ÕªÒª£º²»¶¯²ú²â»æÔÚ²»¶¯²úȨ¼®µ÷²éÖзdz£ÖØÒª£¬²»¶¯²úȨ¼®²âÁ¿¹¤×÷µÄÖÊÁ¿Ö±½ÓÓ°Ïìµ½²»¶¯²úµÇ¼Çµ÷²é¹¤×÷µÄÖÊÁ¿¡£²»¶¯²ú²â»æµÄÇøÓò·¶Î§¹ã¡¢²â»æ½á¹û¾ßÓÐȨÍþÐÔ£¬Òò´Ë¶Ô²»¶¯²ú²â»æÌá³ö½Ï¸ßÒªÇó¡£È«Õ¾ÒÇÊDz»¶¯²ú²â»æÓ¦ÓÃ×î¹ã·ºµÄ¼¼Êõ£¬GPS-RTK¡¢Èýά¼¤¹âɨÃè²âÁ¿¡¢ÎÞÈË»úÇãбÉãÓ°²âÁ¿ÔÚ²»¶¯²ú²â»æµÄÓ¦ÓÃÇ°¾°¹ãÀ«¡£

¹Ø¼ü´Ê£º²»¶¯²ú²â»æ;²â»æ¼¼Êõ;ÎÞÈË»úÇãбÉãÓ°;È«Õ¾ÒÇ

²»¶¯²ú²â»æʹÓòâ»æ¼¼Êõ²âÁ¿ºÍ·ÖÎö·¿µØ²úµÄËù´¦µÄ·½Î»¡¢½¨Éè·¿ÎݵÄÃæ»ýµÈ¶àÖÖÐÅÏ¢£¬Í¨¹ýÄÚÒµ×÷Òµ¶Ô²âÁ¿³öÀ´µÄÊý¾Ý½øÐÐ×Ü·ÖÎö¡£²»¶¯²ú²â»æ½á¹û²»µ¥µ¥Ö»ÄܸøÎÝÖ÷Ìṩһ¸ö±£ÕÏ£¬¶øÇÒ£¬Ëü»¹ÄܸøÓйز¿ÃŵÄÊÂÒµ¹ÜÀí´øÀ´ºÜ´ó°ïÖú[1]¡£

Ò»¡¢²»¶¯²ú²â»æÌصã

µÚÒ»£¬²»¶¯²ú²â»æ½á¹û¾ßÓÐȨÍþÐÔ¡£²»¶¯²ú²â»æÑϸñ°´ÕÕ·¨ÂÉ·¨¹æÖ´ÐУ¬²â»æʱÓÉרҵ²â»æÈËÔ±Ñϸñ°´Õչ淶Îļþ¼°²âÁ¿ÒÇÆ÷À´¿ªÕ¹²âÁ¿×÷Òµ£¬²â»æµÄ×îÖÕ½á¹ûÐγÉԭʼµµ°¸Îļþ¡£²»¶¯²ú²â»æ¹¤×÷¿ªÕ¹Ö®Ç°Òª¾­¹ýÉóÅú£¬²â»æ¹¤×÷Öв»ÄÜ×ÔÐÐÐ޸IJâ»æÊý¾Ý£¬²»ÄÜÈÎÒâ¹ÀË㣬²â»æ½á¹û¾­¹ýÉóÅúºó¾Í¾ßÓз¨ÂÉЧ¹û£¬¿ÉÓ¦ÓÃÓÚ²»¶¯²úµÄתÈᢱä¸ü¼°³öÊ۵ȣ¬Òò´ËÆä¾ßÓÐȨÍþÐÔ¡£

