CN105652303B - A kind of mountain area field sampling based on mobile electronic devices such as Pad does not contact localization method quickly - Google Patents
A kind of mountain area field sampling based on mobile electronic devices such as Pad does not contact localization method quickly Download PDFInfo
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- CN105652303B CN105652303B CN201610000586.0A CN201610000586A CN105652303B CN 105652303 B CN105652303 B CN 105652303B CN 201610000586 A CN201610000586 A CN 201610000586A CN 105652303 B CN105652303 B CN 105652303B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- 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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- 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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a kind of mountain area field samplings based on mobile electronic devices such as Pad not to contact localization method quickly, including, using Cross location pattern or apart from position fix pattern, positioning measurement being carried out to the target for being difficult to contact on the spot by integrated mobile electronic device GPS, electronic compass and gyroscope and laser range finder.This method solve be unable to space coordinate of the measurement long distance from impalpable Target scalar to be sampled during the field sampling of mountain area.
Description
Technical field
The present invention relates to a kind of, and the mountain area field sampling based on mobile electronic device does not contact localization method quickly, specifically relates to
And it is a kind of during the field sampling of mountain area to by the Target scalar positioning that distance, landform and mountain region disaster limits and cannot be contacted
Method, belong to the surveying positioning field of the remote atural object of earth surface.
Background technology
Field grab sampling is necessity of geographical national conditions investigation, windy and sandy soil field investigation and mountain region disaster fixed point investigation etc.
Premise.Usually because hypsography is big, topography is complicated and changeable and is difficult to sample for mountain area field investigation.Conventional ground cover sample
The acquisition of point data mainly using GPS fixed point, paper record sheet as medium, the method for sampling because sampling point spatial positional information,
Table cover attribute information and image information often record respectively, and inefficiency is complicated for operation, error-prone.With electronic product
Development is popularized with continuous, is rapidly developed by the mobile ground cover sample mode of medium of electronic equipment.Mobile field
Investigation method acquires investigation route using portable mobile apparatus such as mobile phone, tablet, PDA as carrier, by field sampling system
Surface cover situation, can integrated spatial information, attribute information and the image information for collecting sampling point.This method can effectively improve open country
Outer sampling efficiency, abundant field sampling information content, therefore, lot of domestic and foreign enterprises utilizes mobile GPS, GIS and RS technical researches
Be proposed the mobile sampling product of oneself, the TerraSync and hypergraph such as ArcPad, Trimble company of ESRI companies are public
The mobile products such as the eSuperMap of department and the UCMAP of half a step step science and technology.However, the above method of sampling and mobile product by away from
From limitation, river and high mountain blocking influence, cause sample collector that can not contact and cannot accurately obtain with Target scalar
The space coordinate for taking Target scalar generally requires that relevant professional knowledge is combined to change field sampling information with GIS software, increases
Interior work amount.In mountain area during field investigation, field sampling that is if desired quick and accurately obtaining high position precision
Information need to integrate a variety of advanced measuring techniques, study the method for not contacting positioning.
Mobile GPS technology, precise electronic compass and gyroscope, laser ranging technique obtain it for not contact target atural object
Space coordinate provide technical support.Wherein mobile GPS provide obtain current location space coordinate, precise electronic compass and
Rectilinear direction where gyroscope can obtain current location and Target scalar position to be sampled relative to the north to azimuth, swash
Ligh-ranging technology can obtain current location to the distance between Target scalar to be sampled in the case of not contact target atural object.
Application based on mobile GPS technology, precise electronic compass and gyroscope and laser ranging technique, the present invention is in integrated mobile GPS
With in the mobile electronic device and laser range finder of precise electronic compass and gyroscope, introduce Cross location and apart from orientation it is fixed
Point two methods, can quickly and accurately obtain mountain area at a distance can not contact target spatial coordinated information.Especially exist
Mountain area, river and high mountain blocking are serious, and frequent area occurs for the disasters such as landslide, avalanche, and sample collector can not possibly connect with target
It touches so that being difficult to even it is not possible that the accurate coordinate information of acquisition target, localization method had not been contacted both using provided by the invention
The space coordinate of distant object can quickly and be accurately obtained, and can ensure the personal safety of staff.
