CN102853793A - Coordinate transformation data processing method and coordinate transformation data processing device - Google Patents

Abstract

The invention discloses a coordinate transformation data processing method and a coordinate transformation data processing device. An original rectangular coordinate system and a target rectangular coordinate system of a coordinate system A for measuring data of a target point are provided with at least three common points which do not stay on the same straight line. The coordinate transformation data processing method comprises following steps of receiving coordinate data in two coordinate systems of the common points, adopting the coordinate data of partial or all common points to construct a regression function by utilizing a least square method, and obtaining an iteration matrix making the regression function obtain a minimal value through iteration; adopting three common points which do not stay on the same straight line to calculate an initial value of coordinate transformation parameters between two coordinate systems; performing the iteration by adopting the calculated initial value of the coordinate transformation parameter as the initial value of the iteration matrix, and obtaining a real coordinate transformation parameter when the required precision is met through the iteration; and obtaining a coordinate of all points of the original rectangular coordinate system in the target rectangular coordinate system by utilizing the obtained real coordinate transformation parameters. Due to the adoption of the method and the device, precision in processing the data is realized, and the efficiency is high.

Description

Coordinate transform data disposal route and device

Technical field

The present invention relates to the data processing field of measurement data, relate in particular to a kind of unified coordinate transform data disposal route and a kind of coordinate transform data treating apparatus of coordinate system of the measurement data for all impact points of fields of measurement.

Background technology

Along with the progress of science and technology, the three-dimensional coordinate of directly accurate measuring target point becomes possibility within the specific limits, and wherein the most representative instrument is exactly laser tracker.

Take laser tracker as example, when doing large-range measuring, can't survey complete having a few at an erect-position, so just need to move instrument, finish the measurement of having a few at a plurality of different erect-positions.What instrument used when each erect-position is measured is local coordinate, and what finally need to obtain is the coordinate of have a few in same coordinate system, and this adopts certain coordinate transform data disposal route that the measurement data in each coordinate system is processed with regard to needing.

Can only finish the position measurement of part impact point at each station of instrument, set up in this station the mutual alignment relation of the impact point of surveying under instrument coordinates system, and the position that each station is surveyed between the impact point is not unify position relationship.When analyzing and process, raw data need to know the mutual alignment relation of all impact points under a unified coordinate system to measuring.Also namely there is the impact point of duplicate measurements in equitant zone between each survey station, is two common points between the coordinate system.Therefore, just need to be with the data unification in the different coordinates in unified coordinate system when measurement data is processed, the coordinate system that namely faces measurement data is unified problem.

Same needs also occur in the multiple instrument combined measurement.In Practical Project, in order to reach high-precision measurement, often need multiple instrument combined measurement, give full play to the measurement advantage of various instruments.For example GPS is fit to do large-scale measurement, and total powerstation is fit to do the measurement of middle distance, and laser tracker is fit to do in-plant measurement.They all have the measurement advantage that other instruments can't replace in measurement range separately.But instrument not of the same race has coordinate system separately, and the data of surveying can't be unified, and namely faces the unified problem of coordinate system of measurement data.

In addition, when being used for determining the position of impact point in engineering or the experiment, face too the unified problem of coordinate of measurement data.Often need to adjust to pre-designed position to a certain equipment in engineering or experiment, whether correct foundation in place is exactly whether the impact point that we are concerned about on this equipment has arrived the precalculated position to equipment.The actual conditions often impact point on this equipment can't monitor after device assembles is good at all, just need to lay some reference point in the position that device external can monitor in advance for this situation, model plays these reference point and the position relationship of impact point in device coordinate system, then measures these reference point when the equipment of adjustment.This moment, these reference point were exactly the common point between device coordinate system and the instrument coordinates system.Also having a kind of very common situation is to need adjustment equipment to make the reference point on the equipment arrive pre-designed position in the specified coordinate system.The monitoring of equipment reference point locations realizes by instrument, and the reference point on the instrument monitoring equipment is carried out under instrument coordinates system, just need to be transformed into instrument coordinates system the coordinate system of this appointment this moment.We can lay some reference mark in advance in this specified coordinate system, use the coordinate system that this algorithm just can be transformed into this appointment behind these reference mark of apparatus measures, then just can realize the purpose of monitoring equipment reference point in specified coordinate system.

Summary of the invention

For problems of the prior art, a kind of data are accurate and efficient is high is used for the unified coordinate data processing method of coordinate system of the impact point measurement data of fields of measurement in order to provide for purpose of the present invention, can not carry out quickly and accurately the unified technical matters of coordinate system of impact point measurement data with the coordinate data processing method that solves prior art.

Another object of the present invention is for providing the coordinate data that a kind of data are accurate and efficient is high treating apparatus.

For achieving the above object, technical scheme of the present invention is as follows:

A kind of coordinate transform data disposal route, be used for coordinate data conversion process with former rectangular coordinate system and be the data in the target rectangular coordinate system, described former rectangular coordinate system and described target rectangular coordinate system have the not common point on the same straight line more than at least three, described coordinate transform data disposal route comprises: step S1: the coordinate data in described former rectangular coordinate system and these two coordinate systems of described target rectangular coordinate system that receives described common point, described coordinate data with part or all of described common point is constructed regression function with least square method, and draws by iteration and make described regression function obtain the Iterative Matrix of minimum value solution; Step S2: with not calculating coordinate conversion parameter initial value between described former rectangular coordinate system and described target rectangular coordinate system at three common points on the same straight line; Step S3: the described coordinate conversion parameter initial value that calculates with described step S1 carries out iteration as the initial value of described Iterative Matrix, and iteration obtains the actual coordinate transformation parameter when satisfying desired precision; Step S4: the actual coordinate transformation parameter that obtains with step S3 obtains the coordinate of have a few in described target rectangular coordinate system of described former rectangular coordinate system.

A kind of coordinate transform data treating apparatus, be used for coordinate data conversion process with former rectangular coordinate system and be the data in the target rectangular coordinate system, described former rectangular coordinate system and described target rectangular coordinate system have the not common point on the same straight line more than at least three, described coordinate transform data treating apparatus comprises: constructing module, in order to receive the coordinate data in former rectangular coordinate system and these two coordinate systems of target rectangular coordinate system of common point, described coordinate data with part or all of described common point is constructed regression function with least square method, and draws by iteration and make regression function obtain the Iterative Matrix of minimum value solution; Initial value module: be used for not calculating coordinate conversion parameter initial value between former rectangular coordinate system and target rectangular coordinate system at three common points on the same straight line; Iteration module: the described coordinate conversion parameter initial value that calculates with described initial value module carries out iteration as the initial value of the described Iterative Matrix that described constructing module obtains, and iteration obtains the actual coordinate transformation parameter when satisfying desired precision; Conversion module: the actual coordinate transformation parameter that obtains with described iteration module obtains the coordinate of have a few in the target rectangular coordinate system of former rectangular coordinate system.

