red light transmitter (1258)；The equipment (2) of being taken aim at includes the second tripod (21), high-precision GNSS wireless location instrument (22), the second antenna connector (23), the second GNSS antenna (24) and bar (25) is taken aim at, and the bar (25) of being taken aim at is arranged on the gun sight mechanism (1257) With in the range of the taking aim at and penetrate of the laser red light transmitter (1258)；Wherein, the bar (25) of being taken aim at is arranged in the geometric center of second GNSS antenna (24)；Described 2nd GNSS days Line (24) is former using Central Symmetry by second antenna connector (23) with the high-precision GNSS wireless location instrument (22) Then link together, the high-precision GNSS wireless location instrument (22) is arranged on second tripod (21).
- A kind of 2. split type GNSS geographical north orienting device based on RTK according to claim 1, it is characterised in that：It is described Being taken aim at bar (25) includes being taken aim at lever switch (251), is taken aim at bar battery (252), LED (253), vertical groove post (254) and saturating Bright material (255)；Wherein, it is described to be taken aim at that lever switch (251) connection is described to be taken aim at bar battery (252), it is described to be taken aim at bar battery (252) connection institute State LED (253), the opening and closing taken aim at lever switch (251) and be used to control the LED (253)；The LED (253) lower section is provided with the vertical groove post (254), and the vertical groove post (254) is provided with one of groove, described vertical The periphery of groove post (254) is provided with the transparent material (255).
- A kind of 3. split type GNSS geographical north orienting device based on RTK according to claim 2, it is characterised in that：It is described Transparent material (255) uses transparent plastic or clear glass.
- A kind of 4. split type GNSS geographical north orienting device based on RTK according to claim 1, it is characterised in that：It is described High-precision GNSS positioning photoelectricity view instrument (12) include the first display device (121), the first high-precision GNSS position indicator (124), First high precision photoelectric is seen and takes aim at equipment (125), the first Wireless Telecom Equipment (127) and the first main control device (128)；Wherein, first main control device (128) connects first display device (121), first high accuracy respectively GNSS position indicators (124), first high precision photoelectric, which are seen, takes aim at equipment (125) and first Wireless Telecom Equipment (127)；First display device (121) uses OLED display screen or LCD display；The first high-precision GNSS position indicator (124) is using Big Dipper location equipment or GPS location equipment with difference function；The first high precision photoelectric sight takes aim at equipment (125) and uses theodolite；First Wireless Telecom Equipment (127) uses data radio station, wireless bridge device or the 2G/3G/4G network equipments；First main control device (128) uses arm processors or x86 embeded processors.
- A kind of 5. split type GNSS geographical north orienting device based on RTK according to claim 4, it is characterised in that：It is described First high-precision GNSS position indicator (124) position level directional precision≤1cm under RTK patterns.
- A kind of 6. split type GNSS geographical north orienting device based on RTK according to claim 1, it is characterised in that：It is described High-precision GNSS wireless location instrument (22) includes the second display device (221), the second high-precision GNSS position indicator (224), second Wireless Telecom Equipment (226) and the second main control device (227)；Wherein, second main control device (227) connects second display device (221), second high accuracy respectively GNSS position indicators (224) and second Wireless Telecom Equipment (226)；Second display device (221) uses OLED display screen, LCD display or LED light；The second high-precision GNSS position indicator (224) is using Big Dipper location equipment or GPS location equipment with difference function；Second Wireless Telecom Equipment (226) uses data radio station, wireless bridge device or the 2G/3G/4G network equipments；Second main control device (227) uses arm processors or x86 embeded processors.
- A kind of 7. split type GNSS geographical north orienting device based on RTK according to claim 6, it is characterised in that：It is described Second high-precision GNSS position indicator (224) position level directional precision≤1cm under RTK patterns.
- A kind of 8. split type GNSS geographical north orientation dress based on RTK according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7 Put, it is characterised in that：It is within 200m that equipment (1) and the optimal observed range taken aim between equipment (2) are taken aim in the sight.
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| CN201710789126.5A CN107340530A (en) | 2017-09-05 | 2017-09-05 | A kind of split type GNSS geographical north orienting device based on RTK |
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