µÚ¶þ£¬²»¶¯²ú²â»æµÄÇøÓò½Ï¹ã¡£µØÐβâÁ¿µÄ¶ÔÏóÊǾßÌåµÄµØÐΣ¬²»¶¯²ú²â»æÔòÊǶÔÒ»¸öÇøÓò¡¢³ÇÊнøÐеIJâ»æ£¬²»¶¯²ú²â»æÐèÒª¼Ç¼²»¶¯²úµÄÊýÁ¿¡¢Ï໥λÖá¢È¨Êô¹Øϵ¼°ÓÃ;µÈ£¬Òò´Ë²»¶¯²ú²â»æµÄ±ÈÀýͨ³£½Ï´ó£¬ÒªÇóÇåÎú¼Ç¼¡¢±êעÿ¸öͼ±êϸ½Ú£¬³ä·ÖÀûÓÿռ䡣

¶þ¡¢²»¶¯²ú²â»æ¼¼Êõ

1.È«Õ¾ÒÇ

È«Õ¾ÒÇÊDz»¶¯²ú²â»æÖзdz£³£¼ûµÄÍâÒµÊý¾ÝµÄ²É¼¯·½·¨£¬È«Õ¾ÒDzâÁ¿µÄÓÅÊÆÔÚÓÚÍâÒµ×÷ÒµÁ÷³Ì¼òµ¥¡¢ÒÇÆ÷ÈÝÒײÙ×÷µÈ£¬¾¡¹Üµ±Ç°¸÷ÖÖм¼Êõ²»¶ÏÓ¦ÓÃÓÚ²»¶¯²ú²â»æÖУ¬µ«È«Õ¾ÒÇÈÔÈ»ÔÚ²»¶¯²ú²â»æÖÐÓ¦Óù㷺¡£È«Õ¾ÒÇ×÷ҵʱ×öºÃ×¼±¸¹¤×÷£¬°²ÖÃÒÇÆ÷²¢½øÐе÷Õû£¬²É¼¯Êý¾Ý£¬×ª»»²¢µ¼ÈëÊý¾Ý£¬Ö®ºó»æÖƵؼ®Í¼¼´¿É¡£

ÒÔÅ©´å²»¶¯²ú¼®²âÁ¿ÎªÀý£¬È«Õ¾ÒÇÖ÷ÒªÊÇÓ¦ÓÃÓÚ·¿ÎݲâÁ¿¡¢½çÖ·²âÁ¿¡¢Í¼¸ù¿ØÖƲâÁ¿µÈ£¬È«Õ¾ÒÇ¿ÉÒÔÌṩ»ù´¡Êý¾ÝÖ§³Ö²»¶¯²úȨ¼®µ÷²é¹¤×÷µÄ¿ªÕ¹¡£È«Õ¾ÒǵÄÓÅÊÆÔÚÓÚ£º¢Ù²âÁ¿·½·¨¶à£ºÈ«Õ¾ÒÇ¿ÉÒÔͨ¹ý½»»á·¨¡¢·½ÏòÏßÖ§¾à·¨¡¢Æ½ÐÐÏß·¨¡¢¼«×ø±ê·¨µÈ»ñµÃ½çÖ·µã×ø±ê¡£¢Ú¿É??ÏÖÍâÒµÄÚÒµÒ»Ì廯×÷Òµ£¬¾«¶È¸ß£ºÓëË®×¼ÒÇ¡¢¾­Î³ÒÇÏà±È£¬È«Õ¾ÒǵÄÊý¾Ý²É¼¯¾«¶È¸ü¸ß£¬ÇҲɼ¯Ëٶȸü¿ì;ͨ¹ýÈ«Õ¾ÒÇ¿ÉʵÏÖÍâÒµÓëÄÚÒµµÄͬ²½½øÐУ¬¿ÉÒÔÏÖ³¡µ¼³öÊý¾Ý¼ìÑ龫¶È¡£¢ÛЯ´ø·½±ã¡¢³É±¾µÍ£ºÈ«Õ¾ÒǵÄÖØÁ¿Çá¡¢Ìå»ýС£¬ÈÝÒ×Я´ø£¬ÆäÈíÓ²¼þ¼Û¸ñ¾ù½ÏµÍ£¬Ó¦ÓÃÓÚÒ°Íâ×÷ÒµºÜ·½±ãЯ´ø£¬·çÏÕС¡£¢ÜÈÝÒײÙ×÷£ºÈ«Õ¾ÒÇÒÇÆ÷ÈÝÒײÙ×÷£¬×÷ÒµÁ÷³Ì¼òµ¥£¬¶Ô²âÁ¿ÈËÔ±µÄ²Ù×÷ÄÜÁ¦ÒªÇó½Ï¸ß[2]¡£

