CN110909456A - Modeling method, device, terminal equipment and medium - Google Patents
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The embodiment of the application is applicable to the technical field of computers, and provides a modeling method, a modeling device, terminal equipment and a medium, wherein the method comprises the following steps: acquiring a first distance between the first navigation equipment and each reference position of the modeling object and a second distance between the second navigation equipment and each reference position of the modeling object; determining longitude and latitude information of a first position where a first navigation device is located and a second position where a second navigation device is located; constructing a target coordinate system based on the longitude and latitude information of the first position and the second position; calculating coordinate values of the reference positions of the modeling object according to the target coordinate system, the first distance and the second distance; and modeling the modeling object by adopting the coordinate values of the reference positions. Compared with the rough modeling performed by using a single device, the method improves the accuracy of the model, does not need to configure high-accuracy devices at each reference position for modeling objects with different shapes, reduces the using number of the devices and reduces the modeling cost.
Description
Technical Field
The present application belongs to the field of computer technologies, and in particular, relates to a modeling method, an apparatus, a terminal device, and a medium.
Background
For modeling of an object, it is possible to construct characteristics such as a size and a shape of the object in various situations such as a static state and a dynamic state.
Take dynamic modeling for a vehicle as an example. The position of the vehicle in the dynamic and static processes can be determined, so that the size and the shape of the vehicle can be constructed, and the vehicle can be used in the scenes of sharing the parking process of the vehicle such as an automobile and the like and needing to accurately determine the position.
Currently, dynamic modeling for vehicles includes both forms of coarse modeling and precise modeling. The method adopts a rough modeling mode, only a satellite navigation receiver is required to be installed at a certain position of a vehicle, and then the position is used as a positioning point to determine the dynamic position of the vehicle. Since the rough modeling does not take into account the actual size and shape of the vehicle and the differences between different vehicles, the position of the vehicle can only be determined in the shape of one point. Taking the modeling process of the shared automobile when parking as an example, the rough modeling can only judge whether the place corresponding to the position of the shared automobile receiver is parked at the specified position, and can not accurately judge whether the whole automobile meets the parking requirement. In order to make up for the problem of insufficient accuracy of rough modeling, a satellite navigation receiver is arranged at each corner of the vehicle, and the position of each corner is accurately determined through longitude and latitude information obtained by co-positioning of a plurality of receivers, so that the vehicle is accurately modeled. However, the accurate modeling method requires more satellite navigation receivers to be installed, and the cost is high.
Disclosure of Invention
In view of this, embodiments of the present application provide a modeling method, an apparatus, a terminal device, and a medium, so as to solve the problems in the prior art that the precision of rough modeling is low and the cost of precise modeling is high.
A first aspect of an embodiment of the present application provides a modeling method, including:
acquiring a first distance between a first navigation device and each reference position of a modeling object and a second distance between a second navigation device and each reference position of the modeling object, wherein the first navigation device and the second navigation device are respectively configured at different positions of the modeling object;
determining longitude and latitude information of a first position where the first navigation device is located and a second position where the second navigation device is located;
constructing a target coordinate system based on longitude and latitude information of a first position where the first navigation equipment is located and a second position where the second navigation equipment is located;
calculating coordinate values of the reference positions of the modeling object according to the target coordinate system and the first distance and the second distance;
and modeling the modeling object by adopting the coordinate values of the reference positions.
A second aspect of an embodiment of the present application provides a modeling apparatus, including:
an obtaining module, configured to obtain a first distance between a first navigation device and each reference position of a modeled object, and a second distance between a second navigation device and each reference position of the modeled object, where the first navigation device and the second navigation device are respectively configured at different positions of the modeled object;
the determining module is used for determining longitude and latitude information of a first position where the first navigation equipment is located and a second position where the second navigation equipment is located;
the building module is used for building a target coordinate system based on the longitude and latitude information of the first position where the first navigation equipment is located and the second position where the second navigation equipment is located;
a calculation module, configured to calculate coordinate values of reference positions of the modeled object according to the target coordinate system and the first and second distances;
and the modeling module is used for modeling the modeling object by adopting the coordinate values of the reference positions.
A third aspect of embodiments of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the modeling method according to the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, performs the steps of the modeling method according to the first aspect.
A fifth aspect of embodiments of the present application provides a computer program product, which, when running on a terminal device, causes the terminal device to perform the steps of the modeling method according to the first aspect.