Beneficial effect of the present invention is, coordinate transform data disposal route of the present invention and device, calculate the initial value of Iterative Matrix by choosing not three common points on the same straight line in the impact point, it also is the initial value of six parameters of transformation matrix of coordinates, make iteration function obtain minimum value in global scope, to reach the purpose of data fitting, the present invention has high precision and high efficiency characteristics in coordinate transform data is processed.Accuracy and the high efficiency of utilizing a large amount of measured datas and Lay Ka, FARO tracker Survey Software to compare and all verified coordinate transform data disposal route of the present invention.

Description of drawings

Fig. 1 is the process flow diagram of initial value obtaining step in the coordinate transform data disposal route of the embodiment of the invention.

Fig. 2 is the modular structure schematic diagram of the coordinate transform data treating apparatus of the embodiment of the invention.

Embodiment

The exemplary embodiments that embodies feature ﹠ benefits of the present invention will be described in detail in the following description.Be understood that the present invention can have at different embodiment various variations, its neither departing from the scope of the present invention, and explanation wherein and accompanying drawing be when the usefulness that explain in itself, but not in order to limit the present invention.

The below specifically introduces coordinate transform data disposal route and the device of the preferred embodiment of the present invention take the measurement data of a plurality of different erect-positions of processing surveying instrument as example, and surveying instrument for example is laser tracker.

The coordinate transform data disposal route of the embodiment of the invention, it mainly comprises following three steps:

Step S1: the coordinate data in described former rectangular coordinate system and these two coordinate systems of described target rectangular coordinate system that receives described common point, described coordinate data with part or all of described common point is constructed regression function with least square method, and draws by iteration and make described regression function obtain the Iterative Matrix of minimum value solution;

Step S2: with not calculating coordinate conversion parameter initial value between described former rectangular coordinate system and described target rectangular coordinate system at three common points on the same straight line;

Step S3: the described coordinate conversion parameter initial value that calculates with described step S1 carries out iteration as the initial value of described Iterative Matrix, and iteration obtains the actual coordinate transformation parameter when satisfying desired precision;

Step S4: the actual coordinate transformation parameter that obtains with step S3 obtains the coordinate of have a few in described target rectangular coordinate system of described former rectangular coordinate system.

In coordinate data to be processed when being surveying instrument from measurement data that a plurality of erect-positions gather, the described measurement data of each described erect-position is based on a rectangular coordinate system of erect-position separately, the rectangular coordinate of selecting one of them erect-position is the target rectangular coordinate system, with the described measurement data of all the other erect-positions successively through above-mentioned steps S1, step S2, step S3 and step S4, can draw the coordinate of have a few in described target rectangular coordinate system of each erect-position, then gather and namely get the coordinate of each erect-position have a few in the target rectangular coordinate system.

That is to say, the measurement data of a plurality of different erect-positions of surveying instrument to be dealt with, the rectangular coordinate of selecting one of them erect-position is target-based coordinate system, and the measurement data of other erect-positions all is converted to coordinate in chosen target-based coordinate system, processes to finish the coordinate conversion data.

Coordinate transform for the measurement data of each erect-position, be configured to obtain by the regression function of each former coordinate system to same target-based coordinate system coordinate conversion parameter with this erect-position and the part or all of common point that is chosen to be the erect-position of target rectangular coordinate system, building method is as follows:

According to the least square ratio juris, according to known rectangular coordinate system coordinate transform formula, be coordinate system rotation, translation formula, above-mentioned match need to obtain six parameters of coordinate transform: namely around anglec of rotation jx, the jy of X, Y, Z axis, jz with along translation distance kx, ky, the kz of X, Y, Z axis.

The below is the bright solved function that how to obtain for instance.

Be provided with one group of spatial point, their coordinates in two rectangular coordinate system in space are respectively:

In first (target) rectangular coordinate system:

A1 (a1x, a1y, a1z), a2 (a2x, a2y, a2z) ..., an (anx, any, anz); A1, a2, an are the sign of spatial point, and aix, aiy, aiz are respectively x, y, the z coordinate (i=1 of an ai ... n).

In second (former) rectangular coordinate system:

B1 (b1x, b1y, b1z), b2 (b2x, b2y, b2z) ..., bn (bnx, bny, bnz); Equally, b1, b2, bn are the sign of spatial point, and bix, biy, biz are respectively x, y, the z coordinate (i=1 of a b1 ... n).

Now with bi to ai(i=1 ... n) match.

The coordinate system rotation translation formula is as follows:

$M=\left[\begin{array}{cccc}\cos \left(\mathrm{jz}\right)*\cos \left(\mathrm{jy}\right)& \cos \left(\mathrm{jz}\right)*\sin \left(\mathrm{jy}\right)*\sin \left(\mathrm{jx}\right)-\sin \left(\mathrm{jz}\right)*\cos \left(\mathrm{jx}\right)& \cos \left(\mathrm{jz}\right)*\sin \left(\mathrm{jy}\right)*\cos \left(\mathrm{jx}\right)+\sin \left(\mathrm{jz}\right)*\sin \left(\mathrm{jx}\right)& \mathrm{kx}\\ \sin \left(\mathrm{jz}\right)*\cos \left(\mathrm{jy}\right)& \sin \left(\mathrm{jz}\right)*\sin \left(\mathrm{jy}\right)*\sin \left(\mathrm{jx}\right)+\cos \left(\mathrm{jz}\right)*\cos \left(\mathrm{jz}\right)& \sin \left(\mathrm{jz}\right)*\sin \left(\mathrm{jy}\right)*\cos \left(\mathrm{jx}\right)-\cos \left(\mathrm{jz}\right)*\sin \left(\mathrm{jx}\right)& \mathrm{ky}\\ -\sin \left(\mathrm{jy}\right)& \cos \left(\mathrm{jy}\right)*\sin \left(\mathrm{jx}\right)& \cos \left(\mathrm{jy}\right)*\cos \left(\mathrm{jx}\right)& \mathrm{kz}\end{array}\right]---\left(1\right)$

Wherein jx, jy, jz are respectively the corners around X, Y, Z coordinate axis, and kx, ky, kz are that coordinate origin is along X, Y, Z translation of axes amount.