È«Õ¾ÒDzâ»æµÄȱÏÝÖ÷Òª°üÀ¨£º¢ÙÎó²îÈÝÒ×»ýÀÛ£ºÈ«Õ¾Òǹ۲âÒªÇóÁ½µãͨÊÓ£¬²âÁ¿Ê±Ê±³£ÐèÒª¶à´ÎǨվ£¬µ«ÊÇǨվ´ÎÊýÔ½¶à¾ÍÔ½ÈÝÒ×»ýÀÛÎó²î¡¢Îó²îÔ½´ó¡£¢ÚÈÝÒ×Êܵ½»·¾³Ó°Ï죺ȫվÒÇÒªÇóÁ½µãͨÊÓ£¬¹Û²âʱÍûÔ¶¾µ½ÓÊÕÀâ¾µ·´ÉäµÄ¹â²ÅÄܼǼ£¬µ«ÊÇÅ©´å¹Û²âʱÈÝÒ×Êܵ½Õ¬»ùµØ¡¢Ê÷ľµÈµÄÕÚµ²¶øÔö¼Ó¹¤×÷Ç¿¶È¡¢¼Ó´óÄѶÈ;È«Õ¾ÒDz»ÄܶԵãλÊý¾Ý½øÐмǼ;ÌìÆø±ä»¯»á¶ÔÈ«Õ¾ÒDzâ»æ´øÀ´Ó°Ï죬´ó·ç¡¢ÏÂÓê¡¢ÏÂÑ©µÈ¶¼»áÔì³ÉÊý¾Ý²É¼¯²»ÄÜÕý³£¿ªÕ¹¡£¢Û¹¤×÷ЧÂʲ»¸ß£ºÒÔ¼«×ø±ê·¨²É¼¯Ò°ÍâÊý¾ÝΪÀý£¬È«Õ¾ÒÇÒªÇóÁ½ÈËÒ»×é²Ù×÷£¬ÆäÖÐÒ»ÈËÁ¢Àâ¾µ£¬ÁíÍâÒ»È˹۲⡢¼Ç¼£¬²»¶¯²ú²â»æµÄ·¶Î§´ó£¬·ÖÉ¢¿ØÖƵãÊýÁ¿¶à£¬²âÁ¿ÒªËض࣬²âÁ¿Ê±¼ä½ôÆÈ£¬ÎªÁË°´Ê±Íê³ÉÈÎÎñÐèҪͶÈë½Ï¶àÈËÁ¦¡£