Compared with the prior art, the embodiment of the application has the following advantages:
according to the embodiment of the application, the first navigation device and the second navigation device are configured at different positions of the modeling object, so that after the first distance between the first navigation device and each reference position of the modeling object and the second distance between the second navigation device and each reference position of the modeling object are obtained, and the longitude and latitude information of the first position where the first navigation device is located and the longitude and latitude information of the second position where the second navigation device is located are determined, a target coordinate system is constructed based on the longitude and latitude information, the coordinate values of each angle of the modeling object can be calculated according to the target coordinate system and the first distance and the second distance, and then the modeling of the modeling object is completed by adopting the coordinate values of each angle. According to the method, the shape state and the position change condition of the modeling object in the dynamic process can be determined more accurately and timely by using the navigation technology, the whole data processing process is completed in the constructed plane coordinate system, and the calculation process is convenient and simple; compared with the rough modeling performed by using a single device, the accuracy of the model is improved, and for modeling objects in different shapes, high-accuracy devices do not need to be configured at each reference position, so that the use number of the devices is reduced, and the modeling cost is reduced.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic flow chart diagram illustrating the steps of a modeling method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram illustrating the steps of another modeling method according to an embodiment of the present application;
FIG. 3 is a schematic view of a navigation device of an embodiment of the present application in an automobile;
FIG. 4 is a schematic view of the distances between the navigation device corresponding to FIG. 3 and various reference locations of the automobile;
FIG. 5 is a schematic view of a target coordinate system of one embodiment of the present application;
FIG. 6 is a schematic diagram of a transformed coordinate system of an embodiment of the present application;
fig. 7 is a schematic view of a configuration of a navigation apparatus of an embodiment of the present application on a ship;
FIG. 8 is a schematic diagram of a modeling apparatus according to an embodiment of the present application;
fig. 9 is a schematic diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The technical solution of the present application will be described below by way of specific examples.
Referring to fig. 1, a schematic flow chart illustrating steps of a modeling method according to an embodiment of the present application is shown, which may specifically include the following steps:
s101, acquiring a first distance between a first navigation device and each reference position of a modeling object and a second distance between a second navigation device and each reference position of the modeling object, wherein the first navigation device and the second navigation device are respectively configured at different positions of the modeling object;
it should be noted that the method can be applied to a terminal device. Namely, the execution subject of the method is the terminal device, and the terminal device completes modeling of the modeling object by acquiring the required data. The terminal device in this embodiment may be a mobile phone, a tablet computer, or other devices that can directly communicate with the modeling object and obtain various data of the modeling object in a moving or static state in real time, which is not limited in this embodiment.
The modeling object in the present embodiment may be different according to different applicable scenarios. For example, in a scene where a model of a vehicle such as a shared automobile is required to realize automatic parking of the vehicle, the model object may be the vehicle such as the shared automobile; alternatively, the modeling object may also be a ferry, a large ship, or the like, and the specific type of the modeling object is not limited in this embodiment.
In this embodiment, in order to implement real-time, dynamic and accurate modeling of the modeling object, two navigation devices may be configured at different positions on the modeling object in advance, and the navigation devices may be two high-precision satellite navigation receivers for receiving satellite signals such as the beidou satellite and the GPS satellite.
Of course, the navigation device may be a receiver that only supports satellite signals transmitted by a certain satellite navigation system, such as only receiving satellite signals of the beidou system or only receiving satellite signals of the GPS system; alternatively, the navigation device may also be a receiver capable of supporting simultaneous reception of satellite signals transmitted by multiple satellite navigation systems, for example, a receiver capable of simultaneously receiving satellite signals of a beidou system, a GPS system, and other systems, and capable of processing multiple different satellite signals, which is not limited in this embodiment.
In this embodiment, after the two navigation devices are disposed at different positions of the modeling object, the distances between the two navigation devices and the different positions of the modeling object can be measured respectively.
In general, to model the shape of a modeled object, this can be accomplished by determining the location of various points on the outline of the modeled object. However, if the distance to two navigation devices is measured for each point on the contour line of the modeled object, the subsequent data processing will be relatively large. Therefore, in consideration of the accuracy of the modeling process and the rapidity of data processing, only the distances between the respective reference positions of the modeled object, which may be the positions of the intersection, the end point, the middle point, the bisector, the tangent point, etc. on the outline of the modeled object, and the two navigation devices may be measured. For example, if the projection shape of the modeled object is substantially a polygon such as a quadrangle, the distance between each corner on the modeled object and two navigation devices may be measured. If the projected shape of the modeled object is approximately elliptical, the distance between two end points on the major axis and/or two end points on the minor axis and two navigation devices may be measured on the modeled object.
