阅读说明：本技术 卫星信号遮蔽区域rtk/uwb组合测图方法及系统 (RTK/UWB combined mapping method and system for satellite signal shielding area ) 是由 韩厚增 杨燈 王坚 于 2019-08-20 设计创作，主要内容包括：本发明实施例提供卫星信号遮蔽区域RTK/UWB组合测图方法及系统,所述方法利用RTK定位模式可以测得高精度的坐标,对于卫星信号遮蔽区域利用RTK技术可得到三个或者多个非卫星信号遮蔽区域的点位坐标,然后利用UWB测距技术,分别量测RTK定位点到卫星信号遮蔽区域待求点的距离,根据RTK定位点点位坐标和UWB测距信息,可组网解算待求点的坐标(多于三个RTK点位时平差解算坐标)。本发明实施例的优点在于：解决了卫星信号遮蔽区域RTK测图问题,测图精度高,作业效率明显优于其他方法,同时方法实践容易、操作简单、自动化程度相对较高。(the embodiment of the invention provides an RTK/UWB combined mapping method and system for a satellite signal shielding area, the method can measure high-precision coordinates by using an RTK positioning mode, can obtain point position coordinates of three or more non-satellite signal shielding areas for the satellite signal shielding area by using an RTK technology, then respectively measures the distance from an RTK positioning point to a point to be solved in the satellite signal shielding area by using a UWB ranging technology, and can solve the coordinates of the point to be solved (more than three RTK point position time adjustment coordinates) in a networking mode according to the point position coordinates of the RTK positioning point and UWB ranging information. The embodiment of the invention has the advantages that: the method solves the RTK mapping problem of a satellite signal shielding area, has high mapping precision, obviously superior operation efficiency to other methods, and is easy to practice, simple to operate and relatively high in automation degree.)

1. A mapping method, comprising the steps of:

selecting a point A to be measured in a satellite signal shielding area, and placing UWB base station equipment; selecting a point B in an unshielded area of the satellite signal, and placing RTK rover equipment and UWB label equipment;

The UWB tag equipment calculates the distance L _b from the point B to the point A based on a UWB ranging technology;

controlling an RTK rover station to move to the point C, keeping communication with RTK base station equipment, measuring the coordinate of the point C based on an RTK differential technology, controlling UWB label equipment to move to the point C, and measuring the distance L _c from the point C to the point A based on an UWB ranging technology;

_dcontrolling an RTK rover station to move to the D point, keeping communication with an RTK base station and measuring the coordinate of the D point based on an RTK differential technology;

A. B, C and D coordinates, L _b, L _c and L _d form a resolving net, and coordinates of a point A of the point to be measured in the satellite signal shielding area are resolved.

2. The mapping method of claim 1, further comprising:

_KControlling an RTK rover station to move to the point K, keeping communication with an RTK base station and measuring the coordinate of the point K based on an RTK differential technology;

Correspondingly, coordinates of A, B, C, D and K, L _b, L _c, L _d and L _K form a resolving net, and adjustment is used for resolving the coordinates of a point A of a to-be-measured point in a satellite signal shielding area.

3. the mapping method of claim 1, wherein the coordinates of a point a of the point to be measured in the satellite signal shielded area are solved, and further comprising solving the coordinates of the point to be measured based on the following solving formula (X _a, Y _a, Z _a):

The three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c) and the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) are listed.

4. The mapping method of claim 2, wherein the coordinates of the point a of the point to be measured in the satellite signal shielded area are solved, and further comprising solving, based on the following solving formula, taylor expansion linearization, and solving the coordinates of the point to be measured using least squares adjustment (X _a, Y _a, Z _a):

The three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c), the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) and the three-dimensional coordinates of the point K (X _k, Y _k, Z _k) are included.

