CN201974529U - Active dynamic positioning instrument - Google Patents
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- CN201974529U CN201974529U CN2011200227695U CN201120022769U CN201974529U CN 201974529 U CN201974529 U CN 201974529U CN 2011200227695 U CN2011200227695 U CN 2011200227695U CN 201120022769 U CN201120022769 U CN 201120022769U CN 201974529 U CN201974529 U CN 201974529U
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Abstract
The utility model provides an active dynamic positioning instrument, which comprises a synchronous triggering unit for synchronously triggering a time-space reference unit and a pulse laser distance measurement unit through pulse signals; a time-space reference unit for acquiring the space position of an active control point and the GPS (global positioning system) time when the pulse laser distance measurement unit emits a laser pulse; a pulse laser distance measurement unit for acquiring the distance measurement information between the active control point and a target point; an attitude measurement unit for acquiring the attitude information time sequence of the active control point and calculating the attitude information of a measurement platform at the time when the laser pulse is emitted through extrapolation or interpolation; a data acquisition and processing unit for acquiring time-space reference information, distance measurement information and the attitude information of the measurement platform, storing after integration under a same time-space reference, and calculating the point position of the target point according to the integrated data; and an input/output unit for allowing a client to input a control instruction and displaying the point position information of the positioned target point.
Description
Technical Field
The utility model relates to an accurate measurement technical field especially relates to an active dynamic positioning appearance that has integrateed GPS location technique, pulsed laser rangefinder technique and attitude measurement technique.
Background
Most of the existing integrated application of the GPS and the laser ranging technology is based on the integrated application of the GPS and the three-dimensional laser scanner. Relevant land mobile test products are developed in succession in countries of the united states, canada, sweden, japan, the netherlands, etc., such as the GPS Van system of state university in ohio, the visat system of carlgarian, the kistm system of federal military university in munich, the Top Eye airborne system in sweden, the Cyra system in the united states, the small land system of Riegl corporation in france, etc. Similar products, such as a laser scanning measurement system developed by the earth space information technology development group of the university of Wuhan surveying and mapping technology, a three-dimensional image scanning measurement system developed by four-dimensional companies of China surveying and mapping science development institute, and the like, are also developed in China. However, the existing integrated product of the GPS and the laser ranging technology generally has the defects of large fixed investment, poor flexibility, weak target pertinence, large data acquisition amount and complex production process. Meanwhile, the products have higher requirements on the moving speed of the moving carrier, the platform stability and the like, so that the application of the products is limited to a great extent when the target point position information is acquired under the condition of a high-dynamic moving carrier platform, for example, when the sea island reef position information is acquired based on a shipborne platform.
Due to the influence of the distance measurement and accuracy limitation of the pulse laser ranging technology, the integration of the GPS and the pulse laser ranging technology is still in a blank state. The existing GPS and pulse laser range finder has few integrated products, and the super station is a relatively similar product. The super station instrument is a novel surveying instrument combining a GPS and a total station instrument, integrates most functions of the total station instrument and the GPS, can realize ground measurement without ground control, has the advantages of high positioning precision and low labor intensity, and has been widely applied to a plurality of measurement fields. However, the device cannot realize dynamic positioning of the target, and the prism is needed to assist in realizing the long-distance measuring range, which makes the device unable to meet the dynamic positioning requirements of various targets on a dynamic platform to a great extent. In addition, the superstation instrument cannot adapt to the problem that a base is not flat in the moving process of a moving carrier, cannot implement a measuring function on the moving carrier, and cannot realize a quick moving measuring and setting function. Particularly, for some sections where the station signs cannot be established, such as islands which cannot land, craters, collapsed areas and the like, the measurement range of the reflection measurement without the prism is too short to meet the measurement and setting requirements of dangerous sections and military targets.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The to-be-solved technical problem of the utility model is how to combine GPS location technique, pulsed laser rangefinder technique and attitude measurement technique, carry out dynamic positioning to the target that is difficult for reacing through initiative dynamic positioning mode.