For example, taking a car as an example, a first distance between the car and a first navigation device and a second distance between the car and a second navigation device can be measured at 4 front, back, left and right angles of the car, wherein the 4 front, back, left and right angles are reference positions used for modeling the car.
The first distance and the second distance may be measured when two navigation devices are configured. Because the relative positions of the two navigation devices on the modeling object are fixed and unchangeable in the modeling process, the data can be directly acquired for use in the subsequent modeling process by measuring and storing the first distance and the second distance in advance, and the data processing amount in the modeling process is reduced.
S102, determining longitude and latitude information of a first position where the first navigation equipment is located and a second position where the second navigation equipment is located;
when the modeling object is static, the longitude and latitude information of the positions of the two navigation devices is fixed and invariable, and the static modeling of the modeling object can be realized based on the fixed longitude and latitude information. When the modeling object is in a moving state, the longitude and latitude information of the positions of the two navigation devices continuously changes, for example, when an automobile is in a driving process, the longitude and latitude information of the two navigation devices configured on the automobile changes in real time, and dynamic modeling of the modeling object can be realized based on the dynamically changed longitude and latitude information.
In the embodiment, the longitude and latitude information of the positions of the two navigation devices can be automatically output to the terminal device by adopting the function that the navigation device can receive the satellite signals, and the terminal device further processes the longitude and latitude information.
S103, constructing a target coordinate system based on longitude and latitude information of a first position where the first navigation equipment is located and a second position where the second navigation equipment is located;
after receiving the longitude and latitude information of the respective positions transmitted by the two navigation devices, the terminal device may construct a target coordinate system based on the longitude and latitude information of the two position points. The positions of the two navigation devices and the reference positions of the modeling object can be regarded as a coordinate point on the target coordinate system.
S104, calculating coordinate values of all reference positions of the modeling object according to the target coordinate system, the first distance and the second distance;
after the target coordinate system is constructed, because the coordinate values of the positions of the two navigation devices in the target coordinate system are determined, the distances between the two positions and the reference positions of the modeling object are also determined, and the coordinate values of the reference positions in the target coordinate system can be calculated according to the geometric relationship.
And S105, modeling the modeling object by adopting the coordinate values of the reference positions.
It should be noted that, for the modeling object in the stationary state, the coordinate values of the reference positions are fixed, and the model shape modeled by using the coordinate values may be used to determine the position where the modeling object is currently at rest. For the modeling object in the non-static state, the coordinate values of all the reference positions of the modeling object are dynamic, and a dynamic model can be established according to the dynamically changed coordinate values for tracking the real-time change condition of the position of the modeling object.
In the embodiment of the application, by configuring the first navigation device and the second navigation device at different positions of the modeling object, after acquiring a first distance between the first navigation device and each reference position of the modeling object and a second distance between the second navigation device and each reference position of the modeling object, and determining longitude and latitude information of the first position where the first navigation device is located and the second position where the second navigation device is located, a target coordinate system is constructed based on the longitude and latitude information, so that coordinate values of each reference position of the modeling object can be calculated according to the target coordinate system and the first distance and the second distance, and then modeling of the modeling object is completed by adopting the coordinate values of each reference position. According to the method, the shape state and the position change condition of the modeling object in the dynamic process can be determined more accurately and timely by using the navigation technology, the whole data processing process is completed in the constructed plane coordinate system, and the calculation process is convenient and simple; compared with the rough modeling performed by using a single device, the accuracy of the model is improved, and for modeling objects in different shapes, high-accuracy devices do not need to be configured at each reference position, so that the use number of the devices is reduced, and the modeling cost is reduced.
Referring to fig. 2, a schematic flow chart illustrating steps of another modeling method according to an embodiment of the present application is shown, which may specifically include the following steps:
s201, acquiring a first distance between a first navigation device and each reference position of a modeling object and a second distance between a second navigation device and each reference position of the modeling object;
the execution main body of the method can be terminal equipment, and the modeling of the modeling object is completed through the terminal equipment. For ease of understanding, the present embodiment will be described later with the modeling object as an example of an automobile.