Invention content
It is to be sampled from impalpable it is an object of the invention to solve to be unable to measurement long distance during the field sampling of mountain area
The problem of space coordinate of Target scalar and one kind is provided, localization method is not contacted based on mobile electronic device.
The present invention provide it is a kind of localization method is not contacted based on mobile electronic device, including
Mobile electronic device includes GPS, camera shooting, precise electronic compass and gyroscope function, is included the following steps：
Step 1, sampling configuration switching is carried out, selection is using Cross location pattern or apart from position fix pattern；
Step 2, it as selected to use Cross location pattern, is then measured using Cross location method；
Step 3, as selected using apart from position fix pattern, then to use and measure apart from position fix method.
The flow of the step 2 is as follows：
Step 2.1, three vertex A, B, C of known triangle are set, wherein 2 points of A, B, which is staff, to reach
Position, C points are the position of point to be located；
Step 2.2, the space coordinate of 2 points of A, B is measured using GPS；
Step 2.3, applying electronic compass and gyroscope measure the directions AC relative to the north to the directions water horizontal angle a and AC
With the angle β 1 of horizontal plane, the directions BC relative to the north to the directions horizontal angle r and BC and horizontal plane angle β 2；
Step 2.4, the coordinate according to the coordinate of point A, B and AC with the directions BC relative to the angle calcu-lation C in the north, C points are sat
Mark is according to the following formula：
A, B represent intersection measurement centre-exchange-meeting point position in formula, and C represents the target of fixed point；α, r, β 1 respectively represents AC
Direction relative to the north to azimuth and the directions BC relative to the north to azimuth and the directions AC and horizontal plane angle；
XB、YB、ZBRespectively represent the space coordinate of point to be located C；XA、YA、ZARespectively represent the space coordinate of point to be located A, XC、YCGeneration respectively
The space coordinate of table point to be located B
Preferably, the flow of the step 3 is as follows：
Step 3.1, A, C are set at 2 points, wherein A points are staff's accessible position, and C points are the position of point to be located；
Step 3.2, the space coordinate of A points is obtained using GPS；
Step 3.3, applying electronic compass and gyroscope measure the directions AC relative to the north to the directions horizontal angle a and AC phase
For the vertical angle r of level ground；
Step 3.4, the horizontal distance S between 2 points of A, C is measured using laser range finder, calculates C space of points coordinates, C points
Space coordinate is according to the following formula：
Wherein A, C respectively represent sample collector, point target position undetermined in formula；A represents the directions AC relative to due north
The azimuth in direction；R represents the directions AC angle with horizontal plane；S represents the horizontal distance between point A to point C；XC、YC、ZCRespectively
Represent the space coordinate of point to be located C；XA、YA、ZARespectively represent the space coordinate of point to be located A.
Preferably, it is described positioning towards Target scalar type include：Mountain area topographical surface feature is difficult by effect of natural conditions
With the topographical surface feature contacted on the spot.
Compared with prior art, provided by the present invention a kind of localization method sheet not to be contacted based on mobile electronic device
Invention, can in conjunction with computer interactive operation technology by integrated mobile GPS, electronic compass and gyroscope and laser range finder
Efficiently, accurately the space coordinate that mountain area sample collector is unable to contact target atural object is automatically acquired.The present invention has efficient
The advantages of rate, high-precision, automation field grab sampling, the magnanimity that especially mountain area is limited by orographic condition, mountain region disaster
Field data sampling has great importance, and solves general field sampling product such as：The mobile products such as ArcPad, UCMAP
Be unable to quick obtaining at a distance can not contact target atural object space coordinate problem.
