CN108230420B - Drawing method for field to be drawn - Google Patents
Drawing method for field to be drawn Download PDFInfo
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- CN108230420B CN108230420B CN201611159490.5A CN201611159490A CN108230420B CN 108230420 B CN108230420 B CN 108230420B CN 201611159490 A CN201611159490 A CN 201611159490A CN 108230420 B CN108230420 B CN 108230420B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/20—Education
Abstract
The invention discloses a drawing method of a field to be drawn, which comprises the following steps: the mobile terminal downloads the electronic drawing; determining the position of a first inflection point A of a field in an actual field; determining the coordinate of the first inflection point A in a first coordinate system, and accordingly determining the coordinate of the first inflection point A in a second coordinate system; determining the position of a second inflection point B in the actual field, determining the coordinate of the second inflection point B in a first coordinate system, and accordingly determining the coordinate of the second inflection point B in a second coordinate system, wherein the second inflection point B is adjacent to the first inflection point A; calculating the coordinates of the rest inflection points in the second coordinate system, and accordingly determining the coordinates of the rest inflection points in the first coordinate system; and determining the positions of the rest inflection points in the actual field. The invention can simplify the processes of field mapping and inflection point position information acquisition and improve the accuracy.
Description
Technical Field
The invention relates to the field of surveying and mapping, in particular to a surveying and mapping technology for a driving training field.
Background
With the popularization of private vehicles, the demand for driving training is rapidly increasing.
During driving training, practice needs to be performed in a driving project field with clear marking lines, for example, driving projects such as backing and warehousing of the driving training need to be provided with marking lines suitable for relevant boundaries of backing and warehousing on the ground.
At present, the difference positioning based on a global positioning system is widely adopted in driving training and examination all over the country, and the relative position of a driven vehicle position and an acquired electronic drawing of a driving field is judged by combining vehicle contour coordinate data to judge the driving correctness. To complete the judgment, accurate coordinate data of a graph of a driving field needs to be collected and input into a driving training examination system, but at present, most of the graphs of the driving field are drawn firstly, and then coordinate information of each inflection point of the graph of the driving field is collected by using differential positioning equipment of a global positioning system to complete drawing.
Specifically, the process from mapping to coordinate acquisition is as follows:
1. and searching and manufacturing a site design drawing according to the site requirement of the driving training examination, and marking the length distance of each side line in the drawing.
2. And testing and confirming the positions of the inflection points of each side line by tools such as a tape measure and the like according to a design drawing of the site in the site needing to be drawn.
3. And connecting the turning points according to a drawing to finish drawing the driving field.
4. And then measuring coordinates of each inflection point of the field graph through RTK positioning equipment and inputting a driving training system to finish the work of acquiring the coordinates of each inflection point of the actual graph.
According to the drawing method, in the measuring process, due to the fact that human factors exist in the measurement through traditional tools such as a tape measure and the like, much specialization is needed, the problem that the drawing paper is accurately mapped to the actual ground and professional knowledge is needed, the measuring method is complex when a complex scene is drawn, the drawn graph is incorrect in proportion and large in errors such as deformation and the like easily occur in the drawing process is solved. Because standard and accurate driving practice field graphs are required for effectively improving the driving training skills, rework and redrawing are possibly required if a drawing error is found to be large, and the time is long. Meanwhile, if the RTK-based driving training evaluation system is required, coordinates of each inflection point of a road graph of a driving field are acquired and recorded into the system.
In summary, there is an urgent need in the art for a better method for drawing a driving training field, which simplifies the drawing and the process of acquiring coordinates of each inflection point, and can improve efficiency and accuracy.
Disclosure of Invention
The invention aims to provide a method for drawing a field to be drawn, which can improve the accuracy of field drawing and can enable the processes of drawing the field to be drawn and acquiring coordinates of inflection points in the field to be simpler and more efficient.