For a bi, it satisfies following formula through the coordinate figure after the coordinate transform:

${\mathrm{bi}}^{\′}\left[\begin{array}{c}{\mathrm{bi}}^{\′}x\\ {\mathrm{bi}}^{\′y}\\ {\mathrm{bi}}^{\′}z\end{array}\right]=M*\left[\begin{array}{c}\mathrm{bix}\\ \mathrm{biy}\\ \mathrm{biz}\\ 1\end{array}\right]=$

$\left[\begin{array}{c}\cos \left(\mathrm{jz}\right)*\cos \left(\mathrm{jy}\right)*\mathrm{bix}+(\cos \left(\mathrm{jz}\right)*\sin \left(\mathrm{jy}\right)*\sin \left(\mathrm{jx}\right)-\sin \left(\mathrm{jz}\right)*\cos \left(\mathrm{jx}\right))*\mathrm{biy}+(\cos \left(\mathrm{jz}\right)*\sin \left(\mathrm{jy}\right)*\cos \left(\mathrm{jx}\right)+\sin \left(\mathrm{jz}\right)*\sin \left(\mathrm{jx}\right))*\mathrm{biz}+\mathrm{kx}\\ \sin \left(\mathrm{jz}\right)*\cos \left(\mathrm{jy}\right)*\mathrm{bix}+(\sin \left(\mathrm{jz}\right)*\sin \left(\mathrm{jy}\right)*\sin \left(\mathrm{jx}\right)+\cos \left(\mathrm{jz}\right)*\cos \left(\mathrm{jx}\right))*\mathrm{biy}+(\sin \left(\mathrm{jz}\right)*\sin \left(\mathrm{jy}\right)*\cos \left(\mathrm{jx}\right)-\cos \left(\mathrm{jz}\right)*\sin \left(\mathrm{jx}\right))*\mathrm{biz}+\mathrm{ky}\\ -\sin \left(\mathrm{jy}\right)*\mathrm{bix}+\cos \left(\mathrm{jy}\right)*\sin \left(\mathrm{jx}\right)*\mathrm{biy}+\cos \left(\mathrm{jy}\right)*\cos \left(\mathrm{jx}\right)*\mathrm{biz}+\mathrm{kz}\end{array}\right]---\left(2\right)$

Make di equal the difference of ai and bi '

$\mathrm{di}=\left[\begin{array}{c}\mathrm{dix}\\ \mathrm{diy}\\ \mathrm{diz}\end{array}\right]=\left[\begin{array}{c}\mathrm{aix}-{\mathrm{bi}}^{\′}x\\ \mathrm{aiy}-{\mathrm{bi}}^{\′}y\\ \mathrm{aiz}-{\mathrm{bi}}^{\′}z\end{array}\right]---\left(3\right)$

We wish bi(i=1 ... n) should as far as possible near ai, because more near ai, show that the coordinate transform formula of constructing is more accurate through the coordinate figure after the coordinate transform.With least square method constructed fuction F (jx, jy, jz, kx, ky, kz):

$F=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}(\mathrm{dix}^2+\mathrm{diy}^2+\mathrm{diz}^2)---\left(4\right)$

Problem has just become and has asked jx, j y, jz, kx, ky, the kz that makes function F (jx, jy, jz, kx, ky, kz) obtain minimum value like this.

At first make function F that variable jx, j y, jz, kx, ky, kz are got respectively the single order partial derivative for minimizing, set up system of equations (5):

$\left\{\begin{array}{c}\frac{\∂F}{\∂\mathrm{jx}}=0\\ \frac{\∂F}{\∂\mathrm{jy}}=0\\ \frac{\∂F}{\∂\mathrm{jz}}=0\\ \frac{\∂F}{\mathrm{kk}}=0\\ \frac{\∂F}{\∂\mathrm{ky}}=0\\ \frac{\∂F}{\∂\mathrm{kz}}=0\end{array}\right.---\left(5\right)$

Because system of equations (5) is Nonlinear System of Equations, can use iterative algorithm to find the solution, here take Newton method as example.

Order $f1(\mathrm{jx},\mathrm{jy},\mathrm{jz},\mathrm{kx},\mathrm{ky},\mathrm{kz})=\frac{\∂F}{\∂\mathrm{jx}}$

$f2(\mathrm{jx},\mathrm{jy},\mathrm{jz},\mathrm{kx},\mathrm{ky},\mathrm{kz})=\frac{\∂F}{\∂\mathrm{jy}}$

$f3(\mathrm{jx},\mathrm{jy},\mathrm{jz},\mathrm{kx},\mathrm{ky},\mathrm{kz})=\frac{\∂F}{\∂\mathrm{jz}}$

$f4(\mathrm{jx},\mathrm{jy},\mathrm{jz},\mathrm{kx},\mathrm{ky},\mathrm{kz})=\frac{\∂F}{\∂\mathrm{kx}}$

$f5(\mathrm{jx},\mathrm{jy},\mathrm{jz},\mathrm{kx},\mathrm{ky},\mathrm{kz})=\frac{\∂F}{\∂\mathrm{ky}}$

$f6(\mathrm{jx},\mathrm{jy},\mathrm{jz},\mathrm{kx},\mathrm{ky},\mathrm{kz})=\frac{\∂F}{\∂\mathrm{kz}}$

If simply set one group of initial value: jx0, jy0, jz0, kx0, ky0, kz0 bring system of equations (5) into and obtain

$\left\{\begin{array}{c}f1(\mathrm{jx}0,\mathrm{jy}0,\mathrm{jz}0,\mathrm{kx}0,\mathrm{ky}0,\mathrm{kz}0)=k10\\ f2(\mathrm{jx}0,\mathrm{jy}0,\mathrm{jz}0,\mathrm{kx}0,\mathrm{ky}0,\mathrm{kz}0)=k20\\ f3(\mathrm{jx}0,\mathrm{jy}0,\mathrm{jz}0,\mathrm{kx}0,\mathrm{ky}0,\mathrm{kz}0)=k30\\ f4(\mathrm{jx}0,\mathrm{jy}0,\mathrm{jz}0,\mathrm{kx}0,\mathrm{ky}0,\mathrm{kz}0)=k40\\ f5(\mathrm{jx}0,\mathrm{jy}0,\mathrm{jz}0,\mathrm{kx}0,\mathrm{ky}0,\mathrm{kz}0)=k50\\ f6(\mathrm{jx}0,\mathrm{jy}0,\mathrm{jz}0,\mathrm{kx}0,\mathrm{ky}0,\mathrm{kz}0)=k60\end{array}\right.---\left(6\right)$

Make ki=fi (jx, jy, jz, kx, ky, kz) (i=1 ... 6); Then have:

