CN111190204B - Real-time positioning device and method based on Beidou double antennas and laser range finder - Google Patents

Abstract

The invention belongs to the technical field of satellite positioning, and discloses a real-time positioning device and a positioning method based on Beidou double antennas and a laser range finder, wherein two Beidou antennas are arranged on a cross rod to form a fixed base line, a three-dimensional coordinate of an antenna phase center is obtained in real time, and a direction vector of the base line is determined in real time; and (3) collinearly connecting the point to be measured with the two Beidou antennas, measuring the distance from a known position point on any antenna or a base line to the point to be measured along the base line vector by using a laser range finder, and solving the three-dimensional coordinate of the point to be measured by using a collinearity equation. The instrument is convenient to install, and the instrument does not need to be centered, leveled, measured and the like during measurement; the satellite signal shielding of the measuring point is not afraid, and the measurement can be carried out as long as the Beidou navigation satellite signals are arranged above the instrument; the invention has free station setting, can be set at any time and can carry out surveying and mapping work without controlling the surveying; the invention has the advantages of no need of one-to-one vertical mirror for measuring points, high surveying and mapping efficiency and low labor intensity.

Description

Real-time positioning device and positioning method based on Beidou dual antenna and laser rangefinder

technical field

The invention belongs to the technical field of satellite positioning, and in particular relates to a real-time positioning device and a positioning method based on a Beidou dual antenna and a laser rangefinder.

Background technique

Currently, the closest existing technology:

In the process of digital topographic map mapping, it is necessary to accurately determine the plane position and elevation of each feature point. There are two main methods widely used in current production: one is to set up a total station on the control point to determine the coordinates of the fragmentary points through angle and distance measurement; the other is to use the Global Navigation Satellite System (Global Navigation Satellite System) , GNSS) dynamic real-time positioning (Real Time Kinematic, RTK) technology, collects GNSS observation data on feature points, and solves three-dimensional coordinates in real time.

The method based on total station angle measurement and distance measurement needs to follow the principle of "control first and then fragmentation", and it is necessary to embed control points and accurately determine the coordinates of control points. After obtaining the coordinates of the control points, the measurement of the detail points can be carried out. Due to the limited ranging range of the total station, in order to ensure good visibility between the fragmentary points and the control points, it is often necessary to increase the number of control points in complex terrain environments, which will greatly increase the control point burial, measurement and maintenance. cost. In addition, total station measurement requires high-level operations such as centering, leveling, and measuring instruments, and angle measurement needs to repeat multiple measurement rounds to complete the operation process. The upgrade increases the labor and time cost of field operations.

When using GNSS RTK for ground point positioning, the surveyor needs to locate point by point, and each point needs to be reached; when there is no satellite signal at the survey point, the survey work cannot be carried out. If the real-time positioning device based on Beidou dual antennas and laser rangefinder is used to locate the ground point, the surveyor does not need to perform point by point, but only needs to use the laser rangefinder of the instrument to measure the distance between the instrument and the measuring point, and then With the known positions of the two antennas on the instrument (the result of satellite positioning), the position of the measuring point can be obtained, which greatly improves the efficiency of the measurement work. When there is no satellite signal at the measurement point, the measurement work can still be carried out.

The RTK-based measurement method can directly obtain the coordinates of the fragmentary points, without the need for control points, and the operation is relatively simple, but it is still necessary for the surveyor to hold the rover antenna to reach each point to be measured in order to obtain the coordinates of the point, and the work efficiency is low. In many scenes, it is not easy to reach the fragmentary points, such as cliffs, dams, beaches, etc., or although the points can be reached, if there is a block above the point, if the corners of tall buildings, eaves, water surfaces, and roofs sheltered In the semi-open space, the observation conditions of GNSS signals at these points are poor, the number of visible satellites is small, or the signals are seriously interfered by multipath, which affects the positioning accuracy or cannot use RTK positioning.

The research on GNSS dual-antenna baseline measurement is currently mainly used for attitude determination, and there is no method or instrument for joint positioning of GNSS dual-antenna and laser rangefinder.

To sum up, the existing problems in the prior art are: (1) In the prior art, the traditional measurement method based on the total station needs to determine the coordinates of the point to be measured through angle measurement and distance measurement, and it is necessary to measure the height and The goals are high, the operations are more complicated, and the field labor is intensive. At the same time, the traditional measurement method based on total station also relies on the precise coordinates of the control points, and the cost of burying, measuring and maintaining the control points is high, and it is easily damaged, which makes the measurement impossible or the efficiency is greatly reduced.