In a first aspect of the present invention, there is provided a method for drawing a site to be drawn, comprising the steps of:
the mobile terminal downloads an electronic drawing of a field to be drawn;
determining the position of a first inflection point A of the field to be drawn in an actual field;
determining the coordinates of the first inflection point A in a first coordinate system through a differential positioning device which is communicated with the mobile terminal, and accordingly determining the coordinates of the first inflection point A in a second coordinate system, wherein the second coordinate system is a projection plane coordinate system of the first coordinate system;
determining the position of a second inflection point B in an actual field according to an electronic drawing in the mobile terminal and the position of the first inflection point A in the actual field through differential positioning equipment communicated with the mobile terminal, determining the coordinate of the second inflection point B in a first coordinate system, and determining the coordinate of the second inflection point B in a second coordinate system according to the position of the second inflection point B in the actual field, wherein the second inflection point B is adjacent to the first inflection point A;
according to the coordinates of the electronic drawing, the first inflection point A and the second inflection point B in the second coordinate system, calculating the coordinates of the rest inflection points in the second coordinate system, and accordingly determining the coordinates of the rest inflection points in the first coordinate system;
and determining the positions of the rest inflection points in the actual field according to the coordinates of the rest inflection points in the first coordinate system through differential positioning equipment communicated with the mobile terminal.
In a preferred embodiment of the present invention, the step of "calculating coordinates of the remaining inflection points in the second coordinate system" further includes the following substeps:
determining a translation parameter of the second coordinate system relative to the first coordinate system according to the coordinates of the first inflection point A in the first coordinate system and the coordinates of the first inflection point A in the second coordinate system, and determining a rotation parameter of the second coordinate system relative to the first coordinate system according to the coordinates of the first inflection point A and the second inflection point B in the first coordinate system and the coordinates of the second inflection point A in the second coordinate system;
and calculating the coordinates of the rest inflection points in the second coordinate system according to the coordinates of the electronic drawing, the first inflection point A and the second inflection point B in the second coordinate system, the translation parameter and the rotation parameter.
In a preferred embodiment of the present invention, in the step of "determining coordinates of the remaining inflection points in the first coordinate system", the coordinates of the remaining inflection points in the first coordinate system are calculated by an inverse algorithm of the projection algorithm based on the coordinates of the remaining inflection points in the second coordinate system.
In a preferred embodiment of the present invention, the method further comprises the following steps: and connecting the positions of all marked inflection points in the actual field according to the electronic drawing stored in the mobile terminal.
In a preferred embodiment of the present invention, the method further comprises the following steps: and the mobile terminal stores and uploads the coordinates of all inflection points in the first coordinate system.
In a preferred embodiment of the invention, the differential positioning device is an RTK device.
In a preferred embodiment of the invention, the RTK device is integrated in the mobile terminal.
In a preferred embodiment of the present invention, the RTK device is independent of the mobile terminal.
In a preferred embodiment of the invention, the first coordinate system is the WGS84 coordinate system and the second coordinate system is the WGS84 projection plane coordinate system.
In a preferred embodiment of the invention, the field is a driver training field.
Compared with the prior art, the embodiment of the invention has at least the following differences and effects:
the method comprises the steps of downloading electronic drawings of a standard driving test learning project for driving training on a server by software on a mobile terminal such as a mobile phone through a mobile internet, connecting the mobile terminal to RTK equipment in a wireless mode such as Bluetooth, and guiding a plotter to find the position of each inflection point of a graph on the electronic drawings on the actual ground by using the RTK equipment and an electronic compass sensor on the mobile equipment in a guiding mode by using the software on the mobile terminal so as to draw a field. Compared with the existing scheme of drawing first and then collecting, the scheme has the following advantages:
1) is beneficial to the standardization of field patterns
The standard electronic drawings of each driving training project are placed on the server side, can be taken and downloaded at any time according to requirements, and site graphs are standardized.
2) Simplification by integration implementation
The site drawing and the coordinate collection are completed at one time, the coordinates of each inflection point of the graph are collected in the drawing process of the site, the measured actual coordinates are directly butted with a driving training system, secondary measurement is not needed, and the working efficiency is improved.