(II) technical scheme
In order to solve the technical problem, the technical scheme of the utility model provide an active dynamic positioning appearance, include: the system comprises a time-space reference unit, a pulse laser ranging unit, an attitude measuring unit, a data acquisition and processing unit, a synchronous trigger unit and an input/output unit; wherein,
the synchronous trigger unit is connected with the space-time reference unit and the pulse laser ranging unit and is used for synchronously triggering the space-time reference unit and the pulse laser ranging unit through pulse signals;
the space-time reference unit is used for acquiring space-time reference information and comprises: the space position information of the dynamic control point and the GPS time of the pulse laser ranging unit at the moment of transmitting the laser pulse;
the pulse laser ranging unit is used for acquiring ranging information between the dynamic control point and the target point by measuring the time difference between the emission of a laser pulse signal and the reflection and reception of the target point;
the attitude measurement unit is used for acquiring an attitude information time sequence of the dynamic control point and calculating the attitude information of the measurement platform at the laser pulse emission time by extrapolation or interpolation according to the attitude information time sequence;
the data acquisition and processing unit is respectively connected with the space-time reference unit, the pulse laser ranging unit and the attitude measuring unit, acquires the space-time reference information, the ranging information and the attitude information of the laser pulse emission time measuring platform, integrates and stores the space-time reference information, the ranging information and the attitude information under the same space-time reference, and calculates the point position of a target point according to the integrated data;
and the input and output unit is used for a client to input a control instruction and displaying point location information of the target point for a user.
Preferably, the spatiotemporal reference unit includes: a GPS dual frequency OEM board and a GPS antenna.
Preferably, the pulsed laser ranging unit is a long-distance pulsed laser range finder.
Preferably, the attitude measurement unit is a three-dimensional digital compass.
Preferably, the synchronous trigger unit is a synchronous trigger controller.
Preferably, the input and output unit includes a keyboard and a display screen.
Preferably, the data acquisition and processing unit comprises: multi-serial port board and palm PC.
(III) advantageous effects
Compared with the prior art, the utility model discloses an active dynamic positioning appearance's locater has following advantage: the active dynamic positioning of a long-distance action range without the assistance of a prism is realized through the pulse laser ranging unit, and the method is suitable for targets which are not suitable for or difficult to reach, such as islands which cannot be landed, craters, collapse areas and the like; high-precision space-time reference and measurement platform attitude information are provided for the motion carrier through a space-time reference unit, so that high-precision mobile dynamic positioning is realized; in addition, because the system adopts a modular architecture, the system cost is flexibly controlled and can be customized according to specific application and technical requirements.
Drawings
Fig. 1 is a positioning schematic diagram of the active dynamic positioning instrument of the present invention;
fig. 2 is a block diagram of the active dynamic positioning apparatus of the present invention.
Detailed Description
The utility model provides an active dynamic positioning appearance of integrated GPS, pulsed laser range finder, three-dimensional digital compass combines drawing and embodiment to explain as follows.
The utility model discloses based on target point telemetering measurement location principle, adopt space range finding/angle measurement location that crosses. Fig. 1 is a schematic diagram of the positioning of the present invention. As shown in fig. 1, assuming that P is the target point to be measured, the operation platform carrying the active dynamic positioning instrument integrating GPS and pulsed laser ranging according to the present invention moves along the trajectory line a-B-C-D-E-F. In the moving process, the positioning instrument sequentially carries out GPS positioning measurement, platform attitude measurement and laser ranging measurement from a platform dynamic control point to a target point P at points A-F; observation information is collected and integrated through space reference information provided by a GPS (global positioning system), a plurality of epoch observation data are formed, and finally a target point location is determined through an edge measurement/angle measurement intersection positioning principle.
As shown in fig. 2, the utility model comprises: the device comprises a space-time reference unit, a pulse laser ranging unit, an attitude measuring unit, a data acquisition and processing unit, a synchronous trigger unit and an input and output unit.
Because the utility model discloses a locater works under the dynamic operation condition, needs unify the same moment with various measuring information. The synchronous trigger unit provides high-precision time synchronization for the measurement and positioning of the dynamic environment target. In the specific implementation process, the space-time reference unit and the pulse laser ranging unit can be synchronously triggered by the pulse signals to realize the synchronous measurement of GPS positioning and laser ranging. In an embodiment of the present invention, the synchronous trigger unit is an autonomously developed time synchronization controller, and the basic principle thereof is that two paths of time synchronization pulse signals are generated by triggering a button device, and one path of pulse triggers the time-space reference unit to perform positioning (obtaining the position coordinates of the dynamic control point) and time service (obtaining the GPS time); and the other path of pulse triggers the pulse laser ranging unit to acquire ranging information.
The utility model discloses a pulse laser rangefinder unit, through measuring laser pulse signal transmission and through the time difference between target point reflection back secondary reception, acquire the range finding information of dynamic control point and target point. In the specific implementation process, the pulse laser distance measuring unit can be a long-distance pulse laser distance measuring instrument, and a reflecting prism does not need to be erected at a target point for auxiliary measurement, so that the target point is flexibly selected, and the pulse laser distance measuring instrument has good initiative. Preferably, a CountXLR laser rangefinder manufactured in the united states with a range of 1800 meters and a ranging accuracy of 0.1m is used, which can satisfy prism-free assisted measurement for certain locations where no station target can be established (e.g., land-incapable islands, volcanic craters, collapsed areas, etc.).
