阅读说明：本技术 具有抗偏移功能的gnss基站定位系统 (GNSS base station positioning system with anti-offset function ) 是由 张海滨 徐士厚 何飞超 于 2020-07-24 设计创作，主要内容包括：本发明揭示了一种具有抗偏移功能的GNSS基站定位系统,与移动打桩设备相匹配,包括：基准站接收机,用于获取和处理卫星信息及基准定位信息,并将基准站定位信息处理结果进行发送；移动站接收机,用于获取卫星信息及移动打桩设备的实时位置信息,接收并处理基准定位信息,结合定位信息处理结果对基准站GNSS天线的位移状态进行判断,将结果打包后同步发送；显示终端,用于接收移动站定位信息处理结果与基准站定位信息处理结果,依据判断结果选择相应的定位模式,完成对移动打桩设备实时位置的定位及对目标桩位的导航。本发明通过在基准站接收设备内增加GNSS天线的方式提高了系统整体的容错性,保证了定位结果的精确性。(The invention discloses a GNSS base station positioning system with an anti-offset function, which is matched with mobile piling equipment and comprises: the reference station receiver is used for acquiring and processing the satellite information and the reference positioning information and sending a reference station positioning information processing result; the mobile station receiver is used for acquiring satellite information and real-time position information of the mobile piling equipment, receiving and processing reference positioning information, judging the displacement state of a GNSS antenna of a reference station by combining a positioning information processing result, and packaging and then synchronously transmitting the result; and the display terminal is used for receiving the positioning information processing result of the mobile station and the positioning information processing result of the reference station, selecting a corresponding positioning mode according to the judgment result, and completing the positioning of the real-time position of the mobile pile driving equipment and the navigation of the target pile position. The invention improves the integral fault tolerance of the system by adding the GNSS antenna in the receiving equipment of the reference station and ensures the accuracy of the positioning result.)

1. A GNSS base station positioning system with anti-drift capabilities, matched to a mobile piling rig, comprising:

the reference station receiver comprises at least two reference station GNSS antennas, is matched with a GNSS satellite and is used for acquiring and processing satellite information and reference station positioning information and sending a reference station positioning information processing result through a reference station radio station;

the mobile station receiver is fixedly arranged on the mobile pile driving equipment, is in signal connection with the reference station receiver, is matched with a GNSS satellite, is used for acquiring satellite information and real-time position information of the mobile pile driving equipment, receives and processes the reference positioning information from the reference station receiver, judges the displacement state of a GNSS antenna of the reference station by combining a positioning information processing result through a built-in judging module, and packs and synchronously sends a mobile station positioning information processing result and a reference station positioning information processing result;

and the display terminal is in signal connection with the mobile station receiver and is used for receiving the positioning information processing result of the mobile station and the positioning information processing result of the reference station, selecting a corresponding positioning mode according to the judgment result, and completing the positioning of the real-time position of the mobile piling equipment and the navigation of a target pile position through the embedded piling software.

2. The GNSS base station positioning system with anti-offset function according to claim 1, wherein: the reference station receiver comprises a reference station external component and a reference station internal component;

the reference station external component includes at least one of,

a first reference station GNSS antenna fixedly arranged at the position of the first reference positioning point and matched with the GNSS satellite for realizing the positioning of the first reference positioning point,

a second reference station GNSS antenna fixedly arranged at the position of a second reference positioning point and matched with the GNSS satellite for realizing the positioning of the second reference positioning point,

the base station radio antenna is used for sending the positioning information processing result of the internal component of the base station;

the internal components of the reference station include,

a first reference station OEM board card which is connected with the first reference station GNSS antenna signal and is used for acquiring satellite information, resolving related positioning information and sending positioning information of a first reference positioning point,

a second reference station OEM board card connected with the second reference station GNSS antenna signal for acquiring satellite information, resolving related positioning information and transmitting positioning information of a second reference positioning point,

a reference station processor which is respectively connected with the first reference station OEM board card and the second reference station OEM board card in a signal mode and is used for receiving and processing positioning information, generating a reference station positioning information processing result and issuing the reference station positioning information processing result,

and the reference station radio station module is respectively connected with the reference station processor and the reference station radio station antenna in a signal mode and is used for forwarding a positioning information processing result of the reference station to the mobile station receiver.