3) Improving accuracy
The RTK positioning equipment is used in the drawing process from the beginning, the requirement of professional knowledge in the process of mapping the drawing to the actual field can be reduced through humanized guidance of software, and the accuracy of the drawn driving field graph is higher due to the fact that the RTK positioning equipment is accurately positioned in the drawing process.
In conclusion, the drawing method provided by the invention simplifies the processes of site drawing and data acquisition of each inflection point position, greatly reduces the labor cost, is beneficial to the drawing standardization of the driving training site, improves the drawing accuracy, and enables drivers to improve the driving skills through the standard driving training site. The primary acquisition mode reduces the secondary acquisition mode for the driving training system based on RTK, does not need to increase the acquisition cost of an additional site, and adopts standard coordinates supported by a global scope, namely WGS84, to uniformly manage the driving training site resources of each acquisition, thereby facilitating the butt joint of different RTK driving training systems and being beneficial to the sharing of the driving training sites. Therefore, the method has a very wide application prospect in the field of driving training.
It is to be understood that within the scope of the present invention, the above-described features of the present invention and those specifically described below (e.g., in the examples) may be combined with each other to form new or preferred embodiments. Not to be reiterated herein, but to the extent of space.
Drawings
FIG. 1 illustrates a device connection diagram in one embodiment of the invention;
FIG. 2 is a flow diagram illustrating a method for mapping a driving training field according to an embodiment of the present invention;
FIG. 3 illustrates a corner schematic of a venue in one embodiment of the present invention;
FIG. 4 illustrates a translation view of a coordinate axis in one embodiment of the invention;
FIG. 5 illustrates a rotation diagram of coordinate axes in one embodiment of the invention;
fig. 6 is a flow chart illustrating a method for mapping a driving training field according to another embodiment of the present invention.
Detailed Description
The inventor of the invention has conducted extensive and intensive research, and can map a required field by positioning an accurate coordinate point based on a high-precision GNSS positioning device and a mobile intelligent terminal, thereby simplifying the measurement problem of complicated field operation of manual mapping and improving the problem of inaccurate coordinate when the field is mapped.
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Term(s) for
As used herein, the term "GNSS" is collectively referred to as Global Navigation Satellite System (Global Navigation Satellite System), which is a generic reference to all Satellite Navigation systems, including Global, regional, and augmentation systems, such as GPS in the united states, Glonass in russia, Galileo in europe, beidou Satellite Navigation System in china, and related augmentation systems, such as WAAS in the united states (wide area augmentation System), EGNOS in europe (european geostationary Navigation overlay System), MSAS in japan (multi-function transportation Satellite augmentation System), and the like, and also encompasses other Satellite Navigation systems under construction and later construction.
As used herein, the term "RTK" is known as carrier-time kinematic (Real-time kinematic) and is a method for transmitting carrier-phase observation data of a ground GNSS observation station to a measurement station by wireless or network, and resolving high-precision coordinates by a test station through carrier-phase kinematic. Furthermore, the RTK receives the differential service from the mobile terminal in real time through wireless communication methods such as bluetooth and the like to perform RTK solution, and simultaneously sends the resolved high-precision positioning coordinate information to the mobile terminal in real time, so that the high-precision coordinate information of the position of the RTK device can be obtained on the mobile terminal in real time.
As used herein, the term "RTK device" refers to a device equipped with an RTK solution, generally including a satellite positioning antenna, an RTK solution module, and a communication module, among others.
As used herein, the term "WGS 84" (World geographic System 1984), is a coordinate System established for use by the GPS global positioning System. The origin of the coordinate system is located at the earth centroid, the z-axis points to the protocol earth polar (CTP) direction defined by (international time office) BIH1984.0, the x-axis points to the intersection point of the zero-degree meridian plane of BIH1984.0 and the CTP equator, and the y-axis is determined by the right-hand rule.