In this embodiment, the first navigation device and the second navigation device may be high-precision measurement devices based on Real-time kinematic (RTK) carrier-phase differential technology. An RTK carrier phase differential technology is a differential method for processing the observed quantity of carrier phases of two measuring stations in real time, and the carrier phases acquired by a reference station are sent to a user receiver to calculate a coordinate by means of difference. The method is a new common satellite positioning measurement method, and can obtain centimeter-level positioning accuracy in real time.
The first navigation device and the second navigation device may be respectively disposed at different positions of the modeling object.
Take an automobile as an example. Fig. 3 is a schematic configuration diagram of a navigation device of the present embodiment in an automobile. The automobile is orthographically projected onto the ground level, four reference positions of the automobile are respectively points A, B, C, D, and then two high-precision RTK navigation devices, namely RTKa and RTKb, can be erected above the central axis of the automobile through a GNSS antenna.
Then, a first distance and a second distance between the two RTK navigation devices and four reference positions of the automobile can be measured respectively. That is, the first distances L from the first position points RTKa of the arrangement RTKa shown in FIG. 4 to the points A, B, C, D, respectively, are measuredAa、LBa、LCa、LDaMeasuring a second distance L from a second location point RTKb of the configuration RTKb to a point A, B, C, D, respectivelyAb、LBb、LCb、LDbAnd measuring the distance L between two navigation devicesab。
Of course, the two navigation devices may be disposed on the vehicle central axis, or may be disposed in other positions. On any plane, both points may define a plane. Therefore, two position points where the navigation device is configured may be on the roof axis at relatively parallel positions.
S202, receiving first positioning data output by the first navigation equipment and second positioning data output by the second navigation equipment in real time; respectively extracting longitude and latitude information in the first positioning data and the second positioning data;
in the embodiment, the longitude and latitude information of the positions of the two navigation devices can be automatically output to the terminal device by adopting the function that the navigation device can receive the satellite signals, and the terminal device further processes the longitude and latitude information.
Of course, for some GPS receivers, whose data format is NMEA-0183 and longitude and latitude data is expressed in dddmm. mmmm form, it is necessary to convert the above into specific longitude and latitude, and the formula is: longitude and latitude (degree) ═ DDD + mm. mmmm/60.
For example, if the sentence including latitude and longitude information output by the receiver is latitude: 2308.474898, longitude: 11329.968159, the format of longitude and latitude data is DDDMM.MMMM, wherein the latitude DDD is equal to 23, and the latitude MM.MMMM is equal to 08.474898; longitude DDD equal to 113, mm. mmmm equal to 29.968159, scaled according to the above formula:
longitude (degree): 113+29.968159/60 ═ 113.4994693
Latitude (degree): 23+8.474898/60 ═ 23.1412483
S203, determining the direction of a target coordinate system by taking the first position of the first navigation equipment as an original point, wherein a straight line of the original point along the weft direction is an X axis, and a straight line of the original point along the warp direction is a Y axis;
the shape of the earth is an irregular ellipsoid with two-stage parts being slightly flat and equator being slightly convex, and although the Gaussian-Kluyverz projection method used in the academic world can be widely expanded into a plane, the longitude and latitude lines are not straight lines, and the calculation formula is extremely complex.
Considering that the area of the modeling object of the embodiment is extremely small relative to the earth, a simplified target coordinate system can be established by an approximate method when modeling is carried out.
Fig. 5 is a schematic diagram of the target coordinate system of the present embodiment. The coordinate system may be a straight line instead of a curved line, and it is set that the X-axis is a line in the weft direction, the Y-axis is a line in the warp direction, and the RTK a point is taken as the origin. Thus, the directions of the X axis and the Y axis of the target coordinate system can be preliminarily determined.
S204, respectively determining a first projection point of a second position of the second navigation device on the X axis and a second projection point on the Y axis;
in the target coordinate system, a first projection point of an RTK b point at a second position where the second navigation device is located on an X axis and a second projection point on a Y axis, and the distance between the two projection points and the RTK b point is a coordinate value of the RTKb point.
Namely, the distance Yb between the RTK b point and the origin along the meridian direction is the Y-axis coordinate of the RTKb point; the distance Xb from the origin in the weft direction is the X-axis coordinate of the RTKb point.