3. The GNSS base station positioning system with anti-offset function according to claim 2, wherein: the set distance between the first reference station GNSS antenna and the second reference station GNSS antenna is greater than or equal to 50 m.

4. The GNSS base station positioning system with anti-offset function according to claim 2, wherein: the set distance between the first reference station GNSS antenna and the second reference station GNSS antenna is greater than 100 m.

5. The GNSS base station positioning system with anti-offset function according to claim 2, wherein: the positioning information of the reference station at least comprises longitude and latitude coordinates and differential data.

6. The GNSS base station positioning system with anti-offset function according to claim 2, wherein: the mobile station receiver comprises a mobile station external component and a mobile station internal component;

the mobile station external components may include,

the mobile station positioning GNSS antenna is fixedly arranged on the mobile piling equipment and is matched with a GNSS satellite for realizing the real-time positioning of the mobile piling equipment,

a mobile station directional GNSS antenna which is fixedly arranged on the mobile piling device and is matched with a GNSS satellite for realizing the mobile orientation of the mobile piling device,

a mobile station radio antenna in signal communication with the reference station radio antenna for receiving a reference station positioning information processing result from the reference station radio antenna;

the mobile station internal components may include,

a mobile station OEM board which is respectively connected with the mobile station positioning GNSS antenna and the mobile station directional GNSS antenna signal and is used for acquiring and sending the positioning information of the mobile pile driving equipment,

a mobile station radio module electrically connected with the mobile station radio antenna and used for receiving the positioning information processing result of the reference station,

and the mobile station processor is electrically connected with the mobile station OEM board card and the mobile station radio module respectively and is used for receiving and processing the positioning information, generating a mobile station positioning information processing result, combining the received reference station positioning information processing result from the mobile station radio, judging and processing the reference station positioning information processing result and judging the position offset of the base station.

7. The GNSS base station positioning system with anti-drift function as claimed in claim 6, wherein: the display terminal and the mobile station receiver are in communication connection in a wired connection mode or a wireless connection mode, the wired connection mode is USB connection, and the wireless connection mode is Bluetooth connection or WIFI connection.

8. The GNSS base station positioning system with anti-offset function according to claim 7, wherein: the display terminal is further connected with a CORS network through a 4G base station, and communication connection between the display terminal and the 4G base station is completed through 4G signals or LTE signals.

9. The GNSS base station positioning system with anti-offset function according to claim 1, wherein: the display terminal is a PC or a mobile phone or a tablet computer.

10. The GNSS base station positioning system with anti-offset function according to claim 1, wherein: the reference station receiver and the mobile station receiver are respectively and electrically connected with an external power supply for direct current power supply.

Technical Field

The invention relates to a positioning system, in particular to a GNSS base station positioning system with an anti-offset function used in scenes such as constructional engineering and the like, and belongs to the technical field of engineering positioning.

Background

The engineering piling is a necessary operation step in various engineering construction processes, and for some pile bodies with higher requirements on position and precision, the prior art mainly depends on technologies such as GPS, GNSS and the like, and a base station positioning system is utilized to perform corresponding piling and pile pressing operations.

Most of the existing base station positioning systems at present comprise a reference station, a mobile station and a display device, the system mainly adopts the GNSS positioning and RTK differential principle to realize high-precision positioning, and the positioning precision of part of the positioning systems can even reach 1 cm. The display equipment is provided with piling software, so that when the equipment realizes high-precision positioning, the data can be transmitted to the piling software to realize real-time acquisition of the relative distance between the pile driver and the pile point target position, and then voice prompt is carried out to guide the pile driver manipulator to operate, so that accurate piling is realized.

However, the existing base station positioning systems still have many disadvantages, wherein it is obvious that, due to the unreasonable location of the reference station or due to human reasons, the reference station is easily subjected to positioning deviation caused by the movement of the GNSS antenna, so that the coordinates of the reference station are deviated, and the mobile station cannot obtain correct coordinate parameters, so that the mobile station cannot be positioned. Once such problems occur, the production process must be stopped and the reference station re-lofted, and such corrective action will, of course, result in increased workload, extended operating time and increased production costs.

In summary, how to design a new GNSS base station positioning system with an anti-offset function, which can be used in various scenes such as building engineering, based on the above current situation, so as to overcome the problem of positioning deviation in the prior art, which is also a problem of common attention of those skilled in the art.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a GNSS base station positioning system with anti-offset function for use in a scene of a construction project, and the like, as follows.