(2) In the prior art, the RTK-based measurement method still requires the surveyor to hold the rover antenna to reach each point to be measured in order to obtain the coordinates of the point, and the work efficiency is low. In many scenarios, the fragmentary points are severely blocked by buildings or multi-path interference, which affects the positioning accuracy or cannot use RTK positioning.

The prior art does not combine GNSS dual antennas and laser rangefinders for positioning.

(3) The existing RTK technology mostly adopts the observation value of a single GPS system, and fails to make full use of the observation data of Beidou. The number of visible satellites in a single GPS system is small, and the geometric conditions of satellite observations are poor, which restricts the improvement of positioning accuracy and convergence speed.

The difficulty of solving the above technical problems: Based on the Beidou dual-antenna baseline measurement and the laser rangefinder to determine the coordinates of the point to be measured, on the one hand, the baseline vector of the two Beidou antennas must be accurately determined in real time, and on the other hand, the precise position of one of the antennas must be determined in real time. . The accuracy of real-time baseline measurement and real-time positioning directly affects the accuracy of the coordinates of the point to be measured and the applicable distance of the method. Therefore, Beidou real-time high-precision data processing is one of the difficulties in solving the above problems.

Another difficulty in solving the above problems is the error control of the measuring device itself. Because the basic principle of this method to determine the coordinates of the fragmentary point is that the point to be measured and the phase centers of the two Beidou antennas are collinear with three points, the installation error of the Beidou antenna and the deviation and change of the phase center of the Beidou antenna will affect the coordinate accuracy of the point to be measured, so it is necessary to The relative positions of the two Beidou antennas are accurately calibrated and calibrated, and high-precision antenna phase center deviation and antenna phase center variation correction models are used.

Significance of solving the above technical problems: Solving the above technical problems can realize real-time positioning based on Beidou dual antennas and laser rangefinders. The positioning device and positioning method are applied to the measurement of parts, which can simplify the operation process and improve the operation efficiency. Since the reference of real-time precise positioning comes from the satellite precision product or the coordinates of the reference station, it no longer depends on the coordinates of the control point. Compared with the traditional total station method, it not only reduces the cost of control measurement and control point maintenance, but also makes The measurement is more flexible and free, and the station can be set up arbitrarily in the area with good satellite observation, and the obtained fragment point results are WGS84 or CGCS2000, which provides convenience for the transformation and application of subsequent coordinate results.

Conventional precision positioning methods such as RTK and Precise Point Positioning (PPP) essentially transmit the space-time reference of the navigation satellite to the ground through pseudorange and phase observations. shape. Using this method breaks through the limitations of conventional technical ideas, and can realize the polyline transfer of the space-time reference. The space-time reference from the navigation satellite is transmitted to the positioning device along a straight line, and after being "relayed", it radiates around the station and unfolds in a plane. , so as to realize the rapid measurement of fragmentary points.

SUMMARY OF THE INVENTION

Aiming at the problems existing in the prior art, the present invention provides a real-time positioning device and positioning method based on Beidou dual antennas and a laser rangefinder. In the present invention, BeiDou: BeiDou Satellite Navigation System (BeiDou Satellite Navigation System, BDS); RTK: Real-time Kinematic (RTK).

The present invention is implemented in this way, a real-time positioning method based on Beidou dual antennas and a laser rangefinder, comprising:

Place two Beidou antennas on a crossbar to form a fixed baseline, obtain the three-dimensional coordinates of the antenna phase center in real time, and determine the direction vector of the baseline in real time;

The point to be measured is collinear with the three points of the two Beidou antennas, and the laser rangefinder is used to measure the distance from any antenna or a known position on the baseline to the point to be measured along the baseline vector, and the collinear equation is used to obtain the point to be measured. three-dimensional coordinates.

If the coordinates of Beidou antenna 1 and Beidou antenna 2 are known, and Beidou antenna 1, Beidou antenna 2, and p are on the same line, measure the distance from p to Beidou antenna 2, and derive it from the coordinates of Beidou antenna 1. Find the coordinates of point p.

