CN101210964B - Three-point positioning method based on non-electronic map - Google Patents
Three-point positioning method based on non-electronic map Download PDFInfo
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- CN101210964B CN101210964B CN2006101480232A CN200610148023A CN101210964B CN 101210964 B CN101210964 B CN 101210964B CN 2006101480232 A CN2006101480232 A CN 2006101480232A CN 200610148023 A CN200610148023 A CN 200610148023A CN 101210964 B CN101210964 B CN 101210964B
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Abstract
The invention disclose a three points positioning method on a non-electronic map, which is applied for positioning unknown points through at least three known points on the non-electronic map; for the image coordinates and GPS coordinates not on the same line of a known image, another coordinate of an unknown point can be calculated through either the image coordinate or the GPS coordinate of the unknown point. The method comprises the following steps of: obtaining the image coordinates and the GPS coordinates of a plurality of known positioning points; judging whether at least three positioning points are not on the same line among the plurality of known positioning points; if yes, obtaining the information of the three positioning points not on the same line nearest to the unknown point; judging whether the unknown point is in the triangle formed by the three positioning points; if yes, calculating the area vector to obtain the contribution of the three positioning points to the unknown point; obtaining the coordinates of the unknown point according to the GPS coordinates of the three positioning points and the contribution thereof.
Description
[technical field]
The relevant a kind of three-point positioning method of the present invention is meant a kind of based on the three-point positioning method on the non-electronic map especially.
[background technology]
The traditional three-point fix algorithm in Current GPS (GPS) field is: the distance between the coordinate of known three points (satellite) and each point and the unknown point, it with the known point respectively the center of circle, draw circle with the distance between the unknown point, then unknown point must be unique intersection point of three circles, thereby draws the coordinate of unknown point.This algorithm goes in the location of vector plot of various forms, but will guarantee that map is the reflection of real world, and promptly map can not twist, distortion.If picture is Shan Getu, these maps source can be the bmp that intercepts or jpeg picture etc., or even the tourist map in the park that is filmed of user oneself, and not the reflection of real world, may deform, only be synoptic diagram, and above-mentioned algorithm just can not play a role.Because disproportional chi refers to information such as north in the synoptic diagram, even might also be inaccurate.
In view of this, reality is necessary to develop a kind of based on the three-point positioning method on the non-electronic map, utilizes this method.Can realize the function of location simply, apace on the Shan Getu sheet, and support the distortion of picture, distortion has broken through traditional location idea, can realize the location on non-electronic map.
[summary of the invention]
Therefore, the objective of the invention is to develop a kind of based on the three-point positioning method on the non-electronic map, can be simply, on the Shan Getu sheet, realize the function of location apace, and the distortion of support picture, distortion has broken through traditional location idea, can realize the location on non-electronic map.
For reaching above-mentioned purpose, of the present invention based on the three-point positioning method on the non-electronic map, this method is in order to position unknown point by at least three known locations points on the non-electronic map, wherein, this known locations point has obtained picture coordinate and gps coordinate, when this unknown point has obtained the picture coordinate, this method comprises the following steps:
Obtain the information of several known locations points, the information of this known locations point comprises picture coordinate and gps coordinate;
Judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to the picture coordinate;
If the above-mentioned "Yes" that is judged as is then obtained information from three anchor points of the nearest not conllinear of unknown point according to the picture coordinate;
Judge according to the picture coordinate whether unknown point drops in the triangle of above-mentioned three anchor points composition;
If the above-mentioned "Yes" that is judged as then comes the reference area vector to draw the contribution amount of above-mentioned three anchor points to unknown point according to the picture coordinate;
According to the gps coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the gps coordinate of unknown point, also is that each anchor point is exactly the gps coordinate of unknown point to the contribution amount of unknown point and the vector sum of each point gps coordinate product.
If above-mentioned steps: judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to the picture coordinate; Judged result is a "No", then finishes this flow process.
If above-mentioned steps: judge according to the picture coordinate whether unknown point drops in the triangle of above-mentioned three anchor points composition; Judged result is a "No", then enters step: calculate triangle area according to the picture coordinate and draw the contribution amount of above-mentioned three anchor points to unknown point; And then enter step: according to the gps coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the gps coordinate of unknown point, also is that each anchor point is exactly the gps coordinate of unknown point to the contribution amount of unknown point and the vector sum of each anchor point gps coordinate product.