As used herein, the term "planar projection" refers to a computational process that converts latitude and longitude coordinates into planar coordinates through certain methods and parameters.
As used herein, the term "differential service" refers to a network service that provides differential data of pseudoranges, carrier phases, etc., typically represented by an RTCM differential data format, which is transmitted over the internet via an Ntrip protocol.
As used herein, the term "data storage service" refers to a standard electronic drawing service that provides drivers with training test items to software of the mobile terminal. In addition, the collected electronic map of the actual driving training site with real coordinates drawn by the mobile terminal can be stored, and the driving training system is convenient to use.
As used herein, the term "inflection point" refers to an intersection point between lines or a point of turning which constitute the driving training map sheet.
As used herein, the term "electronic drawing" refers to digital graphic data stored in a computer or other storage device for describing a driving field graphic, wherein the data includes coordinate information of each point and link information and attribute information under a local plane coordinate system.
As used herein, the term "coordinate system" refers to a frame of reference that describes the spatial location (coordinates) of the presence of a substance, by defining specific fiducials and base parameter forms.
As used herein, the term "coordinate" refers to a set of numerical values that describe a location.
As used herein, the term "electronic compass," also called a digital compass or electronic compass, is an electronic sensor that utilizes the earth's magnetic field to determine north, south, west and north directions.
As used herein, the term "mobile terminal" is connected to a difference service and a data storage service through an internet means such as 3G/4G/WIFI, and is connected to an RTK device through a wireless means such as bluetooth, and the difference data is transmitted to the RTK device to obtain high-precision positioning coordinate information of the RTK device. Furthermore, when drawing, the real position of each inflection point of the drawing graph is determined by guiding a plotter to move the RTK device to a specified direction by the modes of graphics, voice and the like of software through the positioning coordinates of the RTK device received by the mobile terminal and the electronic compass sensor on the mobile terminal to obtain and orient information.
As used herein, the term "driving training course" refers to a course for a motor vehicle driving learner to practice driving skills, which is marked on the ground with markings for the driver to determine whether driving behavior is qualified, depending on the driving learning items.
Example 1: drawing method of driving training field
In the method for mapping a driving training ground according to an embodiment of the present invention, the equipment connection may refer to fig. 1. In fig. 1, the differential service refers to providing GNSS carrier phase differential service to an RTK device. The data storage service refers to a standard electronic drawing service for providing driving training programs for software of the mobile terminal. In addition, the collected electronic map of the actual driving training site with real coordinates drawn by the mobile terminal can be stored, and the driving training system is convenient to use. In fig. 1, the RTK device receives the differential service received by the mobile terminal in a wireless manner such as bluetooth to perform RTK solution, and simultaneously sends the calculated high-precision positioning coordinate information to the mobile terminal in real time. The mobile terminal is connected to the difference service and the data storage service through the 3G/4G/WIFI and other internet modes, is connected to the RTK equipment through the Bluetooth and other wireless modes, and sends the difference data to the RTK equipment to obtain high-precision positioning coordinate information of the RTK equipment. When drawing, the positioning coordinates of the RTK equipment received by the mobile terminal and the electronic compass sensor on the mobile terminal are used for obtaining and azimuth information, and the actual position of each inflection point of the drawing graph is determined by guiding a plotter to move the RTK equipment to the appointed direction by the modes of the graph, the sound and the like of software.
In one embodiment of the present invention, for a training field figure to be drawn, if the figure of the side parking space in fig. 3 is drawn, the positions of 8 inflection points a-H are determined, as shown in fig. 3.
The coordinate system of the figure is a local coordinate system. In the embodiment, the point a in the driving training ground graph is the origin of coordinates, the point B is along the positive direction of the X axis, and the others are defined in the XOY coordinate system according to relative positions.
As shown in fig. 2, the method for drawing a site to be drawn of this embodiment includes the following steps:
step 1001: and the mobile terminal downloads the electronic drawing of the site to be drawn.
Thereafter, at step 1002: and determining the position of a first inflection point A of the field to be drawn in the actual field.
