狭长受限空间锚节点定位的测距仪双侧自由设站法  

Bilateral-Free Setting Station Method Using Hand-Held Laser Ranger for Anchor Node Positioning in Long-Narrow Confined Spaces

作　　者：刘志平[1] 朱丹彤[1] 杨磊[1] 张秋昭[1] 

机构地区：[1]中国矿业大学环境与测绘学院,江苏徐州221116

出　　处：《传感技术学报》2017年第2期272-277,共6页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(41204011;41504032);大地测量与地球动力学国家重点实验室开放基金项目(SKLGED2014-3-2-E);江苏高校优势学科建设工程项目(SZBF2011-6-B35)

摘　　要：针对现有的狭长受限空间下锚节点定位方法的不足,在大地四边形和自由设站法基础上提出了基于测距仪的中线设站法和双侧自由设站法控制网布设方法。多余观测、待估坐标协因数阵等比较分析表明,所提出的测距仪双侧自由设站法为最优布网方法。最后,讨论了双侧自由设站法控制网图形强度优化函数及策略,并利用Leica-S910手持激光测距仪开展中国矿大室内外定位场锚节点定位试验,结果完全满足锚节点定位精度要求。Aiming at the problem that the existed anchor node positioning methods cannot be successfully applied in the long-narrow confined spaces,this paper proposed trilateration network layout methods including both center-free station method and bilateral-free station method based on both geodetic quadrilateral method and free station method.Redundant observations and coordinates variance-covariance matrix of four trilateration network layout methods mentioned above are computed and analyzed,and results show the bilateral-free station method is the best one.Further,the structure strength function of the bilateral-free station method is investigated in detail.At the end,to test the accuracy and reliability of the bilateral-free station method,anchor node positioning experiment using Leica-S910 hand-held laser ranger is implemented in the indoor-outdoor location test field of China University of Mining Technology.The positioning results show the bilateral-free station method can get the optimized trilateration network with the position RMSE 15.1cm which can satisfy the accuracy requirement in long-narrow confined spaces.

关 键 词：锚节点定位 双侧自由设站法 手持测距仪 狭长受限空间 

分 类 号：P25[天文地球—测绘科学与技术]