Wherein, come the reference area vector to draw the contribution amount of above-mentioned three anchor points to unknown point according to the picture coordinate, certain anchor point equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area vector of three anchor points composition to the contribution amount of unknown point.
Wherein, calculate triangle area according to the picture coordinate and draw the contribution amount of above-mentioned three anchor points to unknown point, certain anchor point equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area of three anchor points composition to the contribution amount of unknown point.
For reaching above-mentioned purpose, of the present invention based on the three-point positioning method on the non-electronic map, this method is in order to position unknown point by at least three known locations points on the non-electronic map, wherein, this known locations point has obtained picture coordinate and gps coordinate, when this unknown point has obtained gps coordinate, this method comprises the following steps:
Obtain the information of several known locations points, the information of this known locations point comprises picture coordinate and GRS coordinate;
Judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to gps coordinate;
If the above-mentioned "Yes" that is judged as is then obtained information from three anchor points of the nearest not conllinear of unknown point according to gps coordinate;
Judge according to gps coordinate whether unknown point drops in the triangle of above-mentioned three anchor points composition;
If the above-mentioned "Yes" that is judged as then comes the reference area vector to draw the contribution amount of above-mentioned three anchor points to unknown point according to gps coordinate;
According to the picture coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the picture coordinate of unknown point, also is that each point is exactly the picture coordinate of unknown point to the contribution amount of unknown point and the vector sum of each anchor point picture coordinate product.
If above-mentioned steps: judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to gps coordinate; Judged result is a "No", then finishes this flow process.
If above-mentioned steps: judge according to gps coordinate whether unknown point drops in the triangle of above-mentioned three anchor points composition; Judged result is a "No", then enters step: calculate triangle area according to gps coordinate and draw the contribution amount of above-mentioned three anchor points to unknown point; And then enter step: according to the picture coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the picture coordinate of unknown point, also is that each point is exactly the picture coordinate of unknown point to the contribution amount of unknown point and the vector sum of each point picture coordinate product.
Wherein, come the reference area vector to draw the contribution amount of above-mentioned three anchor points to unknown point according to gps coordinate, certain anchor point equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area vector of three anchor points composition to the contribution amount of unknown point.
Wherein, calculate triangle area according to gps coordinate and draw the contribution amount of above-mentioned three anchor points to unknown point, certain anchor point equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area of three anchor points composition to the contribution amount of unknown point.
Compared to prior art, of the present invention a kind of based on the three-point positioning method on the non-electronic map, utilize this method.Can realize the function of location simply, apace on the Shan Getu sheet, and support the distortion of picture, distortion has broken through traditional location idea, can realize the location on non-electronic map.For not the picture coordinate and the gps coordinate of three of conllinear anchor points on the known picture, know unknown point picture coordinate and gps coordinate one of them, can draw another coordinate of unknown point.So the user can oneself make electronic chart, and definite anchor point, finishes positioning function.
For purpose of the present invention, structural attitude and function thereof are had further understanding, conjunction with figs. is described in detail as follows now:
[description of drawings]
Fig. 1 illustrates the process flow diagram of first embodiment based on the three-point positioning method on the non-electronic map of the present invention.
Fig. 2 illustrates the process flow diagram of second embodiment based on the three-point positioning method on the non-electronic map of the present invention.
[embodiment]
See also Fig. 1, Fig. 1 illustrates the process flow diagram of first embodiment based on the three-point positioning method on the non-electronic map of the present invention.
For reaching above-mentioned purpose, of the present invention based on the three-point positioning method on the non-electronic map, this method is in order to position unknown point by at least three known locations points on the non-electronic map, in this first embodiment, this known locations point has obtained picture coordinate and gps coordinate, when this unknown point has obtained the picture coordinate, this method comprises the following steps:
Obtain the information of several known locations points, the information of this known locations point comprises picture coordinate and gps coordinate (step 100);
Judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points (step 101) of conllinear according to the picture coordinate;
If the above-mentioned "Yes" that is judged as is then obtained information (step 102) from three anchor points of the nearest not conllinear of unknown point according to the picture coordinate;
Judge according to the picture coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form (step 103);
If the above-mentioned "Yes" that is judged as then comes the reference area vector to draw the contribution amount (step 104) of above-mentioned three anchor points to unknown point according to the picture coordinate;
According to the gps coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the gps coordinate of unknown point, also is that each anchor point is exactly the gps coordinate (step 105) of unknown point to the contribution amount of unknown point and the vector sum of each point gps coordinate product.
