CN109737963A - A kind of Map calibration method, mapping mobile terminal and mapping system - Google Patents
A kind of Map calibration method, mapping mobile terminal and mapping system Download PDFInfo
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- 238000005507 spraying Methods 0.000 description 3
- 238000012795 verification Methods 0.000 description 3
- 231100000674 Phytotoxicity Toxicity 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/387—Organisation of map data, e.g. version management or database structures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Abstract
The present invention relates to a kind of Map calibration method, mapping mobile terminal and mapping system, the Map calibration method includes the location information for obtaining n mapped point；The location information for obtaining the point map opposite with the mapped point is calculated, on the electronic map to generate matching pair；Calibration relation according to the matching to the location information for generating the mapped point and point map；Point map after being calibrated according to calibration relation.The present invention can realize Map calibration according to a small amount of mapped point, more rapidly, efficiently can effectively improve operating efficiency；The path planning in multiple plot may be implemented using the map of calibration, it is more efficient；Accurate calibration, strong applicability can be carried out for different electronic maps；When user does not have professional operation skill, also may be implemented to survey and draw.
Description
Technical field
The invention belongs to survey fields, and in particular to a kind of Map calibration method, mapping mobile terminal and mapping system.
Background technique
Existing UAV needs to carry out field surveys by operating personnel, can just obtain accurate course line.One
As by equipment at the scene, got ready around plot, obtain the location information of multiple points, when operating personnel surround operation plot
It goes around, then obtains the accurate location information in this piece plot, plan course line further according to this location information.However, by
It is more in getting quantity ready, it goes around, the time of cost is longer, and especially for small-sized plot, the time of mapping will be greater than spraying
The time of operation, which greatly enhances human costs, simultaneously because operating personnel's field surveys are needed, for layman's example
For peasant, difficulty is larger.
And existing electronic map is utilized, the operation plot in actual job can be obtained, carries out ground without operating personnel
Shape mapping, has saved human cost and time, still, for existing electronic map on the market, due to shooting projection angle, number
According to the error in terms of processing accuracy, the point on map often has the mistake of 3m or more relative to actual precise local fix
Difference, error big in this way can be to plant protection operation product detrimental effect in unmanned plane plant protection operation, for example unmanned plane can be from
Operation plot flies to the plot for causing the accident or flying on the road on plot side and do not need to carry out plant protection operation and causes not needing
Sprinkling phytotoxicity etc..In addition, different electronic maps, error are also different.
In addition, the Chinese invention patent application file of existing Publication No. CN106843277A, discloses a kind of unmanned plane
Mapping method first chooses the boundary point in operation plot according to the map, rear to acquire correcting by RTK for boundary point by unmanned plane
Location information planned course is set according to the location information of boundary point, execute spraying operation.But this scheme directly passes through
The step of unmanned plane surveys and draws boundary point to determine course line, lacks correction map, on the one hand, limit the category of the selected point on map
Property, it is necessary to it is continuous boundary point, otherwise can not limits operation plot, meanwhile, it allows unmanned plane to acquire in these attribute points and positions
Information is also required to planning course line or operating personnel carries unmanned plane and gets ready, cumbersome, and on the other hand, can not utilize should
Map executes the sprinkling task in other operation plot.
In consideration of it, how to find a kind of method time saving and energy saving, easy to operate, a kind of Map calibration method, mapping are proposed
Mobile terminal and mapping system are the projects of the invention to be studied.
Summary of the invention
The present invention provides a kind of Map calibration method, mapping mobile terminal and mapping system, existing its purpose is to solve
The time for having technology mapping to spend is long, for layman, the larger problem of difficulty.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of Map calibration method, which comprises
Obtain the location information of n mapped point；
The location information for obtaining the point map opposite with the mapped point is calculated, on the electronic map to generate matching pair；
Calibration relation according to the matching to the location information for generating the mapped point and point map；
Point map after being calibrated according to calibration relation.
Related content in above-mentioned technical proposal is explained as follows:
1, in above scheme, it is described calibrated according to calibration relation after point map step before, including verifying calibration
Relationship generates the cost equation of location information error according to the calibration relation, if the cost of the cost equation is less than or waits
In preset threshold, then verifying is suitable, continues to execute subsequent step, otherwise returns to the location information for reacquiring mapped point.
2, in above scheme, the location information step for obtaining n mapped point include: by artificial mapping equipment or
It is remotely controlled the location information that mapping equipment obtains selected and/or arbitrary mapped point, wherein the location information of the mapped point passes through
Cross the correction of differential correction information.
3, described to calculate the position letter for obtaining the point map opposite with the mapped point on the electronic map in above scheme
It ceases, includes: to generate a pairing step
Point map corresponding with the mapped point is manually selected on the electronic map, and is calculated and obtained the map
The location information of point, by the composition matching pair of the location information of the mapped point and point map；
And/or automatic identification and the matched point map of the mapped point on the electronic map, and calculate described in acquisition
The location information of point map, by the composition matching pair of the location information of the mapped point and point map.