2.GPS-RTK²âÁ¿

GPS-RTK¿ÉÒÔʵÏÖÈ«Ììºò¡¢¸ßËٶȡ¢¸ß¾«¶È²âÁ¿£¬½«GPS-RTKÓ¦ÓÃÓÚ²»¶¯²úȨ¼®²âÁ¿µÄÓÅÊÆÃ÷ÏÔ¡£GPS-RTKµÄÓÅÊÆ°üÀ¨£º¢Ù¾«¶È¾ùÔÈ£¬²»»ýÀÛÎó²î£ºGPS-RTK²âÁ¿µÄ¾«¶È±È½Ï¾ùÔÈ£¬¾¡¹ÜÓëÈ«Õ¾ÒDzâÁ¿½á¹ûµÄ¾«¶ÈÏà±ÈÉԵͣ¬µ«×ãÒÔÂú×ã²â»æ¶Ô¾«¶ÈµÄÒªÇ󣬲»»á³öÏÖÎó²î»ýÀÛ¡£¢Ú×÷ÒµÁé»î£ºGPS-RTK²âÁ¿ÍâÒµ×÷Òµ¼òµ¥£¬¼¼ÊõÄѶȵͣ¬ÒÇÆ÷ÈÝÒײÙ×÷£¬Ö»ÒªÄÜÕý³£½ÓÊÕÎÀÐÇÐźż´¿É£¬²»ÊÜͨÊÓÒªÇóµÄÏÞÖÆ;Âú×ãÎÀÐǽØÖ¹¸ß¶È½Ç×îµÍ·¶Î§¾Í²»Êܵ½Õ¬»ùµØΧǽÕÚµ²µÄÓ°Ïì;GPS-RTK¿ÉʵÏÖÈ«Ììºò¹Û²â£¬²»ÊÜʱ¼ä¡¢ÌìÆøµÄÓ°Ïì¡£¢Û¿ÉʵÏÖ×Ô¶¯»¯×÷Òµ£ºGPS-RTK¿ÉÓ¦ÓÃÓÚ½çÖ··¿ÎݲâÁ¿¡¢Í¼¸ù¿ØÖƲâÁ¿¡¢Ê×¼¶¿ØÖƲâÁ¿£¬»ù±¾ÎÞÐèÈËΪ¸ÉÉæ×ø±ê¼ÆË㣬¿ÉÒÔ±ÜÃâÈËΪÒýÆðµÄÎó²î;ÒÇÆ÷¸ß¶È¼¯³É£¬¿É×Ô¶¯²É¼¯Êý¾Ý£¬ÈÝÒײÙ×÷¡£¢Ü¹¤×÷ЧÂʸߣºÓëÈ«Õ¾ÒÇÏà±È£¬GPS-RTK²âÁ¿µÄ×÷ҵЧÂʸü¸ß£¬ÉèÖÃÒ»´ÎRTK»ù×¼Õ¾¼´¿ÉʵÏֶ԰뾶5km·¶Î§µÄÒªËزâÁ¿£¬Ò»È˲Ù×÷¼´¿ÉÍê³É£¬ÎÞÐè¶à´Î°áÕ¾¡¢Ç°ºóÊÓ¶¨Ïò;ÄÜÔÚ¶Ìʱ¼äÄÚ»ñµÃ¶à¸ö½çÖ·µã×ø±ê£¬¹¤×÷ЧÂʸü¸ß[3]¡£

GPS-RTK²âÁ¿µÄȱÏÝÔÚÓÚ£º¢ÙÄÚÒµ¸´ÔÓ£ºÓëÈ«Õ¾ÒÇÏà±È£¬GPS-RTKÄÚÒµÊý¾Ý±È½Ï¸´ÔÓ£¬½ÓÊÕ»úËù²É¼¯µÄµãλ×ø±êÐèÒª½øÐжàÖÖÊý¾Ý´¦Àí£¬×÷ÒµÁ÷³Ì¸´ÔÓ;¢ÚÈÝÒ×Êܵ½¸ÉÈÅ£ºÎÀÐÇÐźÅÇ¿¶ÈÖ±½ÓÓ°ÏìGPS-RTK²âÁ¿£¬µ±Êܵ½Ç¿ÄÜÁ¿ÔëÒôÔ´¡¢µçÊÓ·¢ÉäËþ¡¢¸ßѹÊäµçÏߵȸÉÈÅʱ²»ÄÜÕý³£²âÁ¿¡£¢Û¶ÔÉ豸ͶÈëÊýÁ¿½Ï¶à£ºÊ×¼¶¿ØÖƲâÁ¿ÐèÒª´óÁ¿É豸ͶÈ룬ΪÁ˸߾«¶È²âÁ¿ÐèÒª½Ï³¤Ê±¼ä¡£