Description of the drawings
Fig. 1 is the exemplary plot of the impalpable distant object of field sampling；
Fig. 2 is the geometrical principle schematic diagram of Cross location method；
Fig. 3 is the geometrical principle schematic diagram apart from position fix method；
Fig. 4 is a set of field sampling system showing interface figure for not contacting localization method design based on mountain area；
Fig. 5 is the interface schematic diagram that Cross location method is located in field sampling system
Fig. 6 is the interface schematic diagram in position fix method in the wild sampling system
Specific implementation mode
The present invention do not contact localization method towards Target scalar type：A, mountain area topographical surface feature：Earth hard surface
Atural object, such as：Trees, farmland, road and building etc.；B, targetedly atural object：By orographic factors such as river and high mountains
Blocking, distance samples personnel farther out, the condition that takes place frequently of the disasters such as avalanche and landslide limit, staff is difficult to even cannot be therewith
The topographical surface feature of contact, such as：The disasters points such as the farmland and avalanche, landslide of forest, river opposite bank on high mountain.
The localization method of the present invention that do not contact includes：Cross location method and apart from position fix method, utilizes
Integrated GPS technology, photography technology, precise electronic compass and gyroscope technology are integrated into up to not contact target atural object to obtain it
Coordinate information.
As shown in Fig. 2, wherein Cross location method, according to surveying centre-exchange-meeting measuring principle, using GPS technology and electronics
Compass orientation technology measures the space coordinate of Target scalar：Three vertex A, B, C of known triangle, wherein 2 points of A, B is work
Make the position (road) that personnel can reach, C points are the position of point to be located, and the space coordinate of 2 points of A, B, electricity are measured using GPS
Sub- compass and gyroscope measure the directions AC relative to the north to the directions horizontal angle a and AC and horizontal plane angle β 1, the directions BC
Relative to the north to the directions horizontal angle r and BC and horizontal plane angle β 2, it is opposite with the directions BC according to the coordinate of point A, B and AC
In the coordinate of the angle calcu-lation C in the north.
Cross location method measures C point coordinates according to the following formula：
A, B represent intersection measurement centre-exchange-meeting point position in formula, and C represents the target of fixed point；α, r, β 1 respectively represents AC
Direction relative to the north to azimuth and the directions BC relative to the north to azimuth and the directions AC and horizontal plane angle；
XC、YC、ZCRespectively represent the space coordinate of point to be located C；XA、YA、ZARespectively represent the X-direction of point to be located A, Y-direction and Z-direction
Space coordinate, XB、YBRespectively represent the X and Y-direction space coordinate of point to be located B.
As shown in figure 3, wherein apart from position fix method, according to traverse survey principle in surveying, using GPS technology,
Electronic compass directional technology and laser ranging technique：Set A, C at 2 points, wherein A points are staff's accessible position, C points
For the position of point to be located, the space coordinate (X of A points is obtained using GPSA, YA, ZA), precise electronic compass measures the side AC with gyroscope
To relative to the north to vertical angle r of the directions horizontal angle a and AC relative to level ground, laser range finder measures 2 points of A, C
Between horizontal distance S, calculate C space of points coordinates.
C spaces of points coordinate is measured apart from position fix method according to the following formula：
Wherein A, C respectively represent sample collector, point target position undetermined in formula；A represents the directions AC relative to due north
The azimuth in direction；R represents the directions AC angle with horizontal plane；S represents the horizontal distance between point A to point C；XC、YC、ZCRespectively
Represent the space coordinate of point to be located C；XA、YA、ZARespectively represent the space coordinate of point to be located A.
The precision evaluation of localization method is not contacted according to the following formula based on mobile electronic device：
Dx, dy, dz respectively represent mountain area and do not contact localization method and the same target of high-precision sub-meter grade GPS measurements in above formula
In tri- direction error of coordinate of X, Y, Z；Δ S representatives do not contact localization method and measure same target with high-precision sub-meter grade GPS
Range error；Representative does not contact localization method and measures the mean longitudinal error of same target, Δ with high-precision sub-meter grade GPS
SiFor ith the method for the present invention measurement result and the intensive GPS measurement results of high-precision the distance between error, N be to measure
Number.