S205, calculating the distance between the second projection point and the origin as a Y-axis coordinate value of the second position by adopting the longitude and latitude information of the first position and the longitude and latitude information of the second position;
to determine the Y-axis coordinates of the RTKb point, i.e. the distance from RTKa to Yb, an ellipse may be cut along the origin of the target coordinate system and the meridian of the second projected point, a transformed coordinate system including the ellipse may be constructed, and a first corresponding point of the first position in the transformed coordinate system and a second corresponding point of the second projected point in the transformed coordinate system may be determined. Then, calculating to obtain a coordinate value of the first corresponding point in the conversion coordinate system according to a preset latitude value formula by taking the latitude value of the first position as an included angle value between the first corresponding point in the conversion coordinate system and the X axis of the conversion coordinate system; calculating to obtain a coordinate value of the second corresponding point in the conversion coordinate system according to a preset latitude value formula by taking the latitude value of the second position as an included angle value between the second corresponding point in the conversion coordinate system and the X axis of the conversion coordinate system; and further, according to the coordinate values of the first corresponding point in the conversion coordinate system and the coordinate values of the second corresponding point in the conversion coordinate system, the distance between the second projection point and the origin in the target coordinate system can be calculated.
As shown in fig. 6, is a schematic diagram of a transformed coordinate system constructed by truncating an ellipse. The ellipse is obtained by cutting an ellipsoid along the meridian where RTKa and Yb are located. In fig. 6, the distance from RTKa to Yb is actually a segment of arc length of the ellipse on the section of the meridian in fig. 6, and since the segment of arc length is very short relative to the whole ellipse and the equation for calculating the arc length of the ellipse is very complex, the calculation is simplified into a way of calculating the linear distance between two points in the present embodiment.
In the transformed coordinate system shown in fig. 6, RTKa point coordinates are set to (xa, ya). The Yb point coordinates are (X1, Y1). According to the definition of latitude: the angle between the normal of the ellipsoid surface (the straight line perpendicular to the tangent at one point on the curved surface) and the equatorial plane is shown in fig. 6, and the angle Ba between the normal of the RTKa point and the X-axis of the transformed coordinate system is the latitude of the RTKa point.
Using the ellipse equation:
tangent equation through the ellipse RTKa point:
assuming that the dimension of the RTKa point is Ba, it can be obtained according to the definition of the latitude and the above equation (2):
simultaneous equations (1), (2) and (3), the coordinate values of the RTKa point in the transformed coordinate system of fig. 6 can be calculated:
in the expressions (4) and (5), the expression a represents the major semi-axis of the earth ellipsoid and is 6378137 meters, the expression b represents the minor semi-axis of the earth ellipsoid and is 6356752 meters, and Ba represents the geodetic dimension value (degree) of the RTKa point.
As can be seen from FIG. 5, the latitude of Yb is equal to the latitude of RTK b, and the Yb point coordinates (X1, Y1) can be obtained in the same way. Calculating by using coordinates of the two points to obtain the distance between the original point and the Yb point as follows:
s206, calculating the distance between the first projection point and the origin point as an X-axis coordinate value of the second position to obtain a target coordinate system;
as can be seen from FIG. 5, the distance from the RTKa point to Xb is actually an arc length along the circle of latitude, which is a circle. Therefore, the target circle can be intercepted along the origin of the target coordinate system and the latitude line where the first projection point is located, and a third corresponding point of the first position in the target circle and a fourth corresponding point of the first projection point in the target circle are determined; and calculating the arc length between the third corresponding point and the fourth corresponding point as the distance between the first projection point and the origin in the target coordinate system. That is, the longitude difference between the first position and the second position is calculated, and the product of the longitude difference and the radius of the target circle, which is the X-axis coordinate value of the first projected point in the transformed coordinate system, is taken as the arc length between the third corresponding point and the fourth corresponding point.
Specifically, according to the arc length formula L ═ R × θ, where R is the target circle radius and θ is the angle of the central angle subtended by the arc. And the radius of the latitude circle on the RTKa point is the X-axis coordinate Xa of the RTKa point in FIG. 6. Since θ is the longitude difference between RTKa and RTKb points, the distance between the original point and Xb point is calculated as: aXb ═ Xa θ.
Therefore, the target coordinate system shown in fig. 5 has the RTKb point coordinates of (aXb, aYb) and the RTKa point coordinates of (0, 0).