A GNSS base station positioning system with anti-drift capabilities, matched to a mobile piling rig, comprising:

the reference station receiver comprises at least two reference station GNSS antennas, is matched with a GNSS satellite and is used for acquiring and processing satellite information and reference station positioning information and sending a reference station positioning information processing result through a reference station radio station;

the mobile station receiver is fixedly arranged on the mobile pile driving equipment, is in signal connection with the reference station receiver, is matched with a GNSS satellite, is used for acquiring satellite information and real-time position information of the mobile pile driving equipment, receives and processes the reference positioning information from the reference station receiver, judges the displacement state of a GNSS antenna of the reference station by combining a positioning information processing result through a built-in judging module, and packs and synchronously sends a mobile station positioning information processing result and a reference station positioning information processing result;

and the display terminal is in signal connection with the mobile station receiver and is used for receiving the positioning information processing result of the mobile station and the positioning information processing result of the reference station, selecting a corresponding positioning mode according to the judgment result, and completing the positioning of the real-time position of the mobile piling equipment and the navigation of a target pile position through the embedded piling software.

Preferably, the reference station receiver comprises a reference station external component and a reference station internal component;

the reference station external component includes at least one of,

a first reference station GNSS antenna fixedly arranged at the position of the first reference positioning point and matched with the GNSS satellite for realizing the positioning of the first reference positioning point,

a second reference station GNSS antenna fixedly arranged at the position of a second reference positioning point and matched with the GNSS satellite for realizing the positioning of the second reference positioning point,

the base station radio antenna is used for sending the positioning information processing result of the internal component of the base station;

the internal components of the reference station include,

a first reference station OEM board card which is connected with the first reference station GNSS antenna signal and is used for acquiring satellite information, resolving related positioning information and sending positioning information of a first reference positioning point,

a second reference station OEM board card connected with the second reference station GNSS antenna signal for acquiring satellite information, resolving related positioning information and transmitting positioning information of a second reference positioning point,

a reference station processor which is respectively connected with the first reference station OEM board card and the second reference station OEM board card in a signal mode and is used for receiving and processing positioning information, generating a reference station positioning information processing result and issuing the reference station positioning information processing result,

and the reference station radio station module is respectively connected with the reference station processor and the reference station radio station antenna in a signal mode and is used for forwarding a positioning information processing result of the reference station to the mobile station receiver.

Preferably, the set distance between the first reference station GNSS antenna and the second reference station GNSS antenna is greater than or equal to 50 m.

Preferably, the set distance between the first reference station GNSS antenna and the second reference station GNSS antenna is greater than 100 m.

Preferably, the positioning information of the reference station at least comprises longitude and latitude coordinates and differential data.

Preferably, the mobile station receiver comprises mobile station external components and mobile station internal components;

the mobile station external components may include,

the mobile station positioning GNSS antenna is fixedly arranged on the mobile piling equipment and is matched with a GNSS satellite for realizing the real-time positioning of the mobile piling equipment,

a mobile station directional GNSS antenna which is fixedly arranged on the mobile piling device and is matched with a GNSS satellite for realizing the mobile orientation of the mobile piling device,

a mobile station radio antenna in signal communication with the reference station radio antenna for receiving a reference station positioning information processing result from the reference station radio antenna;

the mobile station internal components may include,

a mobile station OEM board which is respectively connected with the mobile station positioning GNSS antenna and the mobile station directional GNSS antenna signal and is used for acquiring and sending the positioning information of the mobile pile driving equipment,

a mobile station radio module electrically connected with the mobile station radio antenna and used for receiving the positioning information processing result of the reference station,

and the mobile station processor is electrically connected with the mobile station OEM board card and the mobile station radio module respectively and is used for receiving and processing the positioning information, generating a mobile station positioning information processing result, combining the received reference station positioning information processing result from the mobile station radio, judging and processing the reference station positioning information processing result and judging the position offset of the base station.

Preferably, the display terminal and the mobile station receiver are in communication connection in a wired connection mode or a wireless connection mode, the wired connection mode is USB connection, and the wireless connection mode is bluetooth connection or WIFI connection.

Preferably, the display terminal is further connected with a CORS network through a 4G base station, and the display terminal and the 4G base station are in communication connection by adopting a 4G signal or an LTE signal.

