Abstract
At the current stage, the automation level of GNSS RTK equipment is low, and manual operation leads to decreased accuracy and efficiency in setting out. To address these issues, this paper has designed an algorithm for automatic setting out that resolves the common problem of reduced accuracy in conventional RTK. First, the calculation of the laser rotation center is conducted using relevant parameters to calibrate the instrument's posture and angle. Then, by analyzing the posture information, the relative position and direction of the instrument to the point to be set out are determined, and the rotation angles in the horizontal and vertical directions are calculated. Following this, the data results are analyzed, and the obtained rotation angles are output to achieve automatic control of the instrument. Finally, a rotating laser composed of servo motors and laser modules is used to control the GNSS RTK equipment to locate the set-out point, thereby determining its position on the ground and displaying it in real-time. Compared to traditional GNSS RTK equipment, the proposed automatic setting out algorithm and the developed GNSS laser RTK equipment reduce the setting out error from 15 mm to 10.3 mm. This reduces the barrier to using GNSS RTK equipment, minimizes human influence, enhances the work efficiency of setting out measurements, and ensures high efficiency and stability under complex conditions.