S207, calculating coordinate values of all reference positions of the modeling object according to the target coordinate system, the first distance and the second distance;
in this embodiment, after constructing the target coordinate system and calculating the coordinate value of the first position RTKa and the coordinate value of the second position RTKb in the target coordinate system, and combining the first distance and the second distance from the two position points to each angle, which are measured in advance, the coordinate value of the target position in the target coordinate system can be calculated for any target position of the modeled object according to the coordinate value of the first position, the coordinate value of the second position, the first distance between the target position and the first position, and the second distance between the target angle and the second position. The target position is any one of a plurality of reference positions.
Taking the automobile angle point A in FIG. 3 as an example, the A-to-RTK a distance L is knownAaDistance L from A to RTKbabLet the coordinates of point a be (X2, Y2) and have the following equations (7), (8):
the coordinate values of the point a in the target coordinate system can be obtained.
Similarly, the coordinate value of the automobile angle B, C, D point can also be calculated.
And S208, modeling the modeling object by adopting the coordinate values of the reference positions.
It should be noted that, although the present embodiment only exemplifies an automobile having four reference positions, the present embodiment is also applicable to other modeling objects. For example, the ship shown in fig. 7 can adopt the same method, firstly determine the distance between A, B, C, D, E, F points in fig. 7 and two RTK navigation devices, and then obtain the coordinates of the six points by establishing a target coordinate system and calculating the distance formula between two RTK navigation devices, thereby establishing a dynamic model.
According to the method, the simple plane coordinate system is constructed, the whole modeling data processing process is converted into the constructed plane coordinate system, the calculation process is convenient and simple, the accuracy of the model is improved, the using amount of equipment is reduced, the modeling cost is reduced, and the method is suitable for modeling objects in various shapes.
It should be noted that, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Referring to fig. 8, a schematic diagram of a modeling apparatus according to an embodiment of the present application is shown, which may specifically include the following modules:
an obtaining module 801, configured to obtain a first distance between a first navigation device and each reference position of a modeled object, and a second distance between a second navigation device and each reference position of the modeled object, where the first navigation device and the second navigation device are respectively configured at different positions of the modeled object;
a determining module 802, configured to determine longitude and latitude information of a first location where the first navigation device is located and a second location where the second navigation device is located;
a building module 803, configured to build a target coordinate system based on longitude and latitude information of a first location where the first navigation device is located and a second location where the second navigation device is located;
a calculating module 804, configured to calculate coordinate values of the reference positions of the modeled object according to the target coordinate system and the first distance and the second distance;
a modeling module 805, configured to model the modeled object by using the coordinate values of the reference positions.
In this embodiment of the application, the determining module 802 may specifically include the following sub-modules:
the positioning data receiving submodule is used for receiving first positioning data output by the first navigation equipment and second positioning data output by the second navigation equipment in real time;
and the latitude and longitude information extraction submodule is used for respectively extracting the latitude and longitude information in the first positioning data and the second positioning data.
In this embodiment, the building module 803 may specifically include the following sub-modules:
the coordinate system direction determining submodule is used for determining the direction of a target coordinate system by taking the first position where the first navigation equipment is located as an original point, wherein a straight line of the original point along the weft direction is an X axis, and a straight line of the original point along the warp direction is a Y axis;
the projection point determining submodule is used for respectively determining a first projection point of a second position of the second navigation device on the X axis and a second projection point on the Y axis;
a coordinate value calculation submodule, configured to calculate a distance between the second projection point and the origin as a Y-axis coordinate value of the second position by using the longitude and latitude information of the first position and the longitude and latitude information of the second position; and calculating the distance between the first projection point and the origin as the X-axis coordinate value of the second position to obtain a target coordinate system.
In this embodiment of the present application, the coordinate value calculation sub-module may specifically include the following units:
a transformation coordinate system construction unit, configured to intercept an ellipse along an origin of the target coordinate system and a meridian where the second projection point is located, construct a transformation coordinate system including the ellipse, determine a first corresponding point of the first position in the transformation coordinate system, and a second corresponding point of the second projection point in the transformation coordinate system;
the coordinate value calculation unit is used for calculating and obtaining the coordinate value of the first corresponding point in the conversion coordinate system according to a preset latitude value formula by taking the latitude value of the first position as the included angle value between the first corresponding point in the conversion coordinate system and the X axis of the conversion coordinate system; calculating to obtain a coordinate value of a second corresponding point in the conversion coordinate system according to a preset latitude value formula by taking the latitude value of the second position as an included angle value between the second corresponding point in the conversion coordinate system and the X axis of the conversion coordinate system; and calculating the distance between a second projection point in the target coordinate system and the origin according to the coordinate values of the first corresponding point in the conversion coordinate system and the coordinate values of the second corresponding point in the conversion coordinate system.