As Figure 4-Figure 6, mobile electronic device operation using the present invention is as follows：
(1) sampling configuration switches：Intersection sampling in the map interface lower right corner in field sampling system is clicked, friendship is automatically switched to
It can sampling configuration；The acquisition button in main menu is clicked, intersection sampling interface, such as Fig. 5 are switched to；
(2) Cross location：Hand-held mobile electronic equipment is aimed to be sampled by the crosshair in Cross location sampling interface
Target scalar C, clicks to aim at and automatically records the space coordinate of current location A, the directions AC relative to the north to azimuth and AC
The angle in direction and horizontal plane；Target scalar to be sampled is aimed in shift position by the crosshair in Cross location sampling interface
C；Click to aim at and automatically record the space coordinate of current location B, the directions BC relative to the north to azimuth and the directions BC and water
The angle of plane, software press the space coordinate of public formula (I) Automatic solution Target scalar C；
(3) sampling configuration switches：The map interface lower right corner in field sampling system is clicked apart from azimuth sample to automatically switch
To apart from azimuth sample pattern；The acquisition button in main menu is clicked, is switched to apart from azimuth sample interface, such as Fig. 6；
(4) apart from position fix：Hand-held mobile electronic equipment is waited for by the crosshair aiming in Cross location sampling interface
Sampled targets atural object C, clicks to aim at and automatically records the space coordinate of current location A, the directions AC relative to the north to azimuth
With the angle in the directions AC and horizontal plane；Hand-hold Distance Finder run-home atural object C, measure current location A and Target scalar C it
Between horizontal distance, manual entry range information, software presses the space coordinate of public formula (II) Automatic solution Target scalar C.
(5) precision evaluation：Same mesh is measured respectively by the localization method that do not contact of high-precision sub-meter grade GPS and the present invention
Mark the space coordinate of atural object.Compare two kinds of measuring instruments and measures the distance between the space coordinate of Target scalar difference and X, Y, Z
Coordinate difference on three directions, according to the sky for not contacting localization method and measuring Target scalar of the public formula (III) evaluation present invention
Between coordinate precision.
It is tested by field sampling, the sampling precision for not contacting localization method is as shown in table 1：
1 precision evaluation result of table
Note：Tian Bao GPS location precision：Centimeter Level；GPS location precision built in tablet computer：15m or so.
(6) location efficiency is not contacted：The hardware platform of testing for electrical equipment of the present invention can be based on
The Samsung tablet computer of android system, model：GT-N8000, system version：Android 4.1.2, baseband version：
N8000ZCCMD2, memory：2GB, hard disk：16GB.Test result：It clicks and measures button, automatic collection not can contact mesh at a distance
Target space coordinate, it is efficient.The present invention can largely improve the accuracy of the space coordinate of field sampling Target scalar
With the efficiency of field sampling, interior work amount and cost are reduced, the field grab sampling for mountain area not contact target atural object provides
The technology and theory support efficiently accurately sampled.
In conclusion the present invention propose it is a kind of localization method is not contacted based on mobile electronic device, described above
It is the method and its core concept for being used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.Therefore, any modification for being made without departing from the spirit and scope of the present invention, equivalent
Replace, improve etc., it should all be included in the protection scope of the present invention.In addition, the appended claims of the present invention are intended to cover fall
Enter whole change and modification examples in attached claim scope and boundary or this range and the equivalent form on boundary.