5. A mapping system, comprising a UWB base station apparatus, an RTK rover apparatus, an RTK base station apparatus and a UWB tag apparatus:

selecting a point A to be measured in a satellite signal shielding area, and placing UWB base station equipment; selecting a point B in an unshielded area of the satellite signal, and placing RTK rover equipment and UWB label equipment;

the UWB tag equipment calculates the distance L _b from the point B to the point A based on a UWB ranging technology;

Controlling an RTK rover station to move to the point C, keeping communication with RTK base station equipment, measuring the coordinate of the point C based on an RTK differential technology, controlling UWB label equipment to move to the point C, and measuring the distance L _c from the point C to the point A based on an UWB ranging technology;

_dcontrolling an RTK rover station to move to the D point, keeping communication with an RTK base station and measuring the coordinate of the D point based on an RTK differential technology;

A. B, C and D coordinates, L _b, L _c and L _d form a resolving net, and the electronic equipment is used for resolving the coordinates of the point A of the point to be measured in the satellite signal shielding area.

6. The mapping system of claim 5, wherein:

_Kcontrolling an RTK rover station to move to the point K, keeping communication with an RTK base station and measuring the coordinate of the point K based on an RTK differential technology;

Correspondingly, coordinates of A, B, C, D and K and coordinates of L _b, L _c, L _d and L _K form a resolving net, and coordinates of a point A of the to-be-measured point in the satellite signal shielding area are resolved.

7. The mapping system of claim 5, wherein the electronic device is further configured to solve the coordinates of the point to be measured (X _a, Y _a, Z _a) based on the following solving formula:

the three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c) and the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) are listed.

8. the mapping system of claim 6, wherein the electronics are further configured to solve, based on a solution equation, taylor expansion linearization, using least squares adjustment to solve for the point coordinates to be measured (X _a, Y _a, Z _a):

the three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c), the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) and the three-dimensional coordinates of the point K (X _k, Y _k, Z _k) are included.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the mapping method of any of claims 1 to 4 are implemented when the program is executed by the processor.

10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the steps of the mapping method of any of claims 1-4.

Technical Field

The invention relates to the technical field of digital mapping, in particular to a method and a system for RTK/UWB combined mapping of a satellite signal shielding area.

Background

a Real-time kinematic (RTK) carrier phase differential technology is a commonly used satellite positioning Real-time mapping method, a base station is arranged in an open area to collect carrier phase data, the carrier phase data is resolved in Real time and sent to a rover receiver to perform differential resolving of rover coordinates, and outdoor Real-time mapping is performed. RTK outdoor real-time mapping can reach centimetre level mapping precision, and the operating efficiency of mapping has greatly been improved to real-time and rapidity. Since the RTK technique belongs to a satellite positioning technique, and positioning can be achieved only by receiving satellite signals, positioning accuracy is affected by the number of observation satellites, and a sufficient number of satellites cannot be observed in a shielded area (such as a corner of a city building), which results in failure of mapping.

ultra Wide Band (UWB) is a pulse radio communication technology, and ranging between two UWB devices can be implemented according to a difference between transmission and reception times of pulse radio. Compared with the traditional distance measurement technology, the UWB has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity and the like, and has centimeter-level high-precision positioning and distance measurement capability.

however, the RTK technology cannot meet the requirement of high-precision mapping in a satellite signal shielding area, and the UWB technology cannot meet the requirement of high-precision mapping in a large range and high efficiency.

disclosure of Invention

the embodiment of the invention provides a RTK/UWB combined mapping method and system for a satellite signal shielding area, which are used for solving the problem that high-efficiency and high-precision mapping of the satellite signal shielding area cannot be realized in the existing digital mapping technology, and have huge practical requirements and economic values. The embodiment of the invention provides a combined RTK/UWB mapping method for a satellite signal shielding area, which comprises the following steps:

selecting a point A to be measured in a satellite signal shielding area, and placing UWB base station equipment; selecting a point B in an unshielded area of the satellite signal, and placing RTK rover equipment and UWB label equipment;

The UWB tag equipment calculates the distance L _b from the point B to the point A based on a UWB ranging technology;

controlling an RTK rover station to move to the point C, keeping communication with RTK base station equipment, measuring the coordinate of the point C based on an RTK differential technology, controlling UWB label equipment to move to the point C, and measuring the distance L _c from the point C to the point A based on an UWB ranging technology;

_dcontrolling an RTK rover station to move to the D point, keeping communication with an RTK base station and measuring the coordinate of the D point based on an RTK differential technology;

A. B, C and D coordinates, L _b, L _c and L _d form a resolving net, and coordinates of a point A of the point to be measured in the satellite signal shielding area are resolved.

further, the method further comprises:

_KControlling an RTK rover station to move to the point K, keeping communication with an RTK base station and measuring the coordinate of the point K based on an RTK differential technology;

Correspondingly, coordinates of A, B, C, D and K and coordinates of L _b, L _c, L _d and L _K form a resolving net, and coordinates of a point A of the to-be-measured point in the satellite signal shielding area are resolved.