If above-mentioned steps: judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points (step 101) of conllinear according to the picture coordinate; Judged result is a "No", then finishes this flow process.
If above-mentioned steps: judge according to the picture coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form (step 103); Judged result is a "No", then enters step: calculate triangle area according to the picture coordinate and draw the contribution amount (step 106) of above-mentioned three anchor points to unknown point; And then enter step: according to the gps coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the gps coordinate of unknown point, also is that each anchor point is exactly the gps coordinate (step 105) of unknown point to the contribution amount of unknown point and the vector sum of each anchor point gps coordinate product.
Wherein, come the reference area vector to draw the contribution amount (step 104) of above-mentioned three anchor points to unknown point according to the picture coordinate, certain anchor point equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area vector of three anchor points composition to the contribution amount of unknown point.
Wherein, calculate triangle area according to the picture coordinate and draw the contribution amount (step 106) of above-mentioned three anchor points to unknown point, certain anchor point equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area of three anchor points composition to the contribution amount of unknown point.
Wherein, calculate triangle area according to the picture coordinate and draw the contribution amount (step 106) of above-mentioned three anchor points to unknown point, this method of calculating triangle area adopts Heron's formula.
Wherein, judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points (step 101) of conllinear according to the picture coordinate; If the above-mentioned "Yes" that is judged as is then obtained information (step 102) from three anchor points of the nearest not conllinear of unknown point according to the picture coordinate; Judge 3 whether conllinear can adopt to judge whether these 3 area vectors are zero, if be zero, three point on a straight line then.
Wherein, judge according to the picture coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form (step 103); Judge whether the angle sum of forming between unknown point and three anchor points is 360 °, if be 360 °, then unknown point drops in the triangle that above-mentioned three anchor points form.
See also Fig. 2, Fig. 2 illustrates the process flow diagram of second embodiment based on the three-point positioning method on the non-electronic map of the present invention.
For reaching above-mentioned purpose, of the present invention based on the three-point positioning method on the non-electronic map, this method is in order to position unknown point by at least three known locations points on the non-electronic map, in this second embodiment, this known locations point has obtained picture coordinate and gps coordinate, when this unknown point has obtained gps coordinate, this method comprises the following steps:
Obtain the information of several known locations points, the information of this known locations point comprises picture coordinate and gps coordinate (step 200);
Judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points (step 201) of conllinear according to gps coordinate;
If the above-mentioned "Yes" that is judged as is then obtained information (step 202) from three anchor points of the nearest not conllinear of unknown point according to gps coordinate;
Judge according to gps coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form (step 203);
If the above-mentioned "Yes" that is judged as then comes the reference area vector to draw the contribution amount (step 204) of above-mentioned three anchor points to unknown point according to gps coordinate;
According to the picture coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the picture coordinate of unknown point, also is that each point is exactly the picture coordinate (step 205) of unknown point to the contribution amount of unknown point and the vector sum of each anchor point picture coordinate product.
If above-mentioned steps: judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points (step 201) of conllinear according to gps coordinate; Judged result is a "No", then finishes this flow process.
If above-mentioned steps: judge according to gps coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form (step 203); Judged result is a "No", then enters step: calculate triangle area according to gps coordinate and draw the contribution amount (step 206) of above-mentioned three anchor points to unknown point; And then enter step: according to the picture coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the picture coordinate of unknown point, also is that each point is exactly the picture coordinate (step 205) of unknown point to the contribution amount of unknown point and the vector sum of each point picture coordinate product.
Wherein, come the reference area vector to draw the contribution amount (step 204) of above-mentioned three anchor points to unknown point according to gps coordinate, certain anchor point equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area vector of three anchor points composition to the contribution amount of unknown point.