$\left\{\begin{array}{c}k1-k10=\frac{\∂f1}{\∂\mathrm{jx}}(\mathrm{jx}-\mathrm{jx}0)+\frac{\∂f1}{\∂\mathrm{jy}}(\mathrm{jy}-\mathrm{jy}0)+\frac{\∂f1}{\∂\mathrm{jz}}(\mathrm{jz}-\mathrm{jz}0)+\frac{\∂f1}{\∂\mathrm{kx}}(\mathrm{kx}-\mathrm{kx}0)+\frac{\∂f1}{\∂\mathrm{ky}}(\mathrm{ky}-\mathrm{ky}0)+\frac{\∂f1}{\∂\mathrm{kz}}(\mathrm{kz}-\mathrm{kz}0)\\ k2-k20=\frac{\∂f2}{\∂\mathrm{jx}}(\mathrm{jx}-\mathrm{jx}0)+\frac{\∂f2}{\∂\mathrm{jy}}(\mathrm{jy}-\mathrm{jy}0)+\frac{\∂f2}{\∂\mathrm{jz}}(\mathrm{jz}-\mathrm{jz}0)+\frac{\∂f2}{\∂\mathrm{kx}}(\mathrm{kx}-\mathrm{kx}0)+\frac{\∂f2}{\∂\mathrm{ky}}(\mathrm{ky}-\mathrm{ky}0)+\frac{\∂f2}{\∂\mathrm{kz}}(\mathrm{kz}-\mathrm{kz}0)\\ k3-k30=\frac{\∂f3}{\∂\mathrm{jx}}(\mathrm{jx}-\mathrm{jx}0)+\frac{\∂f3}{\∂\mathrm{jy}}(\mathrm{jy}-\mathrm{jy}0)+\frac{\∂f3}{\∂\mathrm{jz}}(\mathrm{jz}-\mathrm{jz}0)+\frac{\∂f3}{\∂\mathrm{kx}}(\mathrm{kx}-\mathrm{kx}0)+\frac{\∂f3}{\∂\mathrm{ky}}(\mathrm{ky}-\mathrm{ky}0)+\frac{\∂f3}{\∂\mathrm{kz}}(\mathrm{kz}-\mathrm{kz}0)\\ k4-k40=\frac{\∂f4}{\∂\mathrm{jx}}(\mathrm{jx}-\mathrm{jx}0)+\frac{\∂f4}{\∂\mathrm{jy}}(\mathrm{jy}-\mathrm{jy}0)+\frac{\∂f4}{\∂\mathrm{jz}}(\mathrm{jz}-\mathrm{jz}0)+\frac{\∂f4}{\∂\mathrm{kx}}(\mathrm{kx}-\mathrm{kx}0)+\frac{\∂f4}{\∂\mathrm{ky}}(\mathrm{ky}-\mathrm{ky}0)+\frac{\∂f4}{\∂\mathrm{kz}}(\mathrm{kz}-\mathrm{kz}0)\\ k5-k50=\frac{\∂f5}{\∂\mathrm{jx}}(\mathrm{jx}-\mathrm{jx}0)+\frac{\∂f5}{\∂\mathrm{jy}}(\mathrm{jy}-\mathrm{jy}0)+\frac{\∂f5}{\∂\mathrm{jz}}(\mathrm{jz}-\mathrm{jz}0)+\frac{\∂f5}{\∂\mathrm{kx}}(\mathrm{kx}-\mathrm{kx}0)+\frac{\∂f5}{\∂\mathrm{ky}}(\mathrm{ky}-\mathrm{ky}0)+\frac{\∂f5}{\∂\mathrm{kz}}(\mathrm{kz}-\mathrm{kz}0)\\ k6-k60=\frac{\∂f6}{\∂\mathrm{jx}}(\mathrm{jx}-\mathrm{jx}0)+\frac{\∂f6}{\∂\mathrm{jy}}(\mathrm{jy}-\mathrm{jy}0)+\frac{\∂f6}{\∂\mathrm{fz}}(\mathrm{jz}-\mathrm{jz}0)+\frac{\∂f6}{\∂\mathrm{kx}}(\mathrm{kx}-\mathrm{kx}0)+\frac{\∂f6}{\∂\mathrm{kx}}(\mathrm{kx}-\mathrm{kx}0)+\frac{\∂f6}{\∂\mathrm{kz}}(\mathrm{kz}-\mathrm{kz}0)\end{array}\right.---\left(7\right)$

Make Δ ki=ki-ki0(i=1 ... 6), Δ jx=jx-jx0, Δ jy=jy-jy0, Δ jz=jz-jz0, Δ kx=kx-kx0, Δ ky=ky-ky0, Δ kz=kz-kz0

Write as matrix form:

$\left[\begin{array}{c}\mathrm{\Δk}1\\ \mathrm{\Δk}2\\ \mathrm{\Δk}3\\ \mathrm{\Δk}4\\ \mathrm{\Δk}5\\ \mathrm{\Δk}6\end{array}\right]=\left[\begin{array}{cccccc}\frac{\∂f1}{\∂\mathrm{jx}}& \frac{\∂f1}{\∂\mathrm{jy}}& \frac{\∂f1}{\∂\mathrm{jz}}& \frac{\∂f1}{\∂\mathrm{kx}}& \frac{\∂f1}{\∂\mathrm{ky}}& \frac{\∂f1}{\∂\mathrm{kz}}\\ \frac{\∂f2}{\∂\mathrm{jx}}& \frac{\∂f2}{\∂\mathrm{jy}}& \frac{\∂f2}{\∂\mathrm{jz}}& \frac{\∂f2}{\∂\mathrm{kx}}& \frac{\∂f2}{\∂\mathrm{ky}}& \frac{\∂f2}{\∂\mathrm{kz}}\\ \frac{\∂f3}{\∂\mathrm{jx}}& \frac{\∂f3}{\∂\mathrm{jy}}& \frac{\∂f3}{\∂\mathrm{jz}}& \frac{\∂f3}{\∂\mathrm{kx}}& \frac{\∂f3}{\∂\mathrm{ky}}& \frac{\∂f3}{\∂\mathrm{kz}}\\ \frac{\∂f4}{\∂\mathrm{jx}}& \frac{\∂f4}{\∂\mathrm{jy}}& \frac{\∂f4}{\∂\mathrm{jz}}& \frac{\∂f4}{\∂\mathrm{kx}}& \frac{\∂f4}{\∂\mathrm{ky}}& \frac{\∂f4}{\∂\mathrm{kz}}\\ \frac{\∂f5}{\∂\mathrm{jx}}& \frac{\∂f5}{\∂\mathrm{jy}}& \frac{\∂f5}{\∂\mathrm{jz}}& \frac{\∂f5}{\∂\mathrm{kx}}& \frac{\∂f5}{\∂\mathrm{ky}}& \frac{\∂f5}{\∂\mathrm{kz}}\\ \frac{\∂f6}{\∂\mathrm{jx}}& \frac{\∂f6}{\∂\mathrm{jy}}& \frac{\∂f6}{\∂\mathrm{jz}}& \frac{\∂f6}{\∂\mathrm{kx}}& \frac{\∂f6}{\∂\mathrm{ky}}& \frac{\∂f6}{\∂\mathrm{kz}}\end{array}\right]*\left[\begin{array}{c}\mathrm{\Δjx}\\ \mathrm{\Δjy}\\ \mathrm{\Δjz}\\ \mathrm{\Δkx}\\ \mathrm{\Δky}\\ \mathrm{\Δkz}\end{array}\right]---\left(8\right)$

System of equations (8) is system of linear equations, can adopt the full pivoting elimination method of Gauss to find the solution Δ jx, Δ jy, Δ jz, Δ kx, Δ ky, Δ kz.