Further, the method for calculating the coordinates of the point A of the point to be measured in the satellite signal shielding area further comprises the following steps of calculating the coordinates of the point to be measured (X _a, Y _a and Z _a) based on the following calculation formula:

the three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c) and the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) are listed.

Further, the method for calculating the coordinates of the point A of the point to be measured in the satellite signal shielding area further comprises the following steps of calculating based on the following calculation formula, carrying out Taylor expansion linearization, and calculating the coordinates of the point to be measured by using least square adjustment (X _a, Y _a, Z _a):

the three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c), the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) and the three-dimensional coordinates of the point K (X _k, Y _k, Z _k) are included.

according to a second aspect of the present invention, there is provided a mapping system comprising a UWB base station apparatus, an RTK rover apparatus, an RTK base station apparatus and a UWB tag apparatus:

selecting a point A to be measured in a satellite signal shielding area, and placing UWB base station equipment; selecting a point B in an unshielded area of the satellite signal, and placing RTK rover equipment and UWB label equipment;

the UWB tag equipment calculates the distance L _b from the point B to the point A based on a UWB ranging technology;

controlling an RTK rover station to move to the point C, keeping communication with RTK base station equipment, measuring the coordinate of the point C based on an RTK differential technology, controlling UWB label equipment to move to the point C, and measuring the distance L _c from the point C to the point A based on an UWB ranging technology;

_dControlling an RTK rover station to move to the D point, keeping communication with an RTK base station and measuring the coordinate of the D point based on an RTK differential technology;

A. B, C and D coordinates, L _b, L _c and L _d form a resolving net, and the electronic equipment is used for resolving the coordinates of the point A of the point to be measured in the satellite signal shielding area.

Further, selecting at least one K point in an area where the satellite signals are not shielded, wherein the K point is not overlapped with the B point, the C point and the B point, controlling the RTK rover station to move to the K point, keeping communication with the RTK base station, and measuring the coordinate of the K point based on an RTK differential technology, controlling the UWB tag equipment to move to the K point, and measuring the distance L _K from the K point to the A point based on a UWB ranging technology;

Correspondingly, coordinates of A, B, C, D and K and coordinates of L _b, L _c, L _d and L _K form a resolving net, and coordinates of a point A of the to-be-measured point in the satellite signal shielding area are resolved.

Further, the electronic device is further used for calculating the coordinates of the point to be measured (X _a, Y _a, Z _a) based on the following calculation formula:

the three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c) and the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) are listed.

Further, the electronic device is further used for solving the coordinates of the point to be measured (X _a, Y _a, Z _a) by using least square adjustment based on the following solving formula, Taylor expansion linearization:

the three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c), the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) and the three-dimensional coordinates of the point K (X _k, Y _k, Z _k) are included.

An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the mapping methods described above when executing the program.

a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the mapping methods described above.

The embodiment of the invention provides an RTK/UWB combined mapping method and system for a satellite signal shielding area, wherein the method can measure high-precision coordinates by using an RTK positioning mode, can obtain point position coordinates of three or more non-satellite signal shielding areas for the satellite signal shielding area by using an RTK technology, then respectively measures the distance from an RTK positioning point to a point to be solved in the satellite signal shielding area by using a UWB ranging technology, and can solve the coordinates of the point to be solved (more than three RTK point position time adjustment resolving coordinates) in a networking mode according to the point position coordinates of the RTK positioning point and UWB ranging information. For mapping of a satellite signal shielding area, the RTK/UWB combined mapping efficiency is far higher than that of a traditional total station and other means, meanwhile, the mapping cost is lower, the accuracy is better than that of GNSS difference and inertia measurement combined mapping, and the operation complexity is obviously lower than that of other methods.