4, in above scheme, the calibration according to the matching to the location information for generating the mapped point and point map
It further include judgement matching to number step, for judging whether the quantity m of matching pair is enough before relationship step；If enough,
Subsequent step is continued to execute, otherwise returns to the location information for reacquiring mapped point, wherein n >=m, m >=1.
5, in above scheme, the calibration according to the matching to the location information for generating the mapped point and point map
In relationship step, the calibration relation includes at least one of following relationship or a variety of: translation relation, rotation relationship, distortion
Relationship.
6, in above scheme, it is described calibrated according to calibration relation after point map step in, the point map after calibration
Part or all of point map including point map and the electronic map after the corresponding calibration of the mapped point.
7, in above scheme, the cost equation that location information error is generated according to the calibration relation includes: basis
Calibration relation equation V "=F1 (V) generates location error equation errors=F2 (V ', V "), and generate location error at we
Journey cost=F3 (errors), wherein V is mapped point, and V ' is the point map of acquisition before calibration, and V " is the map obtained after calibrating
Point.
In order to achieve the above objectives, the another technical solution that the present invention uses is: a kind of mapping with Map calibration is mobile
Terminal, comprising:
Communication module, for receiving the location information of mapped point；
Mapping module, for obtaining electronic map by the communication module or directly storing electronic map；
Interactive module for receiving user's input, and the mapped point and electronic map is exported to user；
Application module calibrates the electronic map according to the calibration method.
Related content in above-mentioned technical proposal is explained as follows:
1, in above scheme, the calibration method application and/or the calibration data generated are stored in the mapping movement eventually
End, and/or server is uploaded to by the communication equipment.
2, in above scheme, user's input includes user's selection and the matched point map of the mapped point, Huo Zheyong
The point attribute information of family input mapped point.
It 3,, can be in school when the mapped point includes the angle point of operation boundary of land block in mapping task in above scheme
Directly generate the operation boundary of land block on electronic map after standard, or after calibration electronic map or calibration after
Path planning directly is carried out to operation plot on the operation plot that point map is formed.
In order to achieve the above objectives, the another technical solution that the present invention uses is: a kind of mapping system, using the survey
Mobile terminal is drawn, and, mapping instrument, the mapping instrument includes:
Anneta module, for obtaining the satellite information of mapped point；
Receiving module generates the location information of the mapped point according to the satellite information；
The location information of the mapped point is sent to the mapping mobile terminal by communication module.
Related content in above-mentioned technical proposal is explained as follows:
1, in above scheme, the mapping instrument communication module receives differential correction information, and the receiving module is according to
Satellite-signal and the differential correction information generate mapping dot position information.
2, in above scheme, the mapping instrument communication module receives differential correction information, including the mapping instrument communicates mould
Block is received from base station or the differential correction information of service platform；Alternatively, the mapping instrument communication module receives the survey
The differential correction information that the communication module of mobile terminal is sent is drawn, the communication module of the mapping mobile terminal is by the difference school
Positive information exports the mapping instrument communicated to connect at least one.
3, it in above scheme, is sent when the communication module that the mapping instrument communication module receives the mapping mobile terminal
When differential correction information, the communication module of the mapping mobile terminal is received by radio data-transmission equipment comes from base station or clothes
The differential correction information of business platform, and the differential correction information is sent to by the mapping instrument by short-distance communication equipment and is led to
Believe that module, the mapping instrument communication module receive the differential correction information by short-distance communication equipment.
Due to above-mentioned technical proposal use, the present invention compared with prior art the advantages of it is as follows:
1, Map calibration can be realized according to a small amount of mapped point, more rapidly, efficiently can effectively improves operation effect
Rate.
2, the path planning in multiple plot may be implemented using the map of calibration, it is more efficient.
3, accurate calibration, strong applicability can be carried out for different electronic maps.
4, when user (such as peasant) do not have professional operation skill, also may be implemented to survey and draw.
Specifically, the present invention obtains the accurate electronic map of location information, completely by carrying out accurate calibration to electronic map
The needs of foot mapping and path planning, substantially increase operating efficiency, save human cost.The present invention can be directed to different
Electronic map carries out accurate calibration, practical.In addition, the present invention mapping obtain the location information of a small amount of mapped point after,
Matched point map is set on map, by mapped point and point map matching pair, to map is calibrated, and mapped point is not limited
Attribute, as long as point map can be manually or automatically matched to, the quantity of mapped point greatly reduces, without covering
Boundary of land block or flight mapping whole block boundary achieve that Map calibration, have saved human cost, as long as while calibrating
It completes, so that it may path planning is carried out for muti-piece operation plot, no longer needs to primary calibration, it is applied widely.
Detailed description of the invention
Attached drawing 1 is a kind of flow chart of the Map calibration method of alternative embodiment of the invention；
Attached drawing 2 is the flow chart of the Map calibration method of another alternative embodiment of the invention；
Attached drawing 3 is the schematic diagram before the calibration of mapped point and corresponding point map of the invention and after calibration；
Attached drawing 4 is a kind of schematic diagram of the mapping system of alternative embodiment in the present invention；
Attached drawing 5 is the work flow diagram based on Map calibration method of one of present invention alternative embodiment.
