CN105093246A - Telemetering and positioning method for dead angles and non-contact points - Google Patents

Abstract

The invention discloses a telemetering and positioning method for dead angles and non-contact points. The method belongs to the technical field of GPS. The method is carried out through the following steps: choosing orderly reference points around a dead angle and determining two straight lines that converge at a dead angle point; transforming the GPS coordinates of the referred points on the two straight lines into plane coordinates and determining the expressions of the two straight lines on a plane coordinate system; using the expressions to determine the plane coordinate of the dead angle point; transforming the plane coordinate of the dead angel point into a GPS coordinate. According to the invention, the positioning precision of GPS is increased and the problem is resolved that during GPS positioning, the dead angle point is low in positioning precision and a non-contact point is impossible to be positioned.

Description

Be applicable to the Telemetry position method of dead angle and noncontact point

Technical field

The invention discloses the Telemetry position method being applicable to dead angle and noncontact point, belong to the technical field of GPS location.

Background technology

Along with the fast development of global position system GPS (GlobalPositioningSystem), user can realize round-the-clock, continuous, real-time three-dimensional navigation location in the world and test the speed.In actual use, gps antenna in the process of receiving satellite signal, observe 4 satellites or above time just can carry out three-dimensional localization, the coordinate calculating user positions.In the environment that high building or set greatly blocks, gps antenna Received signal strength can be affected, and directly has influence on the positioning precision of GPS.But in the place that many use GPS position, measurement is positioned in the environment of frequent needs under trees, by building or under bridge, under this environment, satellite-signal is blocked, affect GPS positioning precision, cause the inaccurate of measurement, also often can run into point to be measured is noncontact point simultaneously, and traditional positioning acquisition mode cannot be implemented, and has a strong impact on the efficiency of positioning acquisition work.

In view of this, for the deficiencies in the prior art, this area needs a kind of Telemetry position method being applicable to dead angle and noncontact point badly, and can take remote measurement from piece region of near collected anchor point collecting work.

Summary of the invention

Technical matters to be solved by this invention is the deficiency for above-mentioned background technology, provide the Telemetry position method being applicable to dead angle and noncontact point, improve the efficiency of GPS positioning acquisition work, solve the technical matters that the low and noncontact point of the positioning precision of dead angle point in GPS position fixing process cannot position collecting work.

The present invention adopts following technical scheme for achieving the above object:

Be applicable to the Telemetry position method of dead angle and noncontact point,

Two straight lines that orderly reference point determines to intersect at dead angle point are chosen in the some near zone of dead angle;

After the reference point GPS elements of a fix are converted to planimetric coordinates on two straight lines, determine the expression formula of two straight lines in plane coordinate system, then are determined the planimetric coordinates of dead angle point by expression formula;

Angle point two-dimensional assemblage of checkmating is the GPS elements of a fix.

Further, described in be applicable to the Telemetry position method of dead angle and noncontact point, adopt Gauss Kru&4&ger projection's method that the reference point GPS elements of a fix on two straight lines are converted to planimetric coordinates.

Further, described in be applicable to the Telemetry position method of dead angle and noncontact point, determine that the planimetric coordinates method of dead angle point is that simultaneous two straight line expression formula asks public solution by expression formula.

Further, described in be applicable to the Telemetry position method of dead angle and noncontact point, adopt WGS84 geographic coordinate conversion method angle point two-dimensional assemblage of checkmating to be the GPS elements of a fix.

As the described further prioritization scheme being applicable to the Telemetry position method of dead angle and noncontact point, realize by building positioning system,

Described positioning system comprises: GPS clamp module, data processing module, data analysis module, on two straight lines that GPS clamp module obtains by described data processing module, the elements of a fix data of reference point are transferred to data analysis module, and data analysis module carries out data conversion and Data Analysis to determine the elements of a fix of dead angle point to the reference point elements of a fix.

Further, described in be applicable in the Telemetry position method of dead angle and noncontact point, data analysis module comprises: Gauss Kru&4&ger projection's module, data resolution module and WGS84 coordinate transferring, wherein,

Described Gauss-Ke Lvge module exports to data resolution module after receive two straight-line reference point GPS elements of a fix are converted to planimetric coordinates, after described data resolution module determines the expression formula of two straight lines in plane coordinate system by the planimetric coordinates of two straight-line reference points, simultaneous expression formula solves dead angle point planimetric coordinates, and the dead angle point planimetric coordinates that data resolution module exports by described WGS84 coordinate transferring is converted into the GPS elements of a fix.

Further, described in be applicable in the Telemetry position method of dead angle and noncontact point, positioning system also comprises the application software module being connected with data analysis module output terminal and being presented at for the angle point GPS elements of a fix of checkmating on map.

The present invention adopts technique scheme, has following beneficial effect:

The invention provides a kind of Telemetry position method being applicable to dead angle and noncontact point, the efficiency of GPS positioning acquisition can be improved, improve the GPS positioning precision of dead angle point low and can effectively carry out noncontact point cannot positioning acquisition.

