Abrégé

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.

Classes IPC  ?

• G01C 21/16 - NavigationInstruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigantNavigation à l'estime en intégrant l'accélération ou la vitesse, c.-à-d. navigation par inertie
• G01S 17/08 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement

Abrégé

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.

Classes IPC  ?

• G01C 21/16 - NavigationInstruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigantNavigation à l'estime en intégrant l'accélération ou la vitesse, c.-à-d. navigation par inertie
• G01C 21/20 - Instruments pour effectuer des calculs de navigation
• G01C 25/00 - Fabrication, étalonnage, nettoyage ou réparation des instruments ou des dispositifs mentionnés dans les autres groupes de la présente sous-classe

Abrégé

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.

Classes IPC  ?

• G01C 15/00 - Instruments de géodésie ou accessoires non prévus dans les groupes
• G01C 21/16 - NavigationInstruments de navigation non prévus dans les groupes en utilisant des mesures de la vitesse ou de l'accélération exécutées à bord de l'objet navigantNavigation à l'estime en intégrant l'accélération ou la vitesse, c.-à-d. navigation par inertie
• G01C 21/00 - NavigationInstruments de navigation non prévus dans les groupes
• G01S 17/08 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement
• G01S 7/48 - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
• G01S 7/481 - Caractéristiques de structure, p. ex. agencements d'éléments optiques
• G01B 11/00 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques

Abrégé

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.

Classes IPC  ?

• G01C 15/00 - Instruments de géodésie ou accessoires non prévus dans les groupes

Abrégé

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.

Classes IPC  ?

• G01C 15/00 - Instruments de géodésie ou accessoires non prévus dans les groupes
• G01C 15/08 - Mires ou jalons pour matérialiser la verticale ou servir de repères sur les marques du terrain
• G01S 19/47 - Détermination de position en combinant les mesures des signaux provenant du système de positionnement satellitaire à radiophares avec une mesure supplémentaire la mesure supplémentaire étant une mesure inertielle, p. ex. en hybridation serrée
• G01B 11/00 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques
• G01S 19/43 - Détermination de position utilisant les mesures de la phase de la porteuse, p. ex. le positionnement cinématiqueDétermination de position utilisant l'interférométrie à ligne de base longue ou courte