Preferably, the display terminal is a PC, a mobile phone or a tablet computer.

Preferably, the reference station receiver and the mobile station receiver are both electrically connected to an external power supply for dc power supply.

Compared with the prior art, the invention has the advantages that:

according to the GNSS base station positioning system provided by the invention, the reference station can simultaneously process and send two independent positioning information by adding the GNSS antenna in the reference station receiving equipment, a standby option is provided for the possible GNSS antenna offset problem, the integral fault tolerance of the system is improved, the accuracy of the positioning result is ensured, and the problems of increased workload, prolonged operation time, increased production cost and the like caused by re-lofting of the reference station are avoided.

Meanwhile, in the overall scheme of the invention, the hardware used in the invention is a mature technology with relatively wide application, and a user can obtain the complete technical scheme of the invention by simply modifying and combining the existing system, thereby further enriching the application scenes of the invention.

In addition, in the practical application process, the whole operation process is clear, the control logic is excellent, the problem of positioning offset caused by movement of a GNSS antenna of a reference station is solved to the maximum extent, a brand new thought is provided for specific implementation and application of various reference positioning methods, reference is provided for other related problems in the same field, expansion and extension and deep research can be carried out on the basis of the brand new thought, and the industrial application prospect is wide.

The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings for the purpose of facilitating understanding and understanding of the technical solutions of the present invention.

Drawings

FIG. 1 is a system architecture diagram of the present invention;

FIG. 2 is a schematic diagram of the internal framework of the system of the present invention;

fig. 3 is a schematic view of the process of the present invention.

Detailed Description

The invention discloses a GNSS base station positioning system with an anti-offset function used in scenes such as constructional engineering and the like, and the specific scheme is as follows.

As shown in fig. 1-2, a GNSS base station positioning system with anti-offset function, matched with a mobile pile driving device, includes:

the reference station receiver comprises at least two reference station GNSS antennas, is matched with a GNSS satellite and is used for acquiring and processing satellite information and reference station positioning information and sending a reference station positioning information processing result through a reference station radio station;

the mobile station receiver is fixedly arranged on the mobile pile driving equipment, is in signal connection with the reference station receiver, is matched with a GNSS satellite, is used for acquiring satellite information and real-time position information of the mobile pile driving equipment, receives and processes the reference positioning information from the reference station receiver, judges the displacement state of a GNSS antenna of the reference station by combining a positioning information processing result through a built-in judging module, and packs and synchronously sends a mobile station positioning information processing result and a reference station positioning information processing result;

and the display terminal is in signal connection with the mobile station receiver and is used for receiving the positioning information processing result of the mobile station and the positioning information processing result of the reference station, selecting a corresponding positioning mode according to the judgment result, and completing the positioning of the real-time position of the mobile piling equipment and the navigation of a target pile position through the embedded piling software.

It is emphasized that in practical system applications, the mobile station receiver and the display terminal may be arranged in various ways, and the display terminal may also be integrated in the mobile station receiver. In the present embodiment, the description is made in the form of separation of the two.

The reference station receiver includes a reference station external component and a reference station internal component.

The reference station external assembly includes:

the first reference station GNSS antenna is fixedly arranged at the position of the first reference positioning point, is matched with the GNSS satellite and is used for positioning the first reference positioning point;

the second reference station GNSS antenna is fixedly arranged at the position of the second reference positioning point, is matched with the GNSS satellite and is used for positioning the second reference positioning point;

and the base station radio antenna is used for sending the positioning information processing result of the internal component of the base station.

The reference station internal components include:

the first reference station OEM board card is connected with the first reference station GNSS antenna signal and used for acquiring satellite information, resolving related positioning information and sending positioning information of a first reference positioning point;

the second reference station OEM board card is connected with the second reference station GNSS antenna signal and used for acquiring satellite information, resolving related positioning information and sending positioning information of a second reference positioning point;

the reference station processor is respectively in signal connection with the first reference station OEM board card and the second reference station OEM board card and is used for receiving and processing positioning information, generating a reference station positioning information processing result and issuing the reference station positioning information processing result;

and the reference station radio station module is respectively connected with the reference station processor and the reference station radio station antenna in a signal mode and is used for forwarding a positioning information processing result of the reference station to the mobile station receiver.