Thereafter, at step 1003: and determining the coordinates of the first inflection point A in a first coordinate system through a differential positioning device communicated with the mobile terminal, and accordingly determining the coordinates of the first inflection point A in a second coordinate system, wherein the second coordinate system is a projection plane coordinate system of the first coordinate system.
In the present embodiment, the first coordinate system is the WGS84 coordinate system, and the second coordinate system is the WGS84 projection plane coordinate system.
Thereafter, at step 1004: determining the position of a second inflection point B in the actual field according to an electronic drawing in the mobile terminal and the position of the first inflection point A in the actual field through differential positioning equipment communicated with the mobile terminal, determining the coordinate of the second inflection point B in a first coordinate system, and accordingly determining the coordinate of the second inflection point B in a second coordinate system, wherein the second inflection point B is adjacent to the first inflection point A.
Thereafter, at step 1005: and calculating the coordinates of the rest inflection points in the second coordinate system according to the coordinates of the electronic drawing, the first inflection point A and the second inflection point B in the second coordinate system, and determining the coordinates of the rest inflection points in the first coordinate system according to the coordinates.
Thereafter, at step 1006: and determining the positions of the rest inflection points in the actual field according to the coordinates of the rest inflection points in the first coordinate system through differential positioning equipment communicated with the mobile terminal.
Further, in an embodiment of the present invention, the data storage server stores electronic drawing data of a driving training field to be drawn in advance, and the electronic drawing data may be downloaded from the data storage server.
The electronic drawing data comprises coordinates of each inflection point of the graph of the driving training field in an original coordinate system, and the coordinates are based on local plane coordinates with the first inflection point A as an origin.
Further, in an embodiment of the present invention, coordinates of the first inflection point a in the WGS84 coordinate system selected in the real site are acquired by the RTK device and transmitted to the mobile terminal, and the mobile terminal calculates coordinates of the first inflection point a in the WGS84 projection plane coordinate system based on the coordinates of the first inflection point a in the WGS84 coordinate system.
Further, in an embodiment of the present invention, the RTK device receives the differential service received by the mobile terminal through a wireless method such as bluetooth, and performs RTK solution, and simultaneously sends the high-precision positioning coordinate information after the solution to the mobile terminal in real time. The mobile terminal is connected to the difference service and the data storage service through the 3G/4G/WIFI and other internet modes, is connected to the RTK equipment through the Bluetooth and other wireless modes, and sends the difference data to the RTK equipment to obtain high-precision positioning coordinate information of the RTK equipment.
Further, in an embodiment of the present invention, a position of the second inflection point B in the real field is determined by the RTK device according to a distance between the first inflection point a and the adjacent second inflection point B in the electronic drawing data, coordinates of the second inflection point B in the WGS84 coordinate system are acquired by the RTK device, and coordinates of the second inflection point B in the WGS84 projection plane coordinate system are calculated according to coordinates of the second inflection point B in the WGS84 coordinate system. Then, the rotation angle of the WGS84 projection plane coordinate system with respect to the WGS84 coordinate system is calculated as a rotation parameter from the coordinates of the WGS84 projection plane coordinate system at the first inflection point a and the second inflection point B.
More specifically, the orientation from a to B is determined according to the orientation of the graphic to be drawn in the field, and referring to fig. 4 and 5, assuming that the actual drawing direction is the direction from O 'to X ", the RTK device is moved in the direction from O' to X" and the actual distance from the actual coordinates of the point a to the current RTK device is calculated and displayed in real time by software on the handheld device to guide the plotter to find the position of the point B, i.e., the point from B to a, i.e., the length L, of the point a and noted as point B by the software, the software collects the WGS84 coordinates and also the projection plane coordinates of WGS84 are noted as (Xb, Yb), and the software calculates the value of the rotation angle θ of the trigonometric coordinate axis according to the trigonometric function: θ is arctan (Yb/Xb).