Accompanying drawing explanation

Fig. 1 is the positioning system realizing being applicable to dead angle and noncontact point Telemetry position method.

Fig. 2 is the schematic diagram being applicable to dead angle and noncontact point Telemetry position method.

Fig. 3 is the schematic diagram of Gauss Kru&4&ger projection.

Fig. 4 is the process flow diagram being applicable to dead angle and noncontact point Telemetry position method.

Embodiment

Be described in detail below in conjunction with the technical scheme of accompanying drawing to invention.

Realization is applicable to the positioning system of dead angle and noncontact point Telemetry position method as shown in Figure 1, comprise GPS clamp module, data processing module, data analysis module, application software module, data analysis module comprises: Gauss Kru&4&ger projection's module, data resolution module and WGS84 coordinate transferring.GPS board card module is for receiving the positioning signal of gps satellite; Data processing module receives the location data information of GPS module; Gauss Kru&4&ger projection is used for being converted to planimetric coordinates with reference to a latitude and longitude coordinates, and Gauss Kru&4&ger projection's principle as shown in Figure 3; Data Analysis is according to the expression formula of two straight lines in reference point planimetric coordinates determination reference point place in plane coordinate system, and utilize straight-line intersection solution formula, determine the common intersection of these two straight lines, this common intersection is the planimetric coordinates of dead angle point; The checkmate two-dimensional assemblage of angle point of WGS84 coordinate conversion is latitude and longitude coordinates, i.e. the geographic information data that can resolve of upper application software; The checkmate latitude and longitude coordinates of angle point of application software module is presented on map.

Be applicable to dead angle and noncontact point Telemetry position method, as shown in Figure 4, comprise the steps:

Step 1, judges that the geographical environment of current tested point is whether normal and whether gps signal is strong, if the geographical environment of current tested point is normal and gps signal is strong, then carry out step 7; If the geographical environment of current tested point is severe or gps signal is faint, then carry out step 2.

Step 2, enters the Telemetry position pattern of dead angle and noncontact point;

Step 3, is chosen relatively good and 4 points that gps signal is strong of geographical environment as location reference point A, B, C, D, and is obtained the GPS longitude and latitude A (B of this auxiliary positioning point by high-precision GPS locating module near tested point _a, L _a), B (B _b, L _b), C (B _c, L _c), D (B _d, L _d), and determine two straight line Line1 and Line2 thus;

Step 4, according to Seven-parameter and WGS84 ellipsoidal parameter, setting central meridian, scale factor, the latitude and longitude coordinates of A, B, C, D tetra-points be greatly planimetric coordinates A (x by utm projection by north orientation east orientation side-play amount _a, y _a), B (x _b, y _b), C (x _c, y _c), D (x _d, y _d) utilize equation as follows to convert:

$x=X_0+\frac{1}{2}{{\mathrm{Ntm}}_0}^2+\frac{1}{24}(5-t^2+9{\mathrm{\η}}^2+4{\mathrm{\η}}^4){{\mathrm{Ntm}}_0}^4+\frac{1}{720}(61-58t^2+t^4){{\mathrm{Ntm}}_0}^6$

$y={\mathrm{Nm}}_0+\frac{1}{6}(1-t^2+{\mathrm{\η}}^2){{\mathrm{Nm}}_0}^2+\frac{1}{120}(5-18t^2+t^4-14{\mathrm{\η}}^2-58{\mathrm{\η}}^2{t}^2){{\mathrm{Nm}}_0}^6$

$X_0=C_0\stackrel{\‾}{B}+\cos B(C_1\sin B+C_2{\sin }^{2}B+C_3{\sin }^{5}B),$ According to major semi-axis a, first eccentric ratio e of ellipsoid, determine the constant of above formula, reset L ₀for median longitudinal line, then make l=L-L ₀, t=tanB, m ₀=lcosB, ${\mathrm{\η}}^2=\frac{e^2}{1-e^2}{\cos }^{2}B,N=a/\sqrt{1-e^2{\sin }^{2}B},$ Longitude and latitude (B, L) is transformed to planimetric coordinates (x, y) thus;

Step 5, as shown in Figure 2, on WGS84 the earth planimetric coordinates, resolve to obtain the planimetric coordinates of dead angle point:

If the expression formula of Line1 straight line is y ₁the expression formula of=ax+b, Line2 straight line is y ₂=cx+d,

Upper 2 M, N coordinates of known straight line y=mx+n, note M, N point coordinate is M (x ₁, y ₁), N (x ₂, y ₂), by M, N two point coordinate substitute in straight line, as follows:

$\left\{\begin{array}{c}{y}_1=m{x}_1+n\\ y_2=m{x}_2+n\end{array}\right.$

M=(y is obtained through abbreviation ₁-y ₂)/(x ₁-x ₂), n=(x ₁y ₂-x ₂y ₁)/(x ₁-x ₂),