It should be noted that, in order to ensure the practical use effect of the present invention, the set distance between the first reference station GNSS antenna and the second reference station GNSS antenna is greater than or equal to 50 m.

In this embodiment, the set distance between the first reference station GNSS antenna and the second reference station GNSS antenna is greater than 100 m.

It should also be clear that, in the present embodiment, the reference station positioning information processing result is differential data.

The mobile station receiver includes mobile station external components and mobile station internal components.

The mobile station external component includes:

the mobile station positioning GNSS antenna is fixedly arranged on the mobile piling equipment, is matched with a GNSS satellite and is used for realizing the real-time positioning of the mobile piling equipment;

the mobile station directional GNSS antenna is fixedly arranged on the mobile piling equipment, is matched with a GNSS satellite and is used for realizing mobile orientation of the mobile piling equipment;

and the mobile station radio antenna is in signal communication with the reference station radio antenna and is used for receiving the reference station positioning information processing result from the reference station radio antenna.

The mobile station internal components include:

the mobile station OEM board card is respectively connected with the mobile station positioning GNSS antenna and the mobile station directional GNSS antenna signal, and is used for acquiring and sending the positioning information of the mobile piling equipment;

the mobile station radio station module is electrically connected with the mobile station radio station antenna and used for receiving a positioning information processing result of the reference station;

and the mobile station processor is electrically connected with the mobile station OEM board card and the mobile station radio module respectively and is used for receiving and processing the positioning information, generating a mobile station positioning information processing result, combining the received reference station positioning information processing result from the mobile station radio, judging and processing the reference station positioning information processing result and judging the position offset of the base station.

The display terminal and the mobile station receiver are in communication connection in a wired connection mode or a wireless connection mode, the wired connection mode is USB connection, and the wireless connection mode is Bluetooth connection or WIFI connection.

The display terminal is further connected with a CORS network through a 4G base station, and communication connection between the display terminal and the 4G base station is completed through 4G signals or LTE signals.

The reference station receiver and the mobile station receiver are respectively and electrically connected with an external power supply for direct current power supply.

In this embodiment, the display terminal is a PC, and the determination module inside the display terminal is piling related software. In the scheme, the display terminal can also use a mobile phone or a tablet personal computer, and the mobile station receiver is connected with the mobile phone or the tablet personal computer through a USB, so that communication can be realized, the mobile phone or the tablet personal computer can also be charged, and Bluetooth or WIFI communication can also be used certainly. Only the piling related software is downloaded to a mobile phone or a tablet computer, and the mobile phone or the tablet computer can be used as a display terminal. This reduces the number of components and costs.

According to the GNSS base station positioning system provided by the invention, the reference station can simultaneously process and send two independent positioning information by adding the GNSS antenna in the reference station receiving equipment, a standby option is provided for the possible GNSS antenna offset problem, the integral fault tolerance of the system is improved, the accuracy of the positioning result is ensured, and the problems of increased workload, prolonged operation time, increased production cost and the like caused by re-lofting of the reference station are avoided.

Meanwhile, in the overall scheme of the invention, the hardware used in the invention is a mature technology with relatively wide application, and a user can obtain the complete technical scheme of the invention by simply modifying and combining the existing system, thereby further enriching the application scenes of the invention.

The practical application process of the system of the invention is shown in fig. 3, firstly, the GNSS antenna of the first reference station is started, the judgment module arranged in the display terminal judges whether the position of the first reference positioning point deviates, if not, the mobile piling equipment is controlled to start piling, and if so, the subsequent process is executed.

And then, starting a second reference station GNSS antenna, judging whether the position of the second reference positioning point deviates or not by a judging module arranged in the display terminal, if not, controlling the mobile piling equipment to start piling, and if so, executing a subsequent process.

And finally, starting the CORS network, and controlling the mobile piling equipment to start piling through the CORS network.

In the practical application process, the whole operation process is clear, the control logic is excellent, the problem of positioning offset caused by the movement of a GNSS antenna of a reference station is solved to the maximum extent, a brand new thought is provided for the specific realization and application of various reference positioning methods, reference is provided for other related problems in the same field, and the method can be expanded, extended and deeply researched on the basis of the brand new thought, so that the industrial application prospect is wide.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Finally, it should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should integrate the description, and the technical solutions in the embodiments can be appropriately combined to form other embodiments understood by those skilled in the art.