In this embodiment of the application, the coordinate value calculating unit may be further configured to intercept a target circle along an origin of the target coordinate system and a latitude line where the first projected point is located, determine a third corresponding point of the first position in the target circle, and a fourth corresponding point of the first projected point in the target circle; and calculating the arc length between the third corresponding point and the fourth corresponding point as the distance between the first projection point and the origin in the target coordinate system.
In the embodiment of the present application, the coordinate value calculating unit may be further configured to calculate a longitude difference between the first position and the second position, taking a product of the longitude difference and a radius of the target circle as a circular arc length between the third corresponding point and the fourth corresponding point, where the radius of the target circle is an X-axis coordinate value of the first projected point in the transformed coordinate system.
In this embodiment of the application, the calculating module 804 may specifically include the following sub-modules:
and the reference position coordinate value calculation submodule is used for calculating a coordinate value of the target position in the target coordinate system according to the coordinate value of the first position, the coordinate value of the second position, a first distance between the target position and the first position and a second distance between the target position and the second position aiming at any target position of the modeling object, wherein the target position is any one of the reference positions.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to the description of the method embodiment section for relevant points.
Referring to fig. 9, a schematic diagram of a terminal device according to an embodiment of the present application is shown. As shown in fig. 9, the terminal apparatus 900 of the present embodiment includes: a processor 910, a memory 920, and a computer program 921 stored in the memory 920 and operable on the processor 910. The processor 910, when executing the computer program 921, implements the steps in various embodiments of the modeling method described above, such as the steps S101 to S105 shown in fig. 1. Alternatively, the processor 910, when executing the computer program 921, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the modules 801 to 805 shown in fig. 8.
Illustratively, the computer program 921 may be partitioned into one or more modules/units, which are stored in the memory 920 and executed by the processor 910 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution of the computer program 921 in the terminal device 900. For example, the computer program 921 may be divided into an acquisition module, a determination module, a construction module, a calculation module, and a modeling module, each module having the following specific functions:
an obtaining module, configured to obtain a first distance between a first navigation device and each reference position of a modeled object, and a second distance between a second navigation device and each reference position of the modeled object, where the first navigation device and the second navigation device are respectively configured at different positions of the modeled object;
the determining module is used for determining longitude and latitude information of a first position where the first navigation equipment is located and a second position where the second navigation equipment is located;
the building module is used for building a target coordinate system based on the longitude and latitude information of the first position where the first navigation equipment is located and the second position where the second navigation equipment is located;
a calculation module, configured to calculate coordinate values of reference positions of the modeled object according to the target coordinate system and the first and second distances;
and the modeling module is used for modeling the modeling object by adopting the coordinate values of the reference positions.
The terminal device 900 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 900 may include, but is not limited to, a processor 910, a memory 920. Those skilled in the art will appreciate that fig. 9 is only one example of a terminal device 900 and does not constitute a limitation of terminal device 900 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., terminal device 900 may also include input-output devices, network access devices, buses, etc.
The Processor 910 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 920 may be an internal storage unit of the terminal device 900, such as a hard disk or a memory of the terminal device 900. The memory 920 may also be an external storage device of the terminal device 900, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the terminal device 900. Further, the memory 920 may also include both an internal storage unit and an external storage device of the terminal device 900. The memory 920 is used for storing the computer program 921 and other programs and data required by the terminal device 900. The memory 920 may also be used to temporarily store data that has been output or is to be output.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A modeling method, comprising:
acquiring a first distance between a first navigation device and each reference position of a modeling object and a second distance between a second navigation device and each reference position of the modeling object, wherein the first navigation device and the second navigation device are respectively configured at different positions of the modeling object;
determining longitude and latitude information of a first position where the first navigation device is located and a second position where the second navigation device is located;
constructing a target coordinate system based on longitude and latitude information of a first position where the first navigation equipment is located and a second position where the second navigation equipment is located;
calculating coordinate values of the reference positions of the modeling object according to the target coordinate system and the first distance and the second distance;
and modeling the modeling object by adopting the coordinate values of the reference positions.