With Δ jx, Δ jy, Δ jz, Δ kx, Δ ky, Δ kz initial value is revised, is made initial value:

jx0＝jx0+Δjx；jy0＝jy0+Δjy；jz0＝jz0+Δjz；kx0=kx0+Δkx；ky0=ky0+Δky；kz0=kz0+Δkz；

New initial value substitution formula (8) is continued to find the solution, until Δ ki is less than permissible accuracy, thereby draw the value of six parameters of transformation matrix of coordinates, thereby obtain the coordinate of have a few in same coordinate system of measurement data.

Yet, the precondition of being obtained desired solution by system of equations (5) is to provide one group of suitable initial value for it, obtain the solution of coming if the initial value that provides is improper and can only make function F (jx, jy, jz, kx, ky, kz) in its a certain field of definition, obtain minimal value, but can not make function F obtain minimum value in global scope, like this, carry out the purpose that coordinate transform just is difficult for reaching our data fitting with the solution of system of equations (5).

Therefore, need to provide one group of suitable initial value in the iterative process, just can obtain converging to the solution that makes function F obtain minimum value, thereby carry out fast and accurately.

Below, emphasis describes in detail to the acquisition of iterative initial value among the step S2:

Iterative initial value of the prior art, because therefore the arbitrariness of its value causes it not obtain minimum value in global scope, therefore, the present invention considers to go out to send the more suitable initial value of searching from common point.

Because three points not on same straight line can be determined the locus of a rectangular coordinate system, therefore, the present invention then uses first any three corresponding common points in two groups of data (coordinate of each common point in former rectangular coordinate system and target-based coordinate system), and must be point-blank three common points not, come the parameters in the rough calculation coordinate transform, then with it as initial value substitution Iterative Matrix iterative.

Choose not three points on same straight line, be respectively the first common point, the second common point and the 3rd common point, these three points can be the parts of the common point that the structure regression function is used among the step S1, also can not be the common points that the structure regression function is used among the step S 1.In conversion process, the coordinate of these three common points in the target rectangular coordinate system is a1 (a1x, a1y, a1z), a2 (a2x, a2y, a2z), a3 (a3x, a3y, a3z); The coordinate of these three common points in former rectangular coordinate system is b1 (b1x, b1y, b1z), b2 (b2x, b2y, b2z), b3 (b3x, b3y, b3z).As shown in Figure 1, we divide six parameters of nine step calculating coordinate changes, also namely obtain the iterative initial value of iteration function:

Step S21: the origin translation with these two coordinate systems arrives separately one of them common point place of coordinate system respectively.

For example move to first common point place, the changes in coordinates of these three common points is like this: a1 (0,0,0), a2 (a2x-a1x, a2y-a1y, a2z-a1z), a3 (a3x-a1x, a3y-a1y, a3z-a1z); B1 (0,0,0), b2 (b2x-b 1x, b2y-b1y, b2z-b1z), b3 (b3x-b1x, b3y-b1y, b3z-b1z).

Step S22: in two coordinate systems, utilize three common points separately to set up respectively a plane.

Plane equation is respectively:

(a2y*a3z-a2z*a3y)*x+(a3x*a2z-a2x*a3z)*y+(a2x*a3y-a3x*a2y)*z=0(9)

(b2y*b3z-b2z*b3y)*x+(b3x*b2z-b2x*b3z)*y+(b2x*b3y-b3x*b2y)*z=0(10)

Step S23: around the X-axis anglec of rotation jix (i=1,2) of coordinate system separately, the Y-axis of coordinate system is separately rotated in the plane of 3 foundation, recomputate the coordinate figure of the second common point and the 3rd common point after the rotation.

Wherein, anglec of rotation jix acquiring method is as follows:

Obtain separately the YZ plane of coordinate system and the intersection on 3 planes:

(a3x*a2z-a2x*a3z)*y+(a2x*a3y-a3x*a2y)*z=0；(11)

(b3x*b2z-b2x*b3z)*y+(b2x*b3y-b3x*b2y)*z=0；(12)

Obtain the separately angle jix (i=1,2) of Y-axis and this intersection.

Step S24: use the method identical with step S23 around the Y-axis anglec of rotation jiy (i=1,2) of coordinate system separately, X-axis is rotated in the plane that three common points set up, recomputate the coordinate figure of the second common point and the 3rd common point after the rotation.

Step S25: on the Z axis anglec of rotation jiz (i=1,2) of coordinate system separately rotates to X-axis separately the second common point.Recomputate the coordinate figure of rear the second common point of rotation and the 3rd common point.

Angle jiz can try to achieve by the coordinate figure of current the second common point.

Step S26: judge according to the second common point separately and the coordinate figure of the 3rd common point whether the current attitude of two coordinate systems is consistent, by coordinate system rotation coordinate system 2 to be become consistent with coordinate system 1 as inconsistent, the attitude here is inconsistent, the direction that mainly is the Z axis of two coordinate systems may be opposite, if opposite, the Z axis Rotate 180 degree of one of them coordinate system is got final product, and the below is to describe the Z axis Rotate 180 degree of former coordinate system as example.

Above step S21-step S26 is in fact by translation of axes and rotary manipulation, so that consistent with the attitude of target right angle two coordinate systems by the determined former rectangular coordinate system of described three common points; When carrying out translation and rotary manipulation, so long as it is consistent to reach attitude at last, do not limit the order between translation and the rotation, do not limit the rotation order to each coordinate axis yet.

Step S27: calculate the rotational transform matrix from former coordinate system transformation to target-based coordinate system.

If:

[RiX]: around the rotational transform matrix (i=1,2) of the X-axis of coordinate system i;

[RiY]: around the rotational transform matrix of the Y-axis of coordinate system i;

[RiZ]: around the rotational transform matrix of the Z axis of coordinate system i;

[R2M]: the attitude correction rotational transform matrix of former coordinate system.

Then can calculate from coordinate system 2 and transform to the rotational transform matrix [MZ] of coordinate system 1=[R1X] * [R1Y] * [R1Z] * [R2M] * [R2Z] * [R2Y] * [R2X], wherein the corner in each step is obtained in front the step.

Step S28: calculate from former coordinate system transformation to target-based coordinate system the rotational transform matrix jx, jy, jz.

[MZ] can simplify the following form that is expressed as:

$\mathrm{MZ}=\left[\begin{array}{ccc}{r}_{11}& r_{12}& r_{13}\\ r_{21}& r_{22}& r_{23}\\ r_{31}& r_{32}& r_{33}\end{array}\right]---\left(13\right)$

We know the transformation matrix around three coordinate axis rotations of fixed coordinate system:

$\left[\mathrm{MG}\right]=\left[\begin{array}{ccc}\cos \mathrm{jz}\×\cos \mathrm{jy}& \cos \mathrm{jz}\×\sin \mathrm{jy}\×\sin \mathrm{jx}-\sin \mathrm{jz}\×\cos \mathrm{jx}& \cos \mathrm{jz}\×\sin \mathrm{jy}\×\cos \mathrm{jx}+\sin \mathrm{jz}\×\sin \mathrm{jx}\\ \sin \mathrm{jz}\×\cos \mathrm{jy}& \sin \mathrm{jz}\×\sin \mathrm{jy}\×\sin \mathrm{jx}+\cos \mathrm{jz}\×\cos \mathrm{jx}& \sin \mathrm{jz}\×\sin \mathrm{jy}\×\mathrm{clsjx}-\cos \mathrm{jz}\×\sin \mathrm{jx}\\ -\sin \mathrm{jy}& \cos \mathrm{jy}\×\sin \mathrm{jx}& \cos \mathrm{jy}\×\cos \mathrm{jx}\end{array}\right]---\left(14\right)$

Utilize formula (13), (14) the anti-jx of solving, jy, jz from rotational transform matrix [MZ].

