Research On Internal Processing Software For Real Estate Field Investigation

Based on the field survey of real estate,the inertial measurement method is introduced into the investigation process.Based on the field survey data of real estate survey and the characteristics of offline processing in the industry,this paper studies the internal processing algorithm of real estate field investigation and completes the software design.Aiming at the frequent failure or complete failure of GPS,the output information of the vehicle inertial measurement system in the process of the vehicle is studied from four aspects:the road surface excitation-response model,the sensor information preprocessing,the measurement system attitude calculation and the calibration of the measurement system.The following is the specific research work in this paper:(1)The road surface incentive-response model of the vehicle is established.Based on the characteristics of the field environment of the real estate field investigation system,the road surface incentive and response modeling of the vehicle are carried out.Through the comparative analysis of the white noise method and the harmonic superposition method,the road surface excitation information is obtained,and the seven degrees of freedom-Response model is established.And the sensor-output model of the vehicle inertia measurement system in the working environment is realized by the seven-degree-of-freedom vehicle road surface stimulus-response model.The accuracy of the vehicle inertial measurement system under different road conditions is analyzed by simulation.(2)The preprocessing method of sensor information and attitude calculation of measurement system is researched.The denoising effect of wavelet improved threshold denoising and wavelet default threshold denoising method is analyzed,and the improved thresholding method is introduced into lifting wavelet methods;as a result,the lifting wavelet improved threshold denoising method is proposed and it is used to gyro information preprocessing process;aiming at the vibration characteristics in the process of vehicle movement,the four-element and equivalent rotation vector attitude updating methods are compared and analyzed;the lifting wavelet improved threshold denoising method is combined with the equivalent rotation vector attitude updating method to study the attitude calculation method in internal processing,and the accuracy is verified through the simulation.(3)Research on calibration method of measurement system.Aiming at the contradiction between the accuracy of the internal calibration model and the high precision positioning of the internal vehicle inertial measurement system,the Kalman open-loop filter estimation + closed-loop correction method is carried out for the purpose of making full use of the calibration data and reducing the calibration time;the calibration method of the measurement system is designed and the internal calibration error of the vehicle inertial measurement system is estimated and compensated by 14-position calibration path;the turntable calibration experiment is carried out,and the validity of the calibration method is verified on the basis of the preconditioning of the gyro data.(4)Researches on internal processing software and key function modules.Combined with the operation flow of the industry,the functions and design flow of the internal processing software are described,and the operating environment and the writing platform of the internal processing software are determined;based on the idea of modular design,the key function modules such as sensor pretreatment module,measurement system calibration module and measurement system attitude calculation module are realized,and the software function of the internal processing software interface and the software in different measurement modes are designed.