3.Èýά¼¤¹âɨÃè²âÁ¿

Èýά¼¤¹âɨÃè²âÁ¿Ó¦ÓÃÓÚ²»¶¯²ú²â»æÄܼõÉÙ¶ÔÈËÁ¦¼°ÎïÁ¦µÄÐèÇó£¬Êý¾Ý¾«¶È¸ß£¬ÄÜÃ÷ÏÔÌá¸ß¹¤×÷ЧÂÊ¡£

Èýά¼¤¹âÃè²âÁ¿µÄÓÅÊÆ°üÀ¨£º¢Ù¶à½Ç¶È²É¼¯Êý¾Ý£ºÈýά¼¤¹âɨÃè²âÁ¿¿É¿ìËÙɨÃè´¹Ö±90¡ã-270¡ã£¬Ë®Æ½350¡ã·¶Î§£¬Ëù¼û¼´ËùµÃ£¬ÎÞËÀ½Ç£¬ÄÜÈ·±£µãÔÆÊý¾ÝÍêÕû¡£¢Ú¶¨Î»·½Ê½¶à£¬¾«¶È¸ß£ºÈýά¼¤¹âɨÃèÁ½´Î²âÁ¿ÏµÍ³ÄÚÖÃIMU¹ßÐÔµ¼º½ÏµÍ³¡¢GNSSÌìÏߣ¬¿ÉÖ§³Ö±±¶·¡¢Galileo¡¢GLONASS¡¢GPSµÈÎÀÐÇÐźţ¬Ö§³Ö±±¶·ÐźŽâË㣬µãÔÆÊý¾Ý¾«¶È¸ß;ͨ¹ýSLAM¼¼Êõ¿ÉÒÔÔÚûÓÐGPSÐźÅÖ§³ÖµÄÌõ¼þÏÂÍê³É²âÁ¿£¬¸Ã¼¼Êõ½áºÏÒƶ¯²âÁ¿¿ÉʵÏÖ¶àÖÖ¶ñÁÓ»·¾³ÏµÄÊý¾Ý²É¼¯¡£¢Û×÷ҵЧÂʸߣºÈýά¼¤¹âɨÃè²âÁ¿¿ÉÔÚÊýÃëÄÚÍê³ÉÉÏÍò¸öµãµÄ²É¼¯£¬Í¨¹ý´¦ÀíÈí¼þѸËÙ½¨Ä££¬ÄÜÔÚ¶Ìʱ¼äÄÚÍê³É²âÁ¿ÈÎÎñ£¬ÄÜÃ÷ÏÔÌá¸ß×÷ҵЧÂÊ¡£

Èýά¼¤¹âɨÃè²âÁ¿µÄȱÏÝÖ÷ÒªÓУº¢ÙÊý¾Ý½Ï¶à£¬¶ÔÉ豸Ìá³ö½Ï¸ßÒªÇ󣺻ñÈ¡µØ±íµãÔÆÊý¾ÝµÄͬʱͨ¹ýÏà»ú²É¼¯ÎÆÀíÓ°Ïñ£¬¼¤¹âÍ·²É¼¯µãÔÆÊý¾Ý¶à¡¢ÕÕƬÏñËظߣ¬ÕâЩ¶¼´øÀ´ºÜ¶àÊý¾Ý£¬Ôö¼ÓÁ˶ÔÅäÖõÄÒªÇó¡£ÏµÍ³µÄÊý¾ÝÖ»ÄÜÓÉרҵÈí¼þ´¦Àí£¬¶ÔÉ豸ÅäÖÃÒªÇó¸ß¡£¢Ú×÷ÒµÄѶȽϸߣºÈýά¼¤¹âɨÃè²âÁ¿Ï¸½Ú½Ï¶à£¬Á÷³Ì±È½Ï·±Ëö£¬×÷ÒµÈËÔ±ÐèҪעÒâɨÃèÒÇɨÃ跶Χ£¬Èں϶¨Î»·½·¨£¬²»½öÒª·ÖÎöGPSÐźÅÇ¿¶È£¬»¹Òª¹ØעɨÃ踲¸ÇÃæ»ý¡¢É¨ÃèÓÐЧ¾àÀëµÈ¶àÖÖϸ½Ú¡£¢ÛÉ豸¼Û¸ñ½Ï¸ß£ºÈýά¼¤¹âɨÃèϵͳµÄÈí¼þ¡¢Ó²¼þ¼Û¸ñ¶¼½Ï¸ß£¬³É±¾Í¶Èë½Ï¶à¡£