The invention has the advantages that: the method solves the RTK mapping problem of a satellite signal shielding area, has operating efficiency and mapping accuracy obviously superior to those of other methods, and is easy to practice, simple to operate and relatively high in automation degree.

drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a flowchart of an RTK/UWB combined mapping method for a satellite signal shielding area according to an embodiment of the present invention;

FIG. 2 is a schematic processing flow chart of an RTK/UWB combined mapping method for a satellite signal covered area according to an embodiment of the present invention;

FIG. 3 is another schematic processing flow chart of a RTK/UWB combined mapping method for a satellite signal covered area according to an embodiment of the present invention;

FIG. 4 is a schematic view of another processing flow of a RTK/UWB combined mapping method for a satellite signal shielding area according to an embodiment of the present invention;

FIG. 5 is a schematic processing flow chart of an RTK/UWB combined mapping method for a satellite signal shielding area according to an embodiment of the present invention;

FIG. 6 is a schematic processing flow chart of a RTK/UWB combined mapping method for a satellite signal shielding area according to an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to solve at least one technical problem in the prior art, a method for measuring a satellite signal shielding area by using an RTK/UWB combination is provided. As shown in fig. 1, the method for RTK/UWB combined mapping of the satellite signal covered area generally comprises the following steps.

Step S1, selecting a point A to be measured in a satellite signal shielding area, and placing UWB base station equipment; and selecting a point B in an area which is not covered by the satellite signal, and placing the RTK rover station equipment and the UWB tag equipment.

And step S2, as shown in FIG. 2, the RTK rover station communicates with the RTK base station and measures the coordinates of the point B based on the RTK differential technology, and the UWB tag device calculates the distance L _b from the point B to the point A based on the UWB ranging technology.

Step S3, as shown in fig. 3, selecting a point C in the non-shielded area of the satellite signal, where the point C is not overlapped with the point B, controlling the RTK rover to move to the point C, communicating with the RTK base station device, and measuring the coordinate of the point C based on the RTK differential technology, controlling the UWB tag device to move to the point C, and measuring the distance L _c from the point C to the point a based on the UWB ranging technology.

Step S4, as shown in FIG. 4, selecting a D point in the area not covered by the satellite signal, wherein the D point is not coincident with the C point and the B point, controlling the RTK rover station to move to the D point, communicating with the RTK base station, measuring the coordinate of the D point based on the RTK differential technology, controlling the UWB tag device to move to the D point, and measuring the distance L _d from the D point to the A point based on the UWB ranging technology.

In step S5, as shown in fig. 5, a resolving net is formed by coordinates of the A, B, C and the four points D, and L _b, L _c and L _d, and the coordinates of the point a of the to-be-measured point in the satellite signal shielding area are resolved.

Uwb (ultra wideband) is a carrier-free communication technology, and uses nanosecond to microsecond non-sine wave narrow pulses to transmit data. It is called a revolutionary advance in the radio field, and is considered to become a mainstream technology of short-distance wireless communication in the future. In general, UWB was used in the early days for short-range high-speed data transmission, and recently, it has been used abroad to perform short-range accurate indoor positioning by using its ultra-narrow pulse in the sub-nanosecond range. Compared with the traditional distance measurement technology, the UWB has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity and the like, and has centimeter-level high-precision positioning and distance measurement capability. UWB technology, however, cannot meet the high-precision mapping requirements for a wide range of specific applications.