Wherein, calculate triangle area according to gps coordinate and draw the contribution amount (step 206) of above-mentioned three anchor points to unknown point, certain anchor point equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area of three anchor points composition to the contribution amount of unknown point.
Wherein, calculate triangle area according to gps coordinate and draw the contribution amount (step 206) of above-mentioned three anchor points to unknown point, this method of calculating triangle area adopts Heron's formula.
Wherein, judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points (step 201) of conllinear according to gps coordinate; If the above-mentioned "Yes" that is judged as is then obtained information (step 202) from three anchor points of the nearest not conllinear of unknown point according to gps coordinate; Judge 3 whether conllinear can adopt to judge whether these 3 area vectors are zero, if be zero, three point on a straight line then.
Wherein, judge according to gps coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form (step 203); Judge whether the angle sum of forming between unknown point and three anchor points is 360 °, if be 360 °, then unknown point drops in the triangle that above-mentioned three anchor points form.
Compared to prior art, of the present invention based on the three-point positioning method on the non-electronic map, utilize this method.Can realize the function of location simply, apace on the Shan Getu sheet, and support the distortion of picture, distortion has broken through traditional location idea, can realize the location on non-electronic map.For not the picture coordinate and the gps coordinate of three of conllinear anchor points on the known picture, know unknown point picture coordinate and gps coordinate one of them, can draw another coordinate.So the user can oneself make electronic chart, and definite anchor point, finishes positioning function.In sum, since this method be utilize triangle area wait the score formula to calculate each known locations point the contribution amount of certain property value of unknown point is calculated.When picture distortion or distortion, the leg-of-mutton area of being formed also can change, but the ratio of area can not change.Therefore, using this method just can position on synoptic diagram.
Claims (12)
1. one kind based on the three-point positioning method on the non-electronic map, this method is in order to position unknown point by at least three known locations points on the non-electronic map, wherein, this known locations point has obtained picture coordinate and gps coordinate, when this unknown point has obtained the picture coordinate, it is characterized in that this method comprises the following steps:
Obtain the information of several known locations points, the information of this known locations point comprises picture coordinate and gps coordinate;
Judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to the picture coordinate;
If the above-mentioned "Yes" that is judged as is then obtained information from three anchor points of the nearest not conllinear of unknown point according to the picture coordinate;
Judge according to the picture coordinate whether unknown point drops in the triangle of above-mentioned three anchor points composition;
If the above-mentioned "Yes" that is judged as, then come the reference area vector to draw the contribution amount of above-mentioned three anchor points to unknown point according to the picture coordinate, wherein, certain anchor point here equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area vector of three anchor points composition to the contribution amount of unknown point;
According to the gps coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the gps coordinate of unknown point, also is that each anchor point is exactly the gps coordinate of unknown point to the contribution amount of unknown point and the vector sum of each point gps coordinate product.
2. as claimed in claim 1ly it is characterized in that, if above-mentioned steps: judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to the picture coordinate based on the three-point positioning method on the non-electronic map; Judged result is a "No", then finishes this flow process.
3. as claimed in claim 1ly it is characterized in that, if above-mentioned steps: judge according to the picture coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form based on the three-point positioning method on the non-electronic map; Judged result is a "No", then enter step: calculate triangle area according to the picture coordinate and draw the contribution amount of above-mentioned three anchor points to unknown point, wherein, certain anchor point here equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area of three anchor points composition to the contribution amount of unknown point; And then enter step: according to the gps coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the gps coordinate of unknown point, also is that each anchor point is exactly the gps coordinate of unknown point to the contribution amount of unknown point and the vector sum of each anchor point gps coordinate product.
4. as claimed in claim 3 based on the three-point positioning method on the non-electronic map, it is characterized in that, for step: calculate triangle area according to the picture coordinate and draw the contribution amount of above-mentioned three anchor points to unknown point, this method of calculating triangle area adopts Heron's formula.
5. as claimed in claim 1ly it is characterized in that, for step: judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to the picture coordinate based on the three-point positioning method on the non-electronic map; And step: obtain information from three anchor points of the nearest not conllinear of unknown point according to the picture coordinate; Judge 3 whether conllinear adopt judge whether these 3 area vectors are zero, if be zero, three point on a straight line then.