This is one group of transcendental equation, and 3 unknown numbers are arranged, and totally 9 equations wherein have 6 equations not independent, therefore can utilize 3 equations wherein to solve 3 unknown numbers.

Can find out:

$\cos \mathrm{jy}\sqrt{r_{11}^2+r_{21}^2}---\left(15\right)$

If cosjy ≠ 0 then obtains the arc tangent expression formula at each angle:

jx＝Atan2(r ₃₂,r ₃₃)；

$\mathrm{jy}=A\tan 2(-r_{31},\sqrt{r_{11}^2+r_{21}^2});$

jz＝Atan2(r ₂₁,r ₁₁)；

Step S29: calculate translational movement kx, ky, kz from former coordinate system transformation to target-based coordinate system.

Former coordinate system is done rotational transform, makes former coordinate system parallel with original target-based coordinate system, asks at this moment in the former coordinate system position relationship of the first common point, then translational movement in the first common point and target-based coordinate system:

kx＝a1x-b1x；

ky＝a1y-b1y；

kz＝a1z-b1z；

We have just obtained six whole initial values like this, whole six parameters of the transformation matrix of target rectangular coordinate system have also namely been obtained transforming to from former rectangular coordinate system, with these six parameters, as one group of initial value, be brought into system of equations (5) as initial value, obtain the Iterative Matrix (8) based on above-mentioned initial value, carry out iteration, until Δ ki less than permissible accuracy, can obtain the actual coordinate transformation parameter.

Obtain after the actual coordinate transformation parameter, namely can carry out coordinate transform according to coordinate conversion parameter, and then finish the coordinate system unification of impact point measurement data.

The below introduces the coordinate transform data treating apparatus of the embodiment of the invention again.

As shown in Figure 2, the coordinate transform data treating apparatus of the embodiment of the invention, the same coordinate data conversion process that is used for former rectangular coordinate system is the data in the target rectangular coordinate system, and require former rectangular coordinate system and described target rectangular coordinate system to have the not common point on the same straight line more than at least three, described coordinate transform data treating apparatus comprises constructing module, initial value module, iteration module and conversion module.

Constructing module, in order to receive the coordinate data in former rectangular coordinate system and these two coordinate systems of target rectangular coordinate system of common point, described coordinate data with part or all of described common point is constructed regression function with least square method, and draws by iteration and make regression function obtain the Iterative Matrix of minimum value solution; The initial value module is used for not calculating coordinate conversion parameter initial value between former rectangular coordinate system and target rectangular coordinate system at three common points on the same straight line; Iteration module: the described coordinate conversion parameter initial value that calculates with described initial value module carries out iteration as the initial value of the described Iterative Matrix that described constructing module obtains, and iteration obtains the actual coordinate transformation parameter when satisfying desired precision; Conversion module: the actual coordinate transformation parameter that obtains with described iteration module obtains the coordinate of have a few in the target rectangular coordinate system of former rectangular coordinate system.

Preferably, in described iteration module, comprise the authentication unit of verifying described actual coordinate transformation parameter accuracy with the described coordinate data of the described common point of part.In addition, described initial value module can comprise attitude adjustment submodule and calculating sub module, and wherein, attitude is adjusted submodule, be used for by translation of axes and rotary manipulation, so that consistent with the attitude of target right angle two coordinate systems by the determined former rectangular coordinate system of described three common points; And calculating sub module is used for calculating the rotational transform matrix from former coordinate system transformation to target-based coordinate system, and further calculates described coordinate conversion parameter initial value.

From the angle of refinement, the initial value module can comprise nine unit, is respectively: translation unit, be used for choosing not three common points on the same straight line, and the origin translation with described two coordinate systems arrives separately one of them common point place of coordinate system respectively; The unit is set up on the plane, sets up respectively a plane in order to utilize described three common points at described two coordinate systems; The first computing unit is in order to recomputate at the coordinate figure that the Y-axis of coordinate system is separately rotated to two other common point after described plane is set up in the plane of setting up the unit around the X-axis of coordinate system separately; The second computing unit rotates to X-axis the coordinate figure of described two other common point after described plane is set up in the plane of being set up the unit in order to recomputate behind the coordinate figure that calculates described two other common point at the first computing unit with the method identical with described the first computing unit around the Y-axis of coordinate system separately; The 3rd computing unit is in order to recomputate the coordinate figure of described two other common point after the Z axis of coordinate system separately rotates to X-axis one of separately described two other common point behind the coordinate figure that calculates described two other common point at the second computing unit; The attitude adjustment unit, in order to judging according to the coordinate figure of described two other common point whether the current attitude of described two coordinate systems consistent behind the coordinate figure that calculates described two other common point at the 3rd computing unit, as inconsistent then make by the Z axis that rotates one of them coordinate system as described in the attitude of two coordinate systems consistent; The 4th computing unit is in order to calculate the rotational transform matrix that transforms to the target rectangular coordinate system from former rectangular coordinate system; The 5th computing unit, in order to calculate from former rectangular coordinate system transform to the target rectangular coordinate system the rotational transform matrix each rotation parameter; The 6th computing unit is in order to calculate the translation parameters that transforms to the target rectangular coordinate system from former rectangular coordinate system.

The coordinate transform data treating apparatus of the embodiment of the invention, also can comprise and select module and summarizing module, for the treatment of the measurement data of surveying instrument from a plurality of erect-positions collections, the described measurement data of each described erect-position is based on a rectangular coordinate system of erect-position separately, it is the target rectangular coordinate system that described selection module is selected the rectangular coordinate of one of them erect-position, with the described measurement data of all the other erect-positions through described constructing module, described initial value module, described iteration module and described conversion module, the described summarizing module that is connected by described conversion module output terminal draws the coordinate of have a few in described target rectangular coordinate system of each erect-position.