More specifically, after the points a and B are confirmed, the software can calculate the transformation parameters between the projection coordinates of the WGS84 and the coordinate system of the electronic drawing according to the translation matrix and the rotation matrix calculated according to the plane coordinates of the points a and B, automatically calculate the WGS84 longitude and latitude coordinates of other inflection points according to the transformation parameters, and then guide the plotter to find the actual positions of the remaining inflection points along the direction and distance of the target point and use the RTK device to mark only the orientation of the current handheld device obtained by the electronic compass sensor on the handheld device and the distance and direction between the current RTK device and the other inflection points to be tested.
Furthermore, in an embodiment of the present invention, all the memorized inflection points are connected according to the requirement of the electronic drawing to complete drawing.
Further, in one embodiment of the present invention, the coordinates of all inflection points in the WGS84 coordinate system are stored and uploaded.
When the coordinate positioning of all the inflection points is finished, the collection work is finished, and the software can store the actual positioning coordinate information of each inflection point of the drawing through a server or other memories for reference of systems such as driving training and the like.
In one embodiment of the invention, the differential positioning device is an RTK device, which may be either integrated in the mobile terminal or separate from the mobile terminal.
Example 2: drawing method of driving training field
As shown in fig. 6, the method for drawing a site to be drawn in this embodiment includes the following steps:
in step 101: the mobile terminal downloads site information of a driving training site to be drawn, wherein the site information comprises electronic drawings and data of the driving training site.
Specifically, in the step, the mobile terminal downloads electronic drawing data of the driving training program to be drawn from the data storage server, wherein the electronic drawing contains coordinates of each inflection point of the drawing, and the coordinates are local plane coordinates based on the point A of the origin.
Thereafter, at step 102: a first inflection point a is determined in the actual field.
Thereafter, at step 103: the coordinates of the first inflection point a in the WGS84 coordinate system are determined by an RTK apparatus.
Thereafter, at step 104: and calculating the coordinates of the first inflection point A in a WGS84 projection plane coordinate system through a projection algorithm.
Specifically, in step 103 and 104, based on the shape of the graph and the actual situation of the actual field, the plotter autonomously determines point a on the actual ground, directly marks and marks the position of point a through software on the mobile device, places the RTK device on the position of point a on the field and marks the position as point a in the software, and then the plotting software confirms the WGS84 coordinates of point a. After the point a is determined as a new coordinate origin, the software can calculate the translation parameter of the plane projected by the WGS84 from the new coordinate origin to the projection plane coordinate value (Xa, Ya) of the point a.
Thereafter, at step 105: according to the coordinates of the first inflection point A in the WGS84 coordinate system and the coordinates in the WGS84 projection plane coordinate system, translation parameters of the WGS84 projection coordinate system relative to the WGS84 coordinate system are determined.
Thereafter, at step 106: and determining the actual position of a second inflection point B adjacent to the first inflection point A in the actual field through RTK equipment according to the electronic drawing.
Thereafter, at step 107: the coordinates of the second inflection point B in the WGS84 coordinate system are determined by the RTK apparatus.
Thereafter, at step 108: and calculating the coordinates of the second inflection point B in a WGS84 projection plane coordinate system by a projection algorithm.
Specifically, in the above steps, the orientation from a to B is determined according to the orientation of the graphic to be drawn on the field, as shown in fig. 4 and 5, assuming that the actual drawing direction is the direction from O 'to X ″, the RTK device is moved in the direction from O' to X ″, and the actual distance from the actual coordinates of the point a to the current RTK device is calculated in real time by software on the handheld device to guide the plotter to find the position of the point B, i.e., the point from B to a, i.e., the length from L, and is written as the point B by software, which collects the WGS84 coordinates, and simultaneously, according to the projection plane coordinates of WGS84, as (Xb, Yb), the software calculates the value of the rotation angle θ of the coordinate axes according to the trigonometric function: θ is arctan (Yb/Xb).