4.ÎÞÈË»úÇãбÉãÓ°²âÁ¿

ÎÞÈË»úÇãбÉãÓ°²âÁ¿ÄÜÌṩ·á¸»µØÀíÐÅÏ¢£¬Æä³É±¾µÍÁ®£¬ÔÚ²»¶¯²ú²â»æÖÐÓ¦ÓÃÇ°¾°¹ãÀ«¡£ÎÞÈË»ú²â»æ¿É´ÓÇ°ºó×óÓÒ´¹Ö±µÈ¶à¸ö½Ç¶È²É¼¯Êý¾Ý£¬Æä²É¼¯Ð§Âʸߣ¬¾«¶È¸ß£¬³É±¾µÍ£¬¿ÉʵÏÖ×Ô¶¯»¯²Ù×÷£¬Êý¾Ý³É¹û¾ßÓнϸßÓ¦ÓüÛÖµ¡£ÎÞÈË»úÇãбÉãÓ°²âÁ¿µÄȱÏÝÖ÷ÒªÓУºÊý¾Ý¹²ÏíÄѶȴó¡¢ÈíÓ²¼þÉ豸¾ÖÏÞÐÔ´ó¡¢µ±Ç°»¹È±·¦Í³Ò»µÄ¹æ·¶±ê×¼¡£

½áÊøÓï

²â»æ¹¤×÷¿ÉÒÔÈ¡µÃºÍ²»¶¯²úÏà¹ØµÄÊý¾Ý£¬ÓÐЧ±£Ö¤²úȨÈ˵ÄȨÒæ¡£Òò´Ë£¬ÔÚʵ¼Ê¹¤×÷µÄ¹ý³ÌÖУ¬ÓбØÒª°ÑÎÕ²»¶¯²ú²â»æ¹¤×÷µÄÌص㣬²¢ÇÒ²ÉÈ¡¿ÆѧºÏÀíµÄ¼¼Êõ£¬ÌáÉý¹¤×÷ˮƽ£¬²»¶ÏÌá¸ß²â»æˮƽ£¬Ìá¸ß¹¤×÷ЧÂÊ¡£

²Î¿¼ÎÄÏ×

[1]ÎâÇÇÉú£¬Çñΰƽ£¬Áõ»ª¶«.dz̸²»¶¯²ú²â»æ×÷ÒµÔ±¾ºÈüÖеļ¼ÊõÒªµã[J].²â»æÓë¿Õ¼äµØÀíÐÅÏ¢£¬2021£¬44£¨3£©£º219-220£¬224.

[2]ÁõÏþÑ࣬ÀîÓýƽ£¬Îâ½ð³Ç.»ùÓÚº½²â¡¢Ò£¸ÐÓ°ÏñµÄ´ó±ÈÀý³ßµØÐÎͼ×ۺϸüз½·¨[J].²â»æÓë¿Õ¼äµØÀíÐÅÏ¢£¬2021£¬44£¨3£©£º201-203.

[3]ÌïÁ¦.Ñо¿ÇãбÉãÓ°²âÁ¿¼¼ÊõÔÚ²»¶¯²ú²â»æÖеÄÓ¦ÓÃ[J].ÖйúÕ½ÂÔÐÂÐ˲úÒµ£¬2021£¨4£©£º64-65.