According to the above-mentioned parameter a that can be calculated in Line1 and Line2, b, c, d, obtain x=(d-b)/(a-c) through matrixing, y=(ad-ac)/(a-c);

Step 6, utilizes the inverse transformation of utm projection, and the two-dimensional assemblage of angle point of checkmating is the latitude and longitude coordinates E (B, L) that GPS longitude and latitude obtains dead angle to be measured point;

$B=B_f-\frac{1}{2}{V_f}^2{t}_f{\left(\frac{y}{N_f}\right)}^2+\frac{1}{24}(5+3{t_f}^2+{{\mathrm{\η}}_f}^2-9{{\mathrm{\η}}_f}^4)V_f^2{t}_f{\left(\frac{y}{N_f}\right)}^4-\frac{1}{720}(61+90{t_f}^{2}45{{\mathrm{\η}}_f}^4)V_f^2{t}_f{\left(\frac{y}{N_f}\right)}^4$

$1=\frac{1}{{\mathrm{cosB}}_f}\left(\frac{y}{N_f}\right)-\frac{1}{6}(1+2{t_f}^2+{{\mathrm{\η}}_f}^2)\left(\frac{1}{{\mathrm{cosB}}_f}\right){\left(\frac{y}{N_f}\right)}^2+\frac{1}{120}(5+28{t_f}^2+24{t_f}^2+6{{\mathrm{\η}}_f}^2+8{t_f}^2{{\mathrm{\η}}_f}^2)\left(\frac{1}{{\mathrm{cosB}}_f}\right){\left(\frac{y}{N_f}\right)}^2$

L=l+L ₀, wherein, B _frepresent place latitude, the latitude value corresponding to the meridian of namely starting at using X as equator,

And carry out step 8;

Step 7, by step 1, the geographical environment of current tested point is normal and gps signal is strong, directly utilizes high-precision GPS module, obtains the GPS latitude and longitude coordinates of tested point;

Step 8, is recorded to the GPS longitude and latitude of tested point in Embedded GIS acquisition system, and carries out follow-up data processing.

The invention provides a kind of Telemetry position method being applicable to dead angle and noncontact point, the method can realize the hi-Fix of the dead angle point caused due to specific reasons in GPS location, not only greatly improve the efficiency of location, and substantially increase positioning precision.

Claims (7)

1. be applicable to the Telemetry position method of dead angle and noncontact point, it is characterized in that: in the some near zone of dead angle, choose two straight lines that orderly reference point determines to intersect at dead angle point;

After the reference point GPS elements of a fix are converted to planimetric coordinates on two straight lines, determine the expression formula of two straight lines in plane coordinate system, then are determined the planimetric coordinates of dead angle point by expression formula;

Angle point two-dimensional assemblage of checkmating is the GPS elements of a fix.

2. the Telemetry position method being applicable to dead angle and noncontact point according to claim 1, is characterized in that: adopt Gauss Kru&4&ger projection's method that the reference point GPS elements of a fix on two straight lines are converted to planimetric coordinates.

3. the Telemetry position method being applicable to dead angle and noncontact point according to claim 1, is characterized in that: determine that the planimetric coordinates method of dead angle point is that simultaneous two straight line expression formula asks public solution by expression formula.

4. the Telemetry position method being applicable to dead angle and noncontact point according to claim 1, is characterized in that: adopt WGS84 geographic coordinate conversion method angle point two-dimensional assemblage of checkmating to be the GPS elements of a fix.

5. the Telemetry position method being applicable to dead angle and noncontact point as claimed in any of claims 1 to 4, is characterized in that: realize by building positioning system,

Described positioning system comprises: GPS clamp module, data processing module, data analysis module, on two straight lines that GPS clamp module obtains by described data processing module, the elements of a fix data of reference point are transferred to data analysis module, and data analysis module carries out data conversion and Data Analysis to determine the elements of a fix of dead angle point to the reference point elements of a fix.

6. the Telemetry position method being applicable to dead angle and noncontact point according to claim 5, it is characterized in that, described data analysis module comprises: Gauss Kru&4&ger projection's module, data resolution module and WGS84 coordinate transferring, wherein,

Described Gauss-Ke Lvge module exports to data resolution module after receive two straight-line reference point GPS elements of a fix are converted to planimetric coordinates, after described data resolution module determines the expression formula of two straight lines in plane coordinate system by the planimetric coordinates of two straight-line reference points, simultaneous expression formula solves dead angle point planimetric coordinates, and the dead angle point planimetric coordinates that data resolution module exports by described WGS84 coordinate transferring is converted into the GPS elements of a fix.

7. the Telemetry position method being applicable to dead angle and noncontact point according to claim 5 or 6, it is characterized in that, described positioning system also comprises the application software module being connected with data analysis module output terminal and being presented at for the angle point GPS elements of a fix of checkmating on map.