Assuming Beidou antenna 1 and Beidou antenna 2, the coordinates of the two points are (x ₁ , y ₁ , z ₁ ), (x ₂ , y ₂ , z ₂ ), and the coordinates of the point to be measured p are (x, y, z) , the distance from point p to point 2 is D, then the direction vector s of the straight line where Beidou antenna 1 and Beidou antenna 2 are located is (x ₁ -x ₂ , y ₁ -y ₂ , z ₁ -z ₂ ), any on the line The coordinates (X, Y, Z) of a point satisfy

The parametric equation of the line is expressed as

The distance D from point p to point 2 of Beidou antenna is measured with a laser range finder, we have

(xx ₂ ) ² +(yy ₂ ) ² +(zz ₂ ) ² =D ²

Because point p is on the straight line determined by Beidou antenna 1 point and Beidou antenna 2 point, it satisfies

but

t ² (x ₁ -x ₂ ) ² +t ² (y ₁ -y ₂ ) ² +t ² (z ₁ -z ₂ ) ² =D ²

Simplify, get

From the parametric equation of the straight line, the coordinates of the point p are

The positive and negative signs in the formula are determined according to the relative positions of the actual midpoint p, the 1 point of the Beidou antenna, and the 2 point of the Beidou antenna.

Another object of the present invention is to provide a real-time positioning device based on Beidou dual antennas and a laser rangefinder, including:

Beidou antenna, fixed on the beam, and fixed on the tripod through the base;

Laser rangefinder, located at one end of the beam, and aiming at the point to be measured through the telescope;

Communication module for receiving enhanced information broadcast by base station radio, mobile network or satellite;

The data processing unit uses the observation data received by the two Beidou antennas and the enhanced information received by the communication module to calculate the three-dimensional coordinates of the two Beidou antennas in real time, and use the antenna coordinates and the distance output from the rangefinder to calculate the coordinates of the point to be measured;

Power supply, providing power for Beidou antenna, rangefinder, and communication module.

The beam is made of alloy material and can rotate around the horizontal and vertical axes;

The power supply adopts solar charging and external energy;

The communication module, data processing unit, and power supply are in separate mode or in a fixed box.

Another object of the present invention is to provide a satellite-based enhanced or ground-based enhanced positioning mode fragmentary point measurement system equipped with the real-time positioning device based on the Beidou dual antenna and laser rangefinder, characterized in that the satellite-based enhanced Or the ground-based enhanced positioning mode fragmentary point measurement system includes:

Beidou receiver;

The Beidou receiver is connected to the Beidou antenna.

Another object of the present invention is to provide a computer program product stored on a computer-readable medium, including a computer-readable program that, when executed on an electronic device, provides a user input interface to implement the Beidou-based dual antenna and laser Real-time positioning method of rangefinder

Another object of the present invention is to provide a computer-readable storage medium, including instructions, which, when executed on a computer, cause the computer to execute the real-time positioning method based on the Beidou dual-antenna and laser rangefinder.

In order to better prove the feasibility of this method, a simulation experiment was carried out. A series of points were selected as the points to be measured at a certain interval on a fixed leveling rod, and a total station was set up on the station with known coordinates to observe the Each point to be measured on the leveling rod and its coordinates are calculated. Two of the points are selected as the reference points, which are equivalent to the phase centers of the two Beidou antennas in the present invention, and the coordinates of the remaining points to be measured are calculated using the coordinates of the reference points and the principle of the aforementioned collinear equation. Comparing the estimated coordinates of each point with the coordinates measured by the total station, the feasibility of this method is verified, and the accuracy analysis is carried out. Tables 1-3 are three sets of simulation experimental data.

Table 1 Results of the first group of simulation experiments

Table 2 The results of the second group of simulation experiments

Table 3 The third group of simulation results

It can be seen from the simulation experiment results that the distance between the two reference points is about 20cm, and the distance between the farthest point to be measured is about 3m from the reference point, which is about 15 times the distance between the reference points. The absolute value is within 1cm.