It should be noted that an RTK (Real-time kinematic) carrier phase differential technique is a differential method for processing carrier phase observations of two measurement stations in Real time, and sends carrier phases acquired by a reference station to a user receiver for difference calculation and coordinate calculation. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements all need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the method is a major milestone applied to GPS, the appearance of the method is project lofting and terrain mapping, various control measurements bring new measurement principles and methods, and the operation efficiency is greatly improved. Since the RTK technique belongs to a satellite positioning technique, and positioning can be achieved only by receiving satellite signals, positioning accuracy is affected by the number of observation satellites, and a sufficient number of satellites cannot be observed in a shielded area (such as a corner of a city building), which results in failure of mapping.

the RTK/UWB combined mapping method for the satellite signal shielding area can measure high-precision coordinates by using an RTK positioning mode, can obtain point location coordinates of three or more non-satellite signal shielding areas for the satellite signal shielding area by using an RTK technology, respectively measures distances from RTK positioning points to be solved in the satellite signal shielding area by using a UWB ranging technology, and can solve the coordinates of the points to be solved (more than three RTK point location time offsets to solve the coordinates) in a networking mode according to the point location coordinates of the RTK positioning points and the UWB ranging information. For mapping of a satellite signal shielding area, the RTK/UWB combined mapping efficiency is far higher than that of a traditional total station and other means, meanwhile, the mapping cost is lower, the accuracy is better than that of GNSS difference and inertia measurement combined mapping, and the operation complexity is obviously lower than that of other methods. The embodiment of the invention has the following advantages: the method solves the RTK mapping problem of a satellite signal shielding area, has operating efficiency and mapping accuracy obviously superior to those of other methods, and is easy to practice, simple to operate and relatively high in automation degree.

On the basis of the above embodiment of the present invention, there is provided a method for RTK/UWB combined mapping in a satellite signal covered area, the method further comprising:

_KControlling an RTK rover station to move to the point K, keeping communication with an RTK base station and measuring the coordinate of the point K based on an RTK differential technology;

correspondingly, coordinates of A, B, C, D and K and coordinates of L _b, L _c, L _d and L _K form a resolving net, and coordinates of a point A of the to-be-measured point in the satellite signal shielding area are resolved.

as shown in FIG. 6, in order to improve the coordinate accuracy of the point A in the satellite signal shielding area, a plurality of points K in the satellite signal non-shielding area can be selected, the coordinates of the points (X _K, Y _K and Z _K) are measured by using an RTK differential technology, and the distance L _K from the points to the point A is measured by using a UWB ranging technology.

on the basis of the above embodiments of the present invention, a method for RTK/UWB combined mapping in a satellite signal shielding area is provided, which solves the coordinates of a point a in a point to be measured in the satellite signal shielding area, and further includes solving the coordinates of the point to be measured (X _a, Y _a, Z _a) based on the following solving formula:

The three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c) and the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) are listed.

the embodiment of the invention has the advantages that: the method solves the RTK mapping problem of a satellite signal shielding area, has operating efficiency and mapping accuracy obviously superior to those of other methods, and is easy to practice, simple to operate and relatively high in automation degree.

on the basis of the above embodiments of the present invention, a method for RTK/UWB combined mapping in a satellite signal shielding area is provided, which solves the coordinates of a point a in a satellite signal shielding area, and further includes solving, based on the following solving formula, taylor expansion linearization, and using least square adjustment to solve the coordinates of the point (X _a, Y _a, Z _a):

The three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c), the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) and the three-dimensional coordinates of the point K (X _k, Y _k, Z _k) are included.

the embodiment of the invention has the advantages that: the method solves the RTK mapping problem of a satellite signal shielding area, has operating efficiency and mapping accuracy obviously superior to those of other methods, and is easy to practice, simple to operate and relatively high in automation degree.

in order to solve at least one technical problem in the prior art, an embodiment of the present invention provides a system for performing RTK/UWB combined mapping in a satellite signal shielding area, which is characterized by comprising a UWB base station device, an RTK rover RTK base station device, and a UWB tag device:

Selecting a point A to be measured in a satellite signal shielding area, and placing UWB base station equipment; selecting a point B in an unshielded area of the satellite signal, and placing RTK rover equipment and UWB label equipment;

As shown in fig. 2, the RTK rover device communicates with the RTK base station device and measures the coordinates of the point B based on the RTK differential technique, and the UWB tag device calculates the distance L _b from the point B to the point a based on the UWB ranging technique;

As shown in fig. 3, selecting a point C in the non-shielded area of the satellite signal, wherein the point C is not coincident with the point B, controlling the RTK rover station to move to the point C, keeping communication with the RTK base station device, and measuring the coordinate of the point C based on the RTK differential technology, controlling the UWB tag device to move to the point C, and measuring the distance L _c from the point C to the point a based on the UWB ranging technology;