Coordinate transform data disposal route and the device of the embodiment of the invention, utilize a large amount of measured datas and Lay Ka, FARO tracker Survey Software to compare, all verified accuracy and the high efficiency of coordinate transform data disposal route of the present invention, the below lifts one group of representational data declaration:

The point that one group of space distribution is arranged, wherein P1-P11 is for participating in the common point of match, and M1-M8 is the common point that carries out the data accuracy checking, and their coordinates in the target rectangular coordinate system are as shown in table 1:

Table 1

Point identification	X	Y	Z
				P1	1816.1716	-2191.3525	3005.5751
P2	1813.7387	-2189.4396	2934.1564
				P3	1814.056	-2260.0048	2927.3241
P4	1377.6407	-2191.0715	2987.4365
				P5	978.0035	-2261.187	2910.2497
P6	1940.7238	-2191.02	2983.943
				P7	1660.9106	-2191.4248	3009.215
P8	1660.5513	-2188.8867	2923.074
				P9	1661.7163	-2259.5642	2916.1043
P10	1513.9315	-2259.6447	2912.1118
				P11	1243.1777	-2191.0945	2987.0547
M1	1478.3761	-2257.8882	3014.2295
				M2	1432.6217	-2257.9923	3017.7572
M3	1434.1124	-2258.5225	3035.8522
				M4	1479.6889	-2258.4188	3032.3254
M5	1412.2861	-2260.4429	3031.4108
				M6	1396.428	-2260.3072	3027.4152
M7	1400.0576	-2261.0156	3050.8963
				M8	1414.0208	-2260.7404	3042.2607

Their coordinates in former rectangular coordinate system are as shown in table 2:

Table 2

Point identification	X	Y	Z
				P1	324.28122	12988.851	-1799.2815
P2	392.00748	12978.787	-1778.737
				P3	403.38715	13047.491	-1765.4518
P4	221.57278	12923.802	-1377.5492
				P5	190.89428	12927.087	-965.68525
P6	379.12206	13003.982	-1912.1745
				P7	278.27544	12967.093	-1652.5528
P8	360.65256	12955.096	-1630.261
				P9	372.40376	13024.017	-1617.7275
P10	335.76861	13002.5	-1476.1252
				P11	185.11783	12904.533	-1249.5642
M1	227.93949	13006.884	-1469.1289
				M2	212.03197	13000.823	-1426.5127
M3	195.11505	13003.543	-1432.5418
				M4	210.97294	13009.579	-1474.989
M5	193.52799	13001.82	-1410.3087
				M6	193.00955	12998.978	-1394.2116
M7	171.52278	13002.77	-1403.6441
				M8	183.6133	13003.551	-1414.7269

The difference of two cover coordinates is as shown in table 3:

Table 3

Point identification	△X	△Y	△Z
				P1	1491.8904	-15180.203	4804.8566
P2	1421.7312	-15168.226	4712.8934
				P3	1410.6689	-15307.495	4692.7759
P4	1156.0679	-15114.874	4364.9858
				P5	787.10922	-15188.274	3875.9349

P6	1561.6017	-15195.002	4896.1175
				P7	1382.6352	-15158.518	4661.7678
P8	1299.8987	-15143.983	4553.335
				P9	1289.3125	-15283.581	4533.8317
P10	1178.1629	-15262.145	4388.237
				P11	1058.0599	-15095.627	4236.6189
M1	1250.4366	-15264.772	4483.3583
				M2	1220.5897	-15258.816	4444.27
M3	1238.9974	-15262.066	4468.394
				M4	1268.716	-15267.998	4507.3144
M5	1218.7581	-15262.263	4441.7195
				M6	1203.4185	-15259.285	4421.6269
M7	1228.5348	-15263.786	4454.5404
				M8	1230.4075	-15264.291	4456.9877

Point in the former rectangular coordinate system is changed in the target rectangular coordinate system, got common point P1 ~ P11 and do match, the result of transformation result and common point M1-M8 is as shown in table 4:

Table 4

Point identification	X	Y	Z
				P1	1816.1716	-2191.3525	3005.5751
P2	1813.7387	-2189.4396	2934.1564
				P3	1814.056	-2260.0048	2927.3241
P4	1377.6407	-2191.0715	2987.4365
				P5	978.0035	-2261.187	2910.2497
P6	1940.7238	-2191.02	2983.943
				P7	1660.9106	-2191.4248	3009.215
P8	1660.5513	-2188.8867	2923.074
				P9	1661.7163	-2259.5642	2916.1043
P10	1513.9315	-2259.6447	2912.1118
				P11	1243.1777	-2191.0945	2987.0547

M1	1478.3761	-2257.8882	3014.2295
				M2	1432.6217	-2257.9923	3017.7572
M3	1434.1124	-2258.5225	3035.8522
				M4	1479.6889	-2258.4188	3032.3254
M5	1412.2861	-2260.4429	3031.4108
				M6	1396.428	-2260.3072	3027.4152
M7	1400.0576	-2261.0156	3050.8963
				M8	1414.0208	-2260.7404	3042.2607

Six drawn parameters of coordinate transform data disposal route through the embodiment of the invention are:

The angle of rotating around X, the Y of former coordinate system, Z axis is (radian):

RX 2.7420 RY 1.2850 RZ -0.2404

True origin along the distance that X, Y, Z axis move is:

X -1843.3988 Y 10305.0729 Z 1424.5272

Utilize the difference of coordinate after above-mentioned six parameters conversion and the coordinate of the described common point of table 2 in target-based coordinate system as shown in table 5:

Table 5

Call the roll	△X	△Y	△Z
				P1	0	0	0
P2	0	0	0
				P3	0	0	0
P4	0	0	0
				P5	0	0	0
P6	0	0	0
				P7	0	0	0
P8	0	0	0
				P9	0	0	0
P10	-0.000001	0	0
				P11	0	0	0
M1	0	0.000001	0

M2	0	0	0
				M3	0	0	0
M4	0	0	0
				M5	0	0.000001	0
M6	0	0	0
				M7	0	0.000001	0
M8	0	0	0

The data of table 5 show, coordinate transform data disposal route of the present invention and device have higher accuracy, and the time of iteration convergence has also shortened, and have therefore improved the efficient of coordinate transform data processing.

Those skilled in the art should recognize change and the retouching of doing in the situation that does not break away from the scope and spirit of the present invention that the appended claim of the present invention discloses, all belong within the protection domain of claim of the present invention.

Claims (10)

1. coordinate transform data disposal route, the coordinate system that is used for the impact point measurement data is unified, former rectangular coordinate system and target rectangular coordinate system have the not common point on the same straight line more than at least three, it is characterized in that, described coordinate transform data disposal route comprises:

Step S1: the coordinate data in described former rectangular coordinate system and these two coordinate systems of described target rectangular coordinate system that receives described common point, described coordinate data with part or all of described common point obtains regression function, and draws by iteration and make described regression function obtain the Iterative Matrix of minimum value;

Step S2: with not obtaining coordinate conversion parameter initial value between described former rectangular coordinate system and described target rectangular coordinate system at three common points on the same straight line;

Step S3: the described coordinate conversion parameter initial value that calculates with described step S1 carries out iteration as the initial value of described Iterative Matrix, and iteration obtains the actual coordinate transformation parameter when satisfying desired precision;

Step S4: the actual coordinate transformation parameter that obtains with step S3 obtains the coordinate of have a few in described target rectangular coordinate system of described former rectangular coordinate system.