Thereafter, at step 109: and determining rotation parameters of the WGS84 projection coordinate system relative to the WGS84 coordinate system according to the coordinates of the first inflection point A and the second inflection point B in the WGS84 coordinate system and the coordinates of the WGS84 projection plane coordinate system respectively.
Thereafter, at step 110: and calculating the coordinates of each inflection point in the WGS84 projection plane coordinate system according to the coordinates of each inflection point in the original coordinate system, the coordinates of the first inflection point A and the second inflection point B in the WGS84 projection plane coordinate system and the translation parameters and rotation parameters of the WGS84 projection coordinate system relative to the WGS84 coordinate system in the electronic drawing.
Thereafter, at step 111: the coordinates of each inflection point in the WGS84 coordinate system were calculated by a projection algorithm (inverse algorithm).
Thereafter, at step 112: and determining the position of each inflection point in the actual field according to the coordinates of each inflection point in the WGS84 coordinate system by the RTK equipment.
In the above steps, after the points a and B are confirmed, the software can calculate the transformation parameters between the projection coordinates of the WGS84 and the coordinate system of the electronic drawing according to the translation matrix and the rotation matrix calculated according to the plane coordinates of the points a and B, automatically calculate the WGS84 longitude and latitude coordinates of other inflection points according to the transformation parameters, and then guide the plotter to find the actual position of the remaining inflection points along the direction and distance of the target point and use the RTK device to mark only the orientation of the current handheld device and the distance and direction of the current RTK device and other inflection points to be tested, which are obtained by the electronic compass sensor on the handheld device.
Thereafter, at step 113: and connecting all marked inflection points in the actual field according to the electronic drawing stored in the mobile terminal to finish drawing.
Thereafter, at step 114: the coordinates of all inflection points in the WGS84 coordinate system are stored and uploaded. Furthermore, after the coordinate positioning of all the inflection points is finished, the acquisition work is also finished, and the software can store the actual positioning coordinate information of each inflection point of the drawing through a server or other memories for reference of systems such as driving training and the like.
It should be noted that this embodiment mode can be implemented in cooperation with the above embodiment modes. The related technical details mentioned in the above embodiments are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the above-described embodiments.
The method embodiments of the present invention may be implemented in software, hardware, firmware, etc. Whether the present invention is implemented as software, hardware, or firmware, the instruction code may be stored in any type of computer-accessible memory (e.g., permanent or modifiable, volatile or non-volatile, solid or non-solid, fixed or removable media, etc.). Also, the Memory may be, for example, Programmable Array Logic (PAL), Random Access Memory (RAM), Programmable Read Only Memory (PROM), Read-Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), a magnetic disk, an optical disk, a Digital Versatile Disk (DVD), or the like.
It should be noted that, each unit mentioned in each device embodiment of the present invention is a logical unit, and physically, one logical unit may be one physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units, and the physical implementation manner of these logical units itself is not the most important, and the combination of the functions implemented by these logical units is the key to solve the technical problem provided by the present invention. Furthermore, the above-mentioned embodiments of the apparatus of the present invention do not introduce elements that are less relevant for solving the technical problems of the present invention in order to highlight the innovative part of the present invention, which does not indicate that there are no other elements in the above-mentioned embodiments of the apparatus.
It is noted that all references mentioned in this application are incorporated by reference in this application as if each reference were individually incorporated by reference. Furthermore, it should be understood that various changes and modifications of the present invention can be made by those skilled in the art after reading the above teachings of the present invention, and these equivalents also fall within the scope of the present invention as defined by the appended claims.