As shown in fig. 4, selecting a point D in the non-shielded area of the satellite signal, wherein the point D is not coincident with the point C and the point B, controlling the RTK rover station to move to the point D, communicating with the RTK base station, and measuring the coordinate of the point D based on the RTK differential technology, controlling the UWB tag device to move to the point D, and measuring the distance L _d from the point D to the point a based on the UWB ranging technology;

As shown in fig. 5, coordinates of A, B, C and D four points, and coordinates of L _b, L _c and L _d form a resolving net, and the electronic device is used for resolving coordinates of a point a of a to-be-measured point in a satellite signal shielding area.

Uwb (ultra wideband) is a carrier-free communication technology, and uses nanosecond to microsecond non-sine wave narrow pulses to transmit data. It is called a revolutionary advance in the radio field, and is considered to become a mainstream technology of short-distance wireless communication in the future. In general, UWB was used in the early days for short-range high-speed data transmission, and recently, it has been used abroad to perform short-range accurate indoor positioning by using its ultra-narrow pulse in the sub-nanosecond range. Compared with the traditional distance measurement technology, the UWB has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity and the like, and has centimeter-level high-precision positioning and distance measurement capability. However, UWB technology cannot meet the requirements for high-precision mapping for specific applications, such as high efficiency and large area.

It should be noted that an RTK (Real-time kinematic) carrier phase differential technique is a differential method for processing carrier phase observations of two measurement stations in Real time, and sends carrier phases acquired by a reference station to a user receiver for difference calculation and coordinate calculation. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements all need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the method is a major milestone applied to GPS, the appearance of the method is project lofting and terrain mapping, various control measurements bring new measurement principles and methods, and the operation efficiency is greatly improved. Since the RTK technique belongs to a satellite positioning technique, and positioning can be achieved only by receiving satellite signals, positioning accuracy is affected by the number of observation satellites, and a sufficient number of satellites cannot be observed in a shielded area (such as a corner of a city building), which results in failure of mapping.

The RTK/UWB combined mapping system for the satellite signal shielding area can measure high-precision coordinates by using an RTK positioning mode, can obtain point location coordinates of three or more non-satellite signal shielding areas for the satellite signal shielding area by using an RTK technology, respectively measures distances from RTK positioning points to be solved in the satellite signal shielding area by using a UWB ranging technology, and can solve the coordinates of the points to be solved (more than three RTK point location time offsets to solve the coordinates) in a networking mode according to the point location coordinates of the RTK positioning points and the UWB ranging information. For mapping of a satellite signal shielding area, the RTK/UWB combined mapping efficiency is far higher than that of a traditional total station and other means, meanwhile, the mapping cost is lower, the accuracy is better than that of GNSS difference and inertia measurement combined mapping, and the operation complexity is obviously lower than that of other methods. The embodiment of the invention has the following advantages: the method solves the RTK mapping problem of a satellite signal shielding area, has operating efficiency and mapping accuracy obviously superior to those of other methods, and is easy to practice, simple to operate and relatively high in automation degree.

The embodiment of the invention provides a combined mapping system for RTK/UWB in a satellite signal shielding area, which is characterized in that at least one K point is selected in a satellite signal non-shielding area, wherein the K point is not overlapped with a B point, a C point and a D point, an RTK mobile station is controlled to move to the K point, the RTK mobile station is communicated with an RTK base station, the coordinate of the K point is measured based on an RTK differential technology, a UWB label device is controlled to move to the K point, the distance L _K from the K point to the A point is measured based on a UWB ranging technology, correspondingly, a resolving network is formed by the coordinates of A, B, C, D and K, the coordinates of L _b, the L _c, the L _d and the L _K, and the coordinate of the A point of the.