To sum up, the advantages and positive effects of the present invention are as follows: a real-time positioning device based on Beidou dual antennas and a laser rangefinder, integrates the Beidou real-time high-precision positioning technology and laser ranging technology, and utilizes the Beidou dual antennas and the to-be-measured The geometric relationship between points and three points is collinear, which can quickly solve the three-dimensional coordinates of the point to be measured. It has the functions of Beidou satellite locator and total station, and is a new type of surveying and mapping equipment. The device does not depend on the coordinates of the control points, and can also avoid the adverse effects of factors such as signal occlusion and multi-path effects on the GNSS positioning accuracy. When carrying out the measurement, there is no need to perform centering and leveling operations on the instrument, and it is not necessary for the surveyor to reach the point to be measured, and the spatial position of the point to be measured can be calculated in real time. On the basis of basically no increase in cost, the whole set of devices has a simpler operation method, which can realize "free station setting, follow the measurement with the frame, and measure where it is pointed", which significantly improves the field measurement efficiency.

Based on the Beidou dual antenna, real-time high-precision positioning technologies such as RTK, satellite-based enhancement or ground-based enhancement can be used to determine both the absolute position of the antenna and a space vector. For some points to be measured that are not easy to reach or cannot be seen, when the positioning device is aimed at the point to be measured, the point to be measured is collinear with the two Beidou antennas. At this time, the point to be measured is measured by the laser rangefinder to one of the points to be measured. The distance of the antenna can be used to solve the absolute position of the point to be measured by using the collinear equation. Since the absolute position of the Beidou antenna can be obtained, theoretically, when measuring the three-dimensional coordinates of the point to be measured, the device does not need to be erected on a known control point, and the station can be set up arbitrarily, which brings great convenience to field surveying. . For the point to be measured that can be easily reached and the observation environment is good, the end of the positioning device can also be directly touched to the center of the mark of the point to be measured, and the coordinates of the point to be measured can be directly obtained by using the antenna position and the coordinate system of the positioning device itself, and the operation mode is more flexible. Depends on different scenarios.

Compared with traditional surveying and mapping instruments, the device has the following advantages:

The installation of the instrument is convenient, and there is no need to perform operations such as centering, leveling, and measuring the instrument during measurement. Not afraid of the satellite signal blocking of the measuring point, as long as there is Beidou and other navigation satellite signals above the instrument (station), it can be measured.

The station can be set up freely, and the survey can be carried out at any time (that is, set and measured), and the surveying and mapping work can be carried out without controlling the measurement.

The measuring points do not need to stand up mirrors one by one, and the surveying and mapping work has high efficiency and low labor intensity.

Description of drawings

FIG. 1 is a schematic diagram of a real-time positioning device based on a Beidou dual antenna and a laser rangefinder provided by an embodiment of the present invention.

In the picture: 1. Beidou antenna; 2. Laser rangefinder; 3. Communication module; 4. Data processing unit; 5. Power supply; 6. Tripod.

FIG. 2 is a structural side view (length 150cm-180cm) of a real-time positioning device based on a Beidou dual antenna and a laser rangefinder provided by an embodiment of the present invention.

FIG. 3 is a schematic diagram of connection of two Beidou antennas provided by an embodiment of the present invention.

FIG. 4 is a graph showing the variation of coordinate difference with distance (first group) provided by an embodiment of the present invention.

FIG. 5 is a graph showing the variation of coordinate difference with distance (second group) provided by an embodiment of the present invention.

FIG. 6 is a graph of the variation of the coordinate difference with the distance (the third group) provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In the prior art, the RTK-based measurement method still requires the surveyor to hold the rover antenna to reach each point to be measured in order to obtain the coordinates of the point, and the work efficiency is low. In many scenarios, the fragmentary points are seriously interfered by multipath, which affects the positioning accuracy or cannot use RTK positioning. The prior art does not combine GNSS dual antennas and laser rangefinders for positioning.

In view of the problems existing in the prior art, the present invention provides a real-time positioning device based on Beidou dual antennas and a laser rangefinder. The present invention is described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 and FIG. 2 , the real-time positioning device based on the Beidou dual antenna and the laser rangefinder provided by the embodiment of the present invention mainly consists of the following parts:

Beidou antenna 1 is fixed on a beam with a length of about 2m. The beam can be made of alloy material with a small deformation coefficient, which can meet the needs of high-precision measurement. At the same time, the beam can rotate around the horizontal and vertical axes, and can be fixed on the base 6 on a tripod.

The laser rangefinder 2 is located at one end of the beam and can be aimed at the point to be measured through the telescope.

The communication module 3 is used to receive the enhanced information broadcast by the base station radio, mobile network or satellite.