The utility model discloses a space-time reference unit is used for acquireing space-time reference information, include: GPS positioning information (three-dimensional coordinates of the dynamic control point) and GPS time information of the dynamic control point. In a specific implementation process, the space-time reference unit can be realized by a GPS dual-frequency OEM board and a GPS antenna. The GPS dual-frequency OEM board has the functions of receiving GPS signals, processing signals, outputting observation signals, positioning results and the like: the signal from the antenna unit is received, and through a series of processing procedures of frequency conversion, amplification, filtering and the like, the GPS satellite signal is tracked, locked and measured, and finally data information (including latitude, longitude, altitude, speed, date, time, course, satellite condition and the like) of the calculated position is generated, and serial data is output through a serial port. In addition, because the space-time reference unit and the pulse laser ranging unit are synchronously triggered, the GPS time of the transmitting pulse time measured by the GPS receiver is the GPS time of the triggered time.
The utility model discloses an attitude measurement unit is used for acquireing measuring platform's attitude information, include: and measuring pitch angle information, course angle information and roll angle information of the platform. In a specific implementation process, the attitude measuring unit can be realized by a three-dimensional digital compass and outputs data frames in RS232/RS485/RS422 format.
Because the attitude measurement unit outputs the attitude time sequence of the measurement platform according to a certain sampling rate, the output data is extrapolated or interpolated according to the space-time reference information output by the space-time reference unit to obtain the attitude information of the measurement platform at the pulse emission time of the pulse laser ranging unit, namely: and measuring the attitude information of the platform at the ranging time. In addition, considering that the measuring principle of the three-dimensional digital compass is to measure the earth magnetic field, the influence of the surrounding electromagnetic environment on the attitude measurement can be weakened by a method provided by a manufacturer before the instrument is used.
The data acquisition and data processing unit of the utility model is used for acquiring the multi-serial port information such as the GPS observation information, the laser ranging information and the attitude information acquired by the space-time reference unit, the laser pulse ranging unit and the attitude measuring unit; and, for data integration, namely: GPS spatiotemporal reference information (GPS time at the measurement time, and three-dimensional coordinates of the dynamic control point at that time) is added to the pulse ranging information and the attitude measurement information. Therefore, the integrated epoch observation data should be the coordinate information of the measurement platform, the attitude information and the slope distance information from the platform to the target point under the unified space-time reference. When observation data is stored, the data acquisition and data processing unit carries out data processing by an edge measurement/angle measurement intersection positioning method to obtain target point bit information, and the method comprises the following steps: point position three-dimensional coordinates, positioning precision, current net-shaped structure and the like.
In a specific implementation process, the functions of the data acquisition and processing unit can be realized by a multi-serial port plate, a USB data line, a palm computer or a notebook computer and the like. The multi-serial port plate is used for receiving serial port output data (measurement information) from the GPS receiver, the laser range finder and the three-dimensional digital compass, and the palm computer or the notebook computer completes the functions of data acquisition, integration, storage and processing. The palm computer needs to install a multi-serial port to USB interface driver, and the basic configuration should be: the windows operating system supports a USB interface, a processor is 1.6GHz, and a memory is 1 GB.
The utility model discloses a function that input/output unit realized includes: for the user to input control instructions, such as GPS sampling rate setting instructions, digital compass sampling rate setting, etc.; and displaying the measurement information at the current moment in real time, such as the position coordinates of the dynamic control point, the ranging information, the point location information of the target point, and the like. In the specific implementation process, the input and output unit can be realized through a keyboard and a display screen of a palm computer.
In the specific implementation process, the pulse laser ranging unit, the space-time reference unit and the attitude measuring unit are connected with a plurality of serial port plates through serial port data lines, the USB data lines are used for connecting the plurality of serial port plates with a palm computer, and finally the USB data lines are connected with a power supply battery through an external power supply interface. It is visible, the utility model discloses an active dynamic positioning appearance adopts the modularization framework, can improve each subassembly performance according to concrete application and technical requirement, and system cost control is nimble.