Also, in the claims and the description of the present patent, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element. In the claims and the specification of this patent, if it is mentioned that a certain action is performed according to a certain element, it means that the action is performed at least according to the element, and two cases are included: performing the action based only on the element, and performing the action based on the element and other elements.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. A drawing method for a field to be drawn is characterized by comprising the following steps:
the mobile terminal downloads the electronic drawing of the site to be drawn,
determining the position of a first inflection point A of the field to be drawn in an actual field;
determining the coordinates of the first inflection point A in a first coordinate system through a differential positioning device which is communicated with the mobile terminal, and accordingly determining the coordinates of the first inflection point A in a second coordinate system, wherein the second coordinate system is a projection plane coordinate system of the first coordinate system;
determining the position of a second inflection point B in an actual field according to an electronic drawing in the mobile terminal and the position of the first inflection point A in the actual field through differential positioning equipment communicated with the mobile terminal, determining the coordinate of the second inflection point B in a first coordinate system, and accordingly determining the coordinate of the second inflection point B in a second coordinate system, wherein the second inflection point B is adjacent to the first inflection point A;
calculating the coordinates of the rest inflection points in the second coordinate system according to the coordinates of the electronic drawing, the first inflection point A and the second inflection point B in the second coordinate system, and accordingly determining the coordinates of the rest inflection points in the first coordinate system;
determining the positions of the rest inflection points in the actual field according to the coordinates of the rest inflection points in a first coordinate system through differential positioning equipment communicated with the mobile terminal; and
connecting the positions of all marked inflection points in the actual field according to the electronic drawing stored in the mobile terminal; wherein the content of the first and second substances,
the mobile terminal is connected to the differential positioning device, software on the mobile terminal is used for guiding a plotter to find the position of each inflection point position of the graph on the electronic drawing through the differential positioning device and an electronic compass sensor on the mobile terminal in a guiding mode to reach a drawing place, the actual position of each inflection point of the graph is determined by guiding the plotter to move the differential positioning device to a specified direction through the graph and sound of the software according to the positioning coordinates of the differential positioning device received by the mobile terminal and the azimuth information obtained by the electronic compass sensor on the mobile terminal during drawing, and the differential positioning device calculates and displays the actual distance from the actual coordinate of the first inflection point A to the current differential positioning device in real time through the software on the mobile terminal in the actual drawing direction to guide the plotter to find the second inflection point The position of the two inflection points B, i.e., the length from the second inflection point B to the first inflection point a, is denoted as the second inflection point B by software which acquires WGS84 coordinates of the second inflection point B, and also denoted as (Xb, Yb) according to projection plane coordinates of WGS84, and calculates values of rotation angles θ of the coordinate axes according to trigonometric functions: θ is arctan (Yb/Xb).
2. The method of claim 1,
in the step of calculating coordinates of the remaining inflection points in the second coordinate system, the method further comprises the following substeps:
determining a translation parameter of the second coordinate system relative to the first coordinate system according to the coordinates of the first inflection point A in the first coordinate system and the coordinates of the first inflection point A in the second coordinate system, and determining a rotation parameter of the second coordinate system relative to the first coordinate system according to the coordinates of the first inflection point A and the second inflection point B in the first coordinate system and the coordinates of the second inflection point A in the second coordinate system;
and calculating the coordinates of the rest inflection points in the second coordinate system according to the coordinates of the electronic drawing, the first inflection point A and the second inflection point B in the second coordinate system, the translation parameter and the rotation parameter.
3. The method of claim 1,
in the step of "determining coordinates of the remaining inflection points in the first coordinate system", the coordinates of the remaining inflection points in the first coordinate system are calculated by an inverse algorithm of a projection algorithm according to the coordinates of the remaining inflection points in the second coordinate system.
4. The method of claim 1, further comprising the steps of: and the mobile terminal stores and uploads the coordinates of all marked inflection points in a first coordinate system.
5. The method of claim 1, wherein the differential positioning device is an RTK device.
6. The method of claim 5, wherein the RTK device is integrated in the mobile terminal.
7. The method of claim 5, wherein the RTK device is independent of the mobile terminal.
8. The method of claim 1, wherein the first coordinate system is the WGS84 coordinate system, and the second coordinate system is the WGS84 projection plane coordinate system.
9. The method of claim 1, wherein the venue is a driver training venue.
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| CN111564088B (en) * | 2020-03-06 | 2022-02-01 | 公安部交通管理科学研究所 | Satellite positioning-based motor vehicle driver examination item rapid rechecking method |
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