2. The method of claim 1, wherein the step of determining latitude and longitude information for a first location at which the first navigation device is located and a second location at which the second navigation device is located comprises:
receiving first positioning data output by the first navigation equipment and second positioning data output by the second navigation equipment in real time;
and respectively extracting longitude and latitude information in the first positioning data and the second positioning data.
3. The method of claim 1, wherein the step of constructing the target coordinate system based on the latitude and longitude information of the first location of the first navigation device and the second location of the second navigation device comprises:
determining the direction of a target coordinate system by taking the first position of the first navigation equipment as an original point, wherein a straight line of the original point along the weft direction is an X axis, and a straight line of the original point along the warp direction is a Y axis;
respectively determining a first projection point of a second position of the second navigation device on the X axis and a second projection point on the Y axis;
calculating the distance between the second projection point and the origin as a Y-axis coordinate value of the second position by adopting the longitude and latitude information of the first position and the longitude and latitude information of the second position; and the number of the first and second groups,
and calculating the distance between the first projection point and the origin point as the X-axis coordinate value of the second position to obtain a target coordinate system.
4. The method of claim 3, wherein the step of calculating the distance between the second projection point and the origin point using the latitude and longitude information of the first location and the latitude and longitude information of the second location comprises:
intercepting an ellipse along the origin of the target coordinate system and the meridian where the second projection point is located, constructing a conversion coordinate system containing the ellipse, and determining a first corresponding point of the first position in the conversion coordinate system and a second corresponding point of the second projection point in the conversion coordinate system;
calculating to obtain a coordinate value of the first corresponding point in the conversion coordinate system according to a preset latitude value formula by taking the latitude value of the first position as an included angle value between the first corresponding point in the conversion coordinate system and an X axis of the conversion coordinate system;
calculating to obtain a coordinate value of a second corresponding point in the conversion coordinate system according to a preset latitude value formula by taking the latitude value of the second position as an included angle value between the second corresponding point in the conversion coordinate system and the X axis of the conversion coordinate system;
and calculating the distance between a second projection point in the target coordinate system and the origin according to the coordinate values of the first corresponding point in the conversion coordinate system and the coordinate values of the second corresponding point in the conversion coordinate system.
5. The method of claim 4, wherein the step of calculating the distance between the first projection point and the origin point comprises:
intercepting a target circle along an origin of the target coordinate system and a latitude line where the first projection point is located, and determining a third corresponding point of the first position in the target circle and a fourth corresponding point of the first projection point in the target circle;
and calculating the arc length between the third corresponding point and the fourth corresponding point as the distance between the first projection point and the origin in the target coordinate system.
6. The method of claim 5, wherein the step of calculating the arc length between the third corresponding point and the fourth corresponding point comprises:
and calculating the longitude difference between the first position and the second position, taking the product of the longitude difference and the radius of the target circle as the arc length between the third corresponding point and the fourth corresponding point, wherein the radius of the target circle is the X-axis coordinate value of the first projection point in the conversion coordinate system.
7. The method of claim 3, wherein the step of calculating coordinate values for respective reference positions of the modeled object based on the target coordinate system and the first and second distances comprises:
and calculating the coordinate value of the target position in the target coordinate system according to the coordinate value of the first position, the coordinate value of the second position, the first distance between the target position and the first position and the second distance between the target position and the second position aiming at any target position of the modeling object, wherein the target position is any one of the reference positions.
8. A modeling apparatus, comprising:
an obtaining module, configured to obtain a first distance between a first navigation device and each reference position of a modeled object, and a second distance between a second navigation device and each reference position of the modeled object, where the first navigation device and the second navigation device are respectively configured at different positions of the modeled object;
the determining module is used for determining longitude and latitude information of a first position where the first navigation equipment is located and a second position where the second navigation equipment is located;
the building module is used for building a target coordinate system based on the longitude and latitude information of the first position where the first navigation equipment is located and the second position where the second navigation equipment is located;
a calculation module, configured to calculate coordinate values of reference positions of the modeled object according to the target coordinate system and the first and second distances;
and the modeling module is used for modeling the modeling object by adopting the coordinate values of the reference positions.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the modeling method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the modeling method according to any one of claims 1 to 7.
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