Claims (2)
1. a kind of mountain area field sampling based on mobile electronic device does not contact localization method quickly, it is characterised in that：Mobile electricity
Sub- equipment includes GPS, camera shooting, precise electronic compass and gyroscope function, is included the following steps：
Step 1, sampling configuration switching is carried out, selection is using Cross location pattern or apart from position fix pattern；
Step 2, it as selected to use Cross location pattern, is then measured using Cross location method, specific steps are further wrapped
It includes：
Step 2.1, three vertex A, B, C of known triangle are set, wherein 2 points of A, B is the position that staff can reach
It sets, C points are the position of point to be located；
Step 2.2, the space coordinate of 2 points of A, B is measured using GPS；
Step 2.3, applying electronic compass and gyroscope measure the directions AC relative to the north to the azimuth direction a and AC with it is horizontal
The angle β in face1, the directions BC relative to the north to azimuth r；
Step 2.4, the coordinate according to the coordinate of point A, B and AC with the directions BC relative to the angle calcu-lation C in the north, C point coordinates are pressed
Following formula calculate：
A, B represent intersection measurement centre-exchange-meeting point position in formula, and C represents the target of fixed point；α、r、β1Respectively represent the directions AC phase
For the north to azimuth and the directions BC relative to the north to azimuth and the directions AC and horizontal plane angle；XB、YB、ZB
Respectively represent the space coordinate of point to be located B；XA、YA、ZARespectively represent the space coordinate of point to be located A, XC、YC、ZCIt respectively represents and waits for
Pinpoint the space coordinate of C；
Step 3, as selected using apart from position fix pattern, then to use and measure apart from position fix method, specific steps
Further comprise：
Step 3.1, A, C are set at 2 points, wherein A points are staff's accessible position, and C points are the position of point to be located；
Step 3.2, the space coordinate of A points is obtained using GPS；
Step 3.3, applying electronic compass and gyroscope measure the directions AC relative to the north to the azimuth direction a and AC with it is horizontal
Face angle r；
Step 3.4, the horizontal distance S between 2 points of A, C is measured using laser range finder, calculates C space of points coordinates, the C spaces of points
Coordinate is according to the following formula：
Wherein A, C respectively represent sample collector, point target position undetermined in formula；A represents the directions AC relative to direct north
Azimuth；R represents the directions AC angle with horizontal plane；S represents the horizontal distance between point A to point C；XC、YC、ZCIt respectively represents
The space coordinate of point to be located C；XA、YA、ZARespectively represent the space coordinate of point to be located A.
2. a kind of mountain area field sampling based on mobile electronic device does not contact localization method quickly according to claim 1,
It is characterized in that：Position towards Target scalar type include：Mountain area topographical surface feature is difficult to connect on the spot by effect of natural conditions
Tactile topographical surface feature.
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| CN106405603A (en) * | 2016-11-14 | 2017-02-15 | 南昌大学 | Portable efficient long-distance accurate target positioning system and positioning method |
| CN108932353B (en) * | 2017-05-23 | 2022-03-15 | 上海宝冶集团有限公司 | Method for realizing positioning between building model and entity by applying mixed reality technology |
| CN108401021A (en) * | 2018-02-12 | 2018-08-14 | 安徽千云度信息技术有限公司 | A kind of local area distribution system of the shared bicycle based on big data |
| CN110057350A (en) * | 2019-05-20 | 2019-07-26 | 贵州师范大学 | A kind of Karst region plant population spatial distribution measurement device and method |
| US11953614B2 (en) * | 2021-11-05 | 2024-04-09 | Getac Technology Corporation | Method for measuring coordinate position and portable electronic device using the same |
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| CN102435140A (en) * | 2011-09-26 | 2012-05-02 | 上海大学 | Method for constructing geographic coordinate system with laser tracker |
| CN102506837A (en) * | 2011-10-10 | 2012-06-20 | 海能达通信股份有限公司 | Terminal positioning method and terminal with electronic compass |
| CN102620710A (en) * | 2012-04-18 | 2012-08-01 | 赵广超 | Method and system for measuring and calculating data |
| CN104457736A (en) * | 2014-11-03 | 2015-03-25 | 深圳市邦彦信息技术有限公司 | Method and device for acquiring target location information |
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| JPH0755938A (en) * | 1993-08-13 | 1995-03-03 | Nec Corp | Device and method for measuring point-to-point distance |
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| CN102435140A (en) * | 2011-09-26 | 2012-05-02 | 上海大学 | Method for constructing geographic coordinate system with laser tracker |
| CN102506837A (en) * | 2011-10-10 | 2012-06-20 | 海能达通信股份有限公司 | Terminal positioning method and terminal with electronic compass |
| CN102620710A (en) * | 2012-04-18 | 2012-08-01 | 赵广超 | Method and system for measuring and calculating data |
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Granted publication date: 20180817 Termination date: 20210104 |