The utility model discloses a function of realization includes:
1) time synchronization measurement: synchronously measuring GPS positioning and pulse laser measuring time;
2) and (3) related parameter calculation: calculating the point position of the dynamic control point at the ranging time, and calculating the attitude of the measuring platform (the extrapolation or interpolation);
3) positioning a remote measuring target: three-dimensional coordinate calculation (ranging/goniometric intersection positioning), etc. Specifically, the time synchronization measurement is realized by a synchronization trigger unit, and various data processing functions are realized by a palm computer or a notebook computer.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. An active dynamic positioning apparatus, comprising: the system comprises a time-space reference unit, a pulse laser ranging unit, an attitude measuring unit, a data acquisition and processing unit, a synchronous trigger unit and an input/output unit; wherein,
the synchronous trigger unit is connected with the space-time reference unit and the pulse laser ranging unit and is used for synchronously triggering the space-time reference unit and the pulse laser ranging unit through pulse signals;
the space-time reference unit is used for acquiring space-time reference information and comprises: the space position of the dynamic control point and the GPS time of the pulse laser ranging unit at the moment of transmitting the laser pulse;
the pulse laser ranging unit is used for acquiring ranging information between the dynamic control point and the target point by measuring the time difference between the emission of a laser pulse signal and the reflection and reception of the target point;
the attitude measurement unit is used for acquiring an attitude information time sequence of the dynamic control point and calculating the attitude information of the measurement platform at the laser pulse emission time by extrapolation or interpolation according to the attitude information time sequence;
the data acquisition and processing unit is respectively connected with the space-time reference unit, the pulse laser ranging unit and the attitude measuring unit, acquires the space-time reference information, the ranging information and the attitude information of the laser pulse emission time measuring platform, integrates and stores the space-time reference information, the ranging information and the attitude information under the same space-time reference, and calculates the point position of a target point according to the integrated data;
and the input and output unit is used for a client to input a control instruction and displaying point location information of the target point for a user.
2. The active dynamic positioning tool according to claim 1, wherein the spatiotemporal reference unit comprises: a GPS dual frequency OEM board and a GPS antenna.
3. The active dynamic positioning tool according to claim 1, wherein the pulsed laser ranging unit is a long-range pulsed laser rangefinder.
4. The active dynamic positioning instrument according to claim 1, wherein the attitude measurement unit is a three-dimensional digital compass.
5. The active dynamic positioning tool according to claim 1, wherein the synchronous triggering unit is a synchronous triggering controller.
6. The active dynamic positioning tool according to claim 1, wherein the input and output unit comprises a keyboard and a display screen.
7. The active dynamic positioning tool according to claim 1, wherein the data acquisition and processing unit comprises: multi-serial port board and palm PC.
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| CN2011200227695U CN201974529U (en) | 2011-01-24 | 2011-01-24 | Active dynamic positioning instrument |
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| CN2011200227695U CN201974529U (en) | 2011-01-24 | 2011-01-24 | Active dynamic positioning instrument |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102508279A (en) * | 2011-11-18 | 2012-06-20 | 中国测绘科学研究院 | Method for processing GNSS (global navigation satellite system) positioning posture measuring value of satellite navigation system and GNSS positioning posture measuring instrument |
| CN102564417A (en) * | 2011-12-30 | 2012-07-11 | 中国测绘科学研究院 | Non-contact dynamic and active positioning method |
| CN103901458A (en) * | 2014-03-14 | 2014-07-02 | 中国测绘科学研究院 | Dynamic positioning system and method |
| CN105204053A (en) * | 2015-10-12 | 2015-12-30 | 上海华测导航技术股份有限公司 | GNSS-based infrared positioning device |
| CN108121000A (en) * | 2017-12-26 | 2018-06-05 | 广州地理研究所 | A kind of construction method of region space-time dynamic positioning datum system |
| CN108387222A (en) * | 2018-03-06 | 2018-08-10 | 黑龙江工业学院 | A kind of mapping location positioning system |
| CN111175766A (en) * | 2020-01-20 | 2020-05-19 | 武汉大学 | Head-mounted terminal for individual combat |
-
2011
- 2011-01-24 CN CN2011200227695U patent/CN201974529U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102508279A (en) * | 2011-11-18 | 2012-06-20 | 中国测绘科学研究院 | Method for processing GNSS (global navigation satellite system) positioning posture measuring value of satellite navigation system and GNSS positioning posture measuring instrument |
| CN102564417A (en) * | 2011-12-30 | 2012-07-11 | 中国测绘科学研究院 | Non-contact dynamic and active positioning method |
| CN103901458A (en) * | 2014-03-14 | 2014-07-02 | 中国测绘科学研究院 | Dynamic positioning system and method |
| CN105204053A (en) * | 2015-10-12 | 2015-12-30 | 上海华测导航技术股份有限公司 | GNSS-based infrared positioning device |
| CN108121000A (en) * | 2017-12-26 | 2018-06-05 | 广州地理研究所 | A kind of construction method of region space-time dynamic positioning datum system |
| CN108387222A (en) * | 2018-03-06 | 2018-08-10 | 黑龙江工业学院 | A kind of mapping location positioning system |
| CN111175766A (en) * | 2020-01-20 | 2020-05-19 | 武汉大学 | Head-mounted terminal for individual combat |
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