Abstract

The present disclosure provides a measurement method. The measurement method is implemented by using a measurement system, the measurement system comprises a navigation module and a laser ranging module, and the navigation module comprises an inertial measurement unit. The measurement method comprises: acquiring measurement information of a point to be measured, the measurement information comprising sensor pose information of the inertial measurement unit and laser ranging information of the laser ranging module; calculating a position measurement result of said point on the basis of the measurement information of said point, wherein the sensor pose information is acquired by using the following steps: constructing a pre-integration factor on the basis of sensor parameters; and when an RTK signal quality parameter of the navigation module corresponding to the measurement position is less than a preset signal quality threshold, performing first optimization processing on the basis of a lidar odometry factor and the pre-integration factor to obtain the sensor pose information. According to the measurement method, accurate measurement can be performed in scenarios where the signal quality of a navigation module is poor or even blocked, thereby breaking through the limitations of application scenarios of measurement devices.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01S 17/08 - Systems determining position data of a target for measuring distance only

Abstract

Provided in the present disclosure are a method for estimating a measurement error of an integrated navigation apparatus, and an apparatus and a storage medium. The integrated navigation apparatus comprises: a GNSS module, a sensor module, a processor module and a ranging module. The method comprises the following steps: setting a measurement target point and N fixed points, arranging an integrated navigation apparatus at each fixed point, and aiming at the measurement target point; acquiring a position parameter of each fixed point and a position parameter of the measurement target point, and by means of the position parameters of each fixed point and the measurement target point, calculating an expected distance parameter; acquiring a distance parameter between each fixed point and the measurement target point, which is calculated by a sensor module; on the basis of the two distance parameters obtained for each fixed point, establishing N equations; and on the basis of the N equations, calculating an expected measurement error of the integrated navigation apparatus. By means of the method in the present disclosure, an obtained error value is closer to a true error under the effect of multiple instances of sampling and calculation.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

Abstract

The present application provides a measurement method and system, a device, and a storage medium. The method is implemented by using the measurement system. The measurement system comprises a laser ranging module, an image measurement module, and a navigation module. The method comprises the following steps: acquiring measurement data of a point to be measured, the measurement data comprising first measurement data acquired from the laser ranging module, second measurement data acquired from the image measurement module, and third measurement data acquired from the navigation module; on the basis of the measurement data of said point, calculating at least one position measurement result of said point; and on the basis of the at least one position measurement result, calculating a final position measurement result of said point by using a preset measurement fusion algorithm. In the present application, the measurement data of the laser ranging module, the image measurement module, and the navigation module are effectively fused, so that the accuracy of measurement of the spatial position of a point to be measured is improved.

IPC Classes  ?

• G01C 15/00 - Surveying instruments or accessories not provided for in groups
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01S 17/08 - Systems determining position data of a target for measuring distance only
• G01S 7/48 - Details of systems according to groups , , of systems according to group
• G01S 7/481 - Constructional features, e.g. arrangements of optical elements
• G01B 11/00 - Measuring arrangements characterised by the use of optical techniques

Abstract

A lofting method, a multifunctional measurement apparatus and a computer-readable medium. The lofting method is used for a multifunctional measurement apparatus (500). The multifunctional measurement apparatus (500) comprises a navigation module (1, 501) and a laser ranging module (2, 502), wherein the navigation module (1, 501) comprises an inertial measurement unit. The lofting method comprises: calculating plane projection coordinates of a laser irradiation point in a first coordinate system (S101); acquiring plane projection coordinates of a point to be lofted in the first coordinate system (S102); calculating a lofting error in a second coordinate system on the basis of the obtained coordinates (S103); and adjusting the position of the laser irradiation point on the basis of the lofting error until the laser irradiation point coincides with the point to be lofted within a lofting error range (S104). In the lofting method, a laser ranging module (2, 502) is used instead of a centering rod, so that a user can carry a multifunctional measurement apparatus and operate same conveniently, and it is only necessary to move a laser irradiation point in situ to implement long-distance lofting.

IPC Classes  ?

• G01C 15/00 - Surveying instruments or accessories not provided for in groups

Abstract

A setting-out method, a measurement system (500), and a computer readable medium. The setting-out method is used for the measurement system (500). The measurement system (500) comprises a navigation module (1, 501), a laser ranging module (2, 502), and a centering rod (6, 503). The navigation module (1, 501) comprises an inertial measurement unit and a GNSS positioning unit. The setting-out method comprises: acquiring projection coordinates of a position vector of an antenna phase center in a first coordinate system by means of a GNSS positioning unit; acquiring distance information between a laser emission point and a laser irradiation point; on the basis of the projection coordinates and the distance information, calculating projection coordinates of the laser emission point in the first coordinate system and projection coordinates of the laser irradiation point in the first coordinate system; further calculating a corresponding setting-out error; and adjusting the centering rod (6, 503) on the basis of the setting-out error.

IPC Classes  ?

• G01C 15/00 - Surveying instruments or accessories not provided for in groups
• G01C 15/08 - Plumbing or registering staffs or markers over ground marks
• G01S 19/47 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• G01B 11/00 - Measuring arrangements characterised by the use of optical techniques
• G01S 19/43 - Determining position using carrier phase measurements, e.g. kinematic positioningDetermining position using long or short baseline interferometry