The data processing unit 4 has the function of real-time high-precision positioning of Beidou data, and can use the observation data received by the two Beidou antennas and the enhanced information received by the communication module to calculate the three-dimensional coordinates of the two Beidou antennas in real time, and can use the antenna coordinates and distance measurement. The instrument outputs the distance and calculates the coordinates of the point to be measured.

Power supply 5, provides power for Beidou antenna, rangefinder, communication module, etc., and supports solar charging and external power supply.

When designing and manufacturing instruments, it is necessary to establish an instrument coordinate system, accurately calibrate the relative positional relationship between the phase center of the rangefinder and the phase center of the Beidou antenna, and ensure that the axis of the rangefinder, the collimation axis of the telescope and the baseline determined by the two Beidou antennas are strictly collinear or provide compensation parameters. At the same time, fully consider the practicability, portability, compatibility, power consumption and cost of the instrument, and carry out industrial design to make it have strong environmental adaptability.

The communication module, the data processing unit 4 and the power supply 5 can be separated or integrated in a fixed box.

In the embodiment of the present invention, the real-time positioning method based on the Beidou dual antenna and the laser rangefinder provided by the embodiment of the present invention can realize real-time centimeter-level positioning by using the Beidou RTK or satellite-based enhancement technology. Two Beidou antennas are placed on a rigid crossbar to form a fixed baseline, so that not only the three-dimensional coordinates of the antenna phase center can be obtained in real time, but also the direction vector of the baseline can be determined in real time. For the point to be measured, as long as the point to be measured falls on the straight line where the baseline is located, that is, the point to be measured is collinear with the three points of the two Beidou antennas. At this time, use the laser rangefinder to measure any antenna or a known position on the baseline From the distance from the baseline vector to the point to be measured, the collinear equation can be used to obtain the three-dimensional coordinates of the point to be measured.

As shown in Figure 3, 1 and 2 are two Beidou antennas respectively. If the coordinates of points 1 and 2 are known, and the three points 1, 2, and p are on the same straight line, and the distance from point p to point 2 is measured, then The coordinates of point p can be derived from the coordinates of 1 point.

Let the coordinates of the two points 1 and 2 be (x ₁ , y ₁ , z ₁ ), (x ₂ , y ₂ , z ₂ ) respectively, the coordinates of the point p to be measured are (x, y, z), and the point p to The distance of point 2 is D, then the direction vector s of the line where points 1 and 2 are located is (x ₁ -x ₂ , y ₁ -y ₂ , z ₁ -z ₂ ), and the coordinates of any point on the line (X, Y, Z) Satisfy

The parametric equation of the straight line can be expressed as

The distance D from point p to point 2 can be measured with a laser rangefinder, so we have

(xx ₂ ) ² +(yy ₂ ) ² +(zz ₂ ) ² =D ²

Because point p is on the straight line determined by points 1 and 2, it also satisfies

but

t ² (x ₁ -x ₂ ) ² +t ² (y ₁ -y ₂ ) ² +t ² (z ₁ -z ₂ ) ² =D ²

Simplify, get

From the parametric equation of the straight line, the coordinates of the point p are

The positive and negative signs in the formula are determined according to the relative positions of the actual midpoint p and points 1 and 2.

In the embodiment of the present invention, the method is used to perform fragment point measurement, and the instrument can be erected in any open area. In order to ensure the measurement accuracy, it is necessary to avoid the interference of occlusion and signal reflectors. If the RTK mode is used, an antenna needs to be set up at a nearby known point as a reference station, and the communication of the radio station is ensured. The communication link is normal. After the instrument is set up firmly, turn on the Beidou receiver. After the fixed solution is output, the initialization is complete and the measurement can be started. Through the telescope, aim at the point to be measured and fix it. Press the "distance measurement" button, the laser distance meter measures the distance from the instrument to the point to be measured in a prism-free manner.

Using the coordinates of the two antennas inside the instrument and the distance from the point to be measured to the instrument measured by the rangefinder, the position of the point to be measured can be calculated by using the above formula.

The present invention will be further described below in conjunction with simulation experiments.