2. coordinate transform data disposal route as claimed in claim 1 is characterized in that, in step S3, comprises the step of verifying described actual coordinate transformation parameter accuracy with the described coordinate data of the described common point of part.

3. coordinate transform data disposal route as claimed in claim 2 is characterized in that, described usefulness does not comprise in the step that three common points on the same straight line calculate the coordinate conversion parameter initial value between former rectangular coordinate system and target rectangular coordinate system:

By translation of axes and rotary manipulation, so that by the determined described former rectangular coordinate system of described three common points step consistent with the attitude of described target rectangular coordinate system; And

Acquisition transforms to the rotational transform matrix of described target rectangular coordinate system from described former rectangular coordinate system, and further obtains the step of described coordinate conversion parameter initial value.

4. coordinate transform data disposal route as claimed in claim 2 is characterized in that, described step S2 can be refined as:

Step S21: choose not three common points on the same straight line, the origin translation with described two coordinate systems arrives the separately same common point place of coordinate system respectively;

Step S22: utilize described three common points to set up respectively a plane at described two coordinate systems;

Step S23: around the X-axis of coordinate system separately the Y-axis of coordinate system is separately rotated in the described plane, recomputate the coordinate figure of postrotational two other common point;

Step S24: use the method identical with step S23 around the Y-axis of coordinate system separately X-axis to be rotated in the described plane, regain the coordinate figure of postrotational described two other common point;

Step S25: X-axis is rotated to one of described two other common point separately around the Z axis of coordinate system separately, regain the coordinate figure of postrotational described two other common point;

Step S26: judge according to the coordinate figure of described two other common point whether the current attitude of described two coordinate systems consistent, as inconsistent then make by the Z axis that rotates one of them coordinate system as described in the attitude of two coordinate systems consistent;

Step S27: obtain the described rotational transform matrix that transforms to described target rectangular coordinate system from former rectangular coordinate system;

Step S28: obtain from described former rectangular coordinate system transform to described target rectangular coordinate system the rotational transform matrix each rotation parameter;

Step S29: the translation parameters that obtains to transform to from described former rectangular coordinate system described target rectangular coordinate system.

5. coordinate transform data disposal route as claimed in claim 1, it is characterized in that, described coordinate data is the measurement data that surveying instrument gathers from a plurality of erect-positions, the described measurement data of each described erect-position is based on a rectangular coordinate system of erect-position separately, the rectangular coordinate of selecting one of them erect-position is the target rectangular coordinate system, the described measurement data of all the other erect-positions successively through described step S1, step S2, step S3 and step S4, is drawn the coordinate of have a few in described target rectangular coordinate system of each erect-position.

6. coordinate transform data treating apparatus, the coordinate system that is used for measurement data is unified, former rectangular coordinate system and target rectangular coordinate system have the not common point on the same straight line more than at least three, it is characterized in that, described coordinate transform data treating apparatus comprises:

Constructing module, in order to receive the coordinate data in former rectangular coordinate system and these two coordinate systems of target rectangular coordinate system of common point, described coordinate data with part or all of described common point is constructed regression function with least square method, and draws by iteration and make regression function obtain the Iterative Matrix of minimum value solution;

Initial value module: be used for not obtaining coordinate conversion parameter initial value between former rectangular coordinate system and target rectangular coordinate system at three common points on the same straight line;

Iteration module: the described coordinate conversion parameter initial value that obtains with described initial value module carries out iteration as the initial value of the described Iterative Matrix that described constructing module obtains, and iteration obtains the actual coordinate transformation parameter when satisfying desired precision;

Conversion module: the actual coordinate transformation parameter that obtains with described iteration module obtains the coordinate of have a few in the target rectangular coordinate system of former rectangular coordinate system.

7. coordinate transform data treating apparatus as claimed in claim 6 is characterized in that, in described iteration module, comprises the authentication unit of verifying described actual coordinate transformation parameter accuracy with the described coordinate data of the described common point of part.

8. coordinate transform data treating apparatus as claimed in claim 7 is characterized in that, described initial value module comprises:

Attitude is adjusted submodule, is used for by translation of axes and rotary manipulation, so that consistent with the attitude of target rectangular coordinate system two coordinate systems by the determined former rectangular coordinate system of described three common points; And

Calculating sub module is used for the rotational transform matrix of acquisition from former coordinate system transformation to target-based coordinate system, and further calculates described coordinate conversion parameter initial value.

9. coordinate transform data treating apparatus as claimed in claim 7 is characterized in that, described initial value module comprises:

Translation unit is used for choosing not three common points on the same straight line, and the origin translation with described two coordinate systems arrives the separately same common point place of coordinate system respectively;

The unit is set up on the plane, sets up respectively a plane in order to utilize described three common points at described two coordinate systems;

The first computing unit is in order to recomputate at the coordinate figure that the Y-axis of coordinate system is separately rotated to two other common point after described plane is set up in the plane of setting up the unit around the X-axis of coordinate system separately;

The second computing unit rotates to X-axis the coordinate figure of described two other common point after described plane is set up in the plane of being set up the unit in order to recomputate behind the coordinate figure that calculates described two other common point at the first computing unit with the method identical with described the first computing unit around the Y-axis of coordinate system separately;

The 3rd computing unit is in order to recomputate the coordinate figure of described two other common point after the Z axis of coordinate system separately rotates to X-axis one of separately described two other common point behind the coordinate figure that calculates described two other common point at the second computing unit;

The attitude adjustment unit, in order to judging according to the coordinate figure of described two other common point whether the current attitude of described two coordinate systems consistent behind the coordinate figure that calculates described two other common point at the 3rd computing unit, as inconsistent then make by the Z axis that rotates one of them coordinate system as described in the attitude of two coordinate systems consistent;

The 4th computing unit is in order to calculate the rotational transform matrix that transforms to the target rectangular coordinate system from former rectangular coordinate system;

The 5th computing unit transforms to each rotation parameter the rotational transform matrix of target rectangular coordinate system in order to calculate from former rectangular coordinate system;

The 6th computing unit is in order to calculate the translation parameters that transforms to the target rectangular coordinate system from former rectangular coordinate system.

10. coordinate transform data treating apparatus as claimed in claim 6, it is characterized in that, described coordinate transform data treating apparatus also comprises selects module and summarizing module, described coordinate data is the measurement data that surveying instrument gathers from a plurality of erect-positions, the described measurement data of each described erect-position is based on a rectangular coordinate system of erect-position separately, it is the target rectangular coordinate system that described selection module is selected the rectangular coordinate of one of them erect-position, with the described measurement data of all the other erect-positions through described constructing module, described initial value module, described iteration module and described conversion module, the described summarizing module that is connected by described conversion module output terminal draws the coordinate of have a few in described target rectangular coordinate system of each erect-position.

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