6. as claimed in claim 1ly it is characterized in that, for step: judge according to the picture coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form based on the three-point positioning method on the non-electronic map; Judge whether the angle sum of forming between unknown point and three anchor points is 360 °, if be 360 °, then unknown point drops in the triangle that above-mentioned three anchor points form.
7. one kind based on the three-point positioning method on the non-electronic map, this method is in order to position unknown point by at least three known locations points on the non-electronic map, this known locations point has obtained picture coordinate and gps coordinate, when this unknown point has obtained gps coordinate, it is characterized in that this method comprises the following steps:
Obtain the information of several known locations points, the information of this known locations point comprises picture coordinate and gps coordinate;
Judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to gps coordinate;
If the above-mentioned "Yes" that is judged as is then obtained information from three anchor points of the nearest not conllinear of unknown point according to gps coordinate;
Judge according to gps coordinate whether unknown point drops in the triangle of above-mentioned three anchor points composition;
If the above-mentioned "Yes" that is judged as, then come the reference area vector to draw the contribution amount of above-mentioned three anchor points to unknown point according to gps coordinate, wherein, certain anchor point here equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area vector of three anchor points composition to the contribution amount of unknown point;
According to the picture coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the picture coordinate of unknown point, also is that each point is exactly the picture coordinate of unknown point to the contribution amount of unknown point and the vector sum of each anchor point picture coordinate product.
8. as claimed in claim 7ly it is characterized in that, if above-mentioned steps: judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to gps coordinate based on the three-point positioning method on the non-electronic map; Judged result is a "No", then finishes this flow process.
9. as claimed in claim 7ly it is characterized in that, if above-mentioned steps: judge according to gps coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form based on the three-point positioning method on the non-electronic map; Judged result is a "No", then enter step: calculate triangle area according to gps coordinate and draw the contribution amount of above-mentioned three anchor points to unknown point, wherein, certain anchor point here equals other two anchor points and the triangle of unknown point composition and the ratio of the triangle area of three anchor points composition to the contribution amount of unknown point; And then enter step: according to the picture coordinate of three anchor points and three anchor points the contribution amount of unknown point being drawn the picture coordinate of unknown point, also is that each point is exactly the picture coordinate of unknown point to the contribution amount of unknown point and the vector sum of each point picture coordinate product.
10. as claimed in claim 9 based on the three-point positioning method on the non-electronic map, it is characterized in that, for step: calculate triangle area according to gps coordinate and draw the contribution amount of above-mentioned three anchor points to unknown point, this method of calculating triangle area adopts Heron's formula.
11. as claimed in claim 7ly it is characterized in that, for step: judge in the known locations point that obtains above-mentioned information whether have at least three not anchor points of conllinear according to gps coordinate based on the three-point positioning method on the non-electronic map; And step: obtain information from three anchor points of the nearest not conllinear of unknown point according to gps coordinate; Judge 3 whether conllinear adopt judge whether these 3 area vectors are zero, if be zero, three point on a straight line then.
12. as claimed in claim 7ly it is characterized in that, for step: judge according to gps coordinate whether unknown point drops in the triangle that above-mentioned three anchor points form based on the three-point positioning method on the non-electronic map; Judge whether the angle sum of forming between unknown point and three anchor points is 360 °, if be 360 °, then unknown point drops in the triangle that above-mentioned three anchor points form.
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| CN103874193B (en) * | 2012-12-13 | 2018-06-15 | 中国电信股份有限公司 | A kind of method and system of mobile terminal location |
| US10352689B2 (en) * | 2016-01-28 | 2019-07-16 | Symbol Technologies, Llc | Methods and systems for high precision locationing with depth values |
| CN105722217B (en) * | 2016-04-15 | 2019-05-07 | 北京科技大学 | A kind of indoor orientation method based on Wi-Fi |
| CN107861099A (en) * | 2017-11-09 | 2018-03-30 | 特斯联（北京）科技有限公司 | It is a kind of to determine method of the mobile device relative to the position of channel barrier equipment |
| CN108446023B (en) | 2018-03-20 | 2021-02-02 | 京东方科技集团股份有限公司 | Virtual reality feedback device and positioning method, feedback method and positioning system thereof |
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