Figure 4-6 shows the variation of the coordinate difference with the distance in the simulation experiment results. It can be seen from the figure that the absolute value of the coordinate difference usually increases linearly with the increase of the distance between the point to be measured and the reference point. According to the collinear equation and the law of error propagation, it can be known that the coordinate accuracy of the point to be measured is related to the coordinate accuracy of the reference point and the distance between the point to be measured and the reference point. In theory, the error m in the point to be measured and the error m ₀ in the reference point have the following relationship

In the formula, d and D are the distance between the reference points and the distance between the point to be measured and the reference point, respectively. In the present invention, the distance between the reference points, that is, the distance between the phase centers of the two Beidou antennas, is designed to be 2m. Given that the Beidou RTK positioning accuracy can reach the centimeter level, there is a relationship between the operating radius, the measurement accuracy of the detail point and the satisfiable mapping scale as shown in Table 4.

Table 4. Working radius, measurement accuracy of detail points and requirements of surveying scale that can be met

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in whole or in part in the form of a computer program product, the computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server, or data center by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL), or wireless (eg, infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state drives), and the like.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (3)

1. a real-time positioning method based on Beidou dual antennas and laser range finder, is characterized in that, the described real-time positioning method based on Beidou dual antennas and laser rangefinder comprises: Place two Beidou antennas on a crossbar to form a fixed baseline, obtain the three-dimensional coordinates of the antenna phase center in real time, and determine the direction vector of the baseline in real time; The point to be measured is collinear with the three points of the two Beidou antennas, and the laser rangefinder is used to measure the distance from any antenna or a known position on the baseline to the point to be measured along the baseline vector, and the collinear equation is used to obtain the point to be measured. three-dimensional coordinates; Using the collinear equation, the method of obtaining the three-dimensional coordinates of the point to be measured includes: If the coordinates of Beidou antenna 1 and Beidou antenna 2 are known, and Beidou antenna 1, Beidou antenna 2, and p are on the same line, measure the distance from p to Beidou antenna 2, and derive it from the coordinates of Beidou antenna 1. Find the coordinates of point p; Using the collinear equation, the method of obtaining the three-dimensional coordinates of the point to be measured includes: The coordinates of Beidou antenna 1 and Beidou antenna 2 are (x ₁ , y ₁ , z ₁ ), (x ₂ , y ₂ , z ₂ ), respectively, and the coordinates of the point to be measured p are (x, y, z), The distance from point p to point 2 is D, then the direction vector s of the line where Beidou antenna 1 and Beidou antenna 2 are located is (x ₁ -x ₂ , y ₁ -y ₂ , z ₁ -z ₂ ), any point on the line The coordinates of ((X, Y, Z) satisfy

The parametric equation of the line is expressed as

The distance D from point p to point 2 of Beidou antenna is measured with a laser range finder, we have (xx ₂ ) ² +(yy ₂ ) ² +(zz ₂ ) ² =D ² Because point p is on the straight line determined by Beidou antenna 1 point and Beidou antenna 2 point, it satisfies

but t ² (x ₁ -x ₂ ) ² +t ² (y ₁ -y ₂ ) ² +t ² (z ₁ -z ₂ ) ² =D ² Simplify, get

From the parametric equation of the straight line, the coordinates of the point p are

The positive and negative signs in the formula are determined according to the relative positions of the actual midpoint p, the 1 point of the Beidou antenna, and the 2 point of the Beidou antenna; A real-time positioning device based on the Beidou dual antennas and the laser rangefinder for implementing the real-time positioning method based on the Beidou dual antennas and the laser rangefinder includes: Beidou antenna, fixed on the beam, and fixed on the tripod through the base; Laser rangefinder, located at one end of the beam, and aiming at the point to be measured through the telescope; Communication module for receiving enhanced information broadcast by base station radio, mobile network or satellite; The data processing unit uses the observation data received by the two Beidou antennas and the enhanced information received by the communication module to calculate the three-dimensional coordinates of the two Beidou antennas in real time, and use the antenna coordinates and the distance output from the rangefinder to calculate the coordinates of the point to be measured; Power supply, providing power for Beidou antenna, rangefinder, communication module; The beam is made of alloy material and can rotate around the horizontal and vertical axes; The power supply adopts solar charging and external energy; The communication module, data processing unit, and power supply are in separate mode or in a fixed box. 2. a computer program product stored on a computer-readable medium, comprising a computer-readable program, when being executed on an electronic device, a user input interface is provided to implement based on the Beidou dual antenna and laser ranging as claimed in claim 1 The real-time positioning method of the instrument. 3. A computer-readable storage medium, comprising instructions that, when executed on a computer, cause the computer to execute the real-time positioning method based on a Beidou dual antenna and a laser rangefinder as claimed in claim 1.

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