As shown in FIG. 6, in order to improve the coordinate accuracy of the point A in the satellite signal shielding area, a plurality of points K in the satellite signal non-shielding area can be selected, the coordinates of the points (X _K, Y _K and Z _K) are measured by using an RTK differential technology, and the distance L _K from the points to the point A is measured by using a UWB ranging technology.

on the basis of the above embodiment of the present invention, there is provided a system for RTK/UWB combined mapping of a satellite signal covered area, wherein the XX device is further configured to solve the coordinates (X _a, Y _a, Z _a) of the point to be measured based on the following solving formula:

the three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c) and the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) are listed.

The embodiment of the invention has the advantages that: the method solves the RTK mapping problem of a satellite signal shielding area, has operating efficiency and mapping accuracy obviously superior to those of other methods, and is easy to practice, simple to operate and relatively high in automation degree.

On the basis of the above embodiment of the present invention, there is provided a system for RTK/UWB combined mapping of a satellite signal shielded area, wherein the electronic device is further configured to solve the coordinates of the point to be measured (X _a, Y _a, Z _a) by using least square adjustment based on the following solving formula, taylor expansion linearization:

the three-dimensional coordinates of the point A (X _a, Y _a, Z _a), the three-dimensional coordinates of the point B (X _b, Y _b, Z _b), the three-dimensional coordinates of the point C (X _c, Y _c, Z _c), the three-dimensional coordinates of the point D (X _d, Y _d, Z _d) and the three-dimensional coordinates of the point K (X _k, Y _k, Z _k) are included.

the embodiment of the invention has the advantages that: the method solves the RTK mapping problem of a satellite signal shielding area, has operating efficiency and mapping accuracy obviously superior to those of other methods, and is easy to practice, simple to operate and relatively high in automation degree.

FIG. 7 illustrates a physical structure diagram of an electronic device, as shown in FIG. 7, the server may include a processor (Krocessor)710, a communication Interface (Communications Interface)720, a memory (memory)730 and a communication bus 740, wherein the processor 710, the communication Interface 720 and the memory 730 communicate with each other via the communication bus 740. the processor 710 may call logic instructions in the memory 730 to perform a method of selecting a point A to be measured in a satellite signal shielded area, placing a UWB base station device in the satellite signal unshielded area, selecting a point B in the satellite signal unshielded area, placing an RTK rover and an RTK UWB tag device, placing an RTK rover in the satellite signal unshielded area, communicating with the RTK rover, and measuring coordinates of the point B based on a RTK differential technology, the tag device calculating a distance L _b from the point B to the point A based on a ranging technology, selecting a point C in the satellite signal unshielded area, wherein the point C and the point B do not coincide, controlling the RTK station to move to a point C, maintaining communication with the RTK base station and calculating coordinates of the UWB communication between the UWB mobile station L and UWB mobile station L3954 based on the UWB ranging technology, calculating a ranging from the UWB ranging point C and UWB ranging technology, and UWB ranging control the UWB ranging from the UWB mobile station 3629 to the UWB mobile station based on UWB ranging point C, and UWB ranging technology, and UWB ranging control station 3629, and UWB ranging from the UWB ranging station, and UWB mobile station, measuring ranging technologies, and UWB mobile station, and UWB.

In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

on the other hand, the embodiment of the invention also provides a non-transitory computer readable storage medium, which stores thereon a computer program, which when executed by a processor is implemented to perform the transmission method provided by the above embodiments, for example, the method includes selecting a point a to be measured in a satellite signal shielded area, placing a UWB base station device, selecting a point B in an area where the satellite signal is not shielded, placing an RTK rover and a UWB tag device, the RTK rover communicating with the RTK base station device and measuring coordinates of the point B based on an RTK differential technique, the tag device calculating a distance L _b from the point B to the point a based on the UWB ranging technique, selecting a point C in an area where the point C and the point B do not overlap, controlling the RTK rover to move to the point C and measure coordinates of the point C based on the RTK differential technique, controlling the UWB tag device to move to the point C and calculate a distance L _c from the point C to the point based on the UWB ranging technique, selecting a point D from the point D, controlling the point D4656 and calculating a distance L from the point D based on the UWB ranging technique, calculating a distance L3629, calculating a distance from the point, the RTK rover and the RTK rover, and the RTK ranging station, and the RTK ranging technique, and calculating a point.

the above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.