Wherein, 400, mapping equipment；41, mobile terminal is surveyed and drawn；411, communication module；412, mapping module；413, interaction
Module；414, application module；42, mapping instrument；421, Anneta module；422, reception device；423, communication device.
Specific embodiment
Precision in order to solve the problems, such as electronic map in the prior art is inadequate, and the present invention discloses a kind of Map calibration side
Method includes the following steps: with reference to Fig. 1
S101: the location information of n mapped point is obtained.It is the mapping that plot is surveyed and drawn in mapping task that mapped point, which does not limit,
Point is also possible to the point in the corresponding landform of arbitrary electronic map or plot.Optionally, can by artificial mapping equipment or
Be remotely controlled the location information that mapping equipment obtains selected and/or arbitrary mapped point, artificial mapping equipment gone to by user or
Mapped point is driven to obtain mapping dot position information, remote control mapping equipment is remotely controlled by user or the automatic remote control equipment reaches
To obtain mapping dot position information, which can be selected as in electronic map arbitrarily or with significant mapped point
In point or operation plot, the point of operation boundary of land block etc.；Can not also Chosen Point, it is any to select electronic map corresponding
Map or the point in plot, herein with no restriction to the selection method of mapped point, as long as the point can be found on the electronic map i.e.
It can.
Further, in order to improve the precision of Map calibration, the location information of mapped point passes through the school of differential correction information
Just, precision is Centimeter Level or higher precision.By the mapped point of difference correction, precision is much higher than directly to be positioned by GPS
Point, it is ensured that survey and draw the accuracy of dot position information.It should be noted that quantity n >=1 of mapped point, can be 2,3,
4,5,6,7 etc., it is general≤10, can also be with≤20, or≤30, using few mapped point, work effect can be improved
Rate, but certain calibration accuracy can be lost, user can select as desired.
S102: calculating the location information for obtaining the point map opposite with the mapped point on the electronic map, to form
Pairing.Optionally, including manual mode and/or automated manner.
Manual mode is to manually select point map corresponding with mapped point on the electronic map, and user is in electronic map
It is upper to judge point map identical with the physical location of mapped point, for example, mapped point is an electric pole, show that deviation should on map
Electric pole, then user selects the electric pole for point map on the electronic map, the point map for matching the mapped point is determined, in determination
While point map, location information of the point map on the electronic map can be directly calculated by electronic map, composition is surveyed
It draws a little and several matchings pair can be generated repeatedly in the matching pair of the location information of point map.
Automated manner is, on the electronic map automatic identification and the matched point map of mapped point, and calculates acquisition point map
Location information, according to the location information of mapped point and point map composition matching pair.It should be noted that mapped point needs at this time
It is the boundary point in operation plot, according to the boundary of land block attribute of mapped point, can identifies on the electronic map automatically matched
Point map, or in one embodiment, without limiting mapped point as the boundary in operation plot, mapped point can be manually entered
Point attribute, according to the matched point map of point attribute automatic identification of mapped point.Auto-matching can be several matchings
To carrying out simultaneously, it is also possible to several matchings and sequence is carried out, complete matching one by one.Each matching is to comprising surveying
Plotting positions information and matched map dot position information.
S103: the calibration relation according to the matching to the location information for generating the mapped point and point map.Optionally,
Calibration relation includes at least one of following relationship or a variety of: translation relation, rotation relationship, distortion relation.Specifically, passing through
The matching pair of several pairs of known position informations generates calibration relation equation V '=F1 (V), and wherein V ' is point map, and V is mapping
Point.Optionally, for translation relation, by a matching to the relativeness that can be obtained by mapped point and point map, certainly
Translation error can also be minimized to determine transformational relation by multiple matchings pair；For rotation error, then at least two are needed
It matches to come the relativeness that calculates mapped point and point map, it is of course also possible to mostly minimize rotation using several matchings pair and miss
Difference determines transformational relation；For map distortion error, then need multiple matchings to calculating relativeness.
It should be noted that the location information of point map and mapped point is at this time in calibration relation equation V '=F1 (V)
Know, but the parameter in calibration relation is unknown.For different calibration relations, a kind of method can choose, it can also be with
Mapped point is calculated to (i.e. m over the ground chart position and point map position) using m matching in the different method of simultaneous selection
With the relativeness of point map, that is, the parameter in calibration relation equation is calculated, so that it is determined that calibration relation equation.
S104: the point map after being calibrated according to calibration relation: according to having been acknowledged parameters relationship in step 103
Calibration relation equation V "=F1 (V), the point map V " after determining calibration.Specifically, the point map after calibration includes mapped point pair
The part or all of point map of point map and electronic map after the calibration answered.According to calibration relation, not only may be implemented
The calibration of point map also may be implemented the calibration of entire electronic map or part electronic map, can according to need and be set.
Map calibration method through the invention can be to corresponding using the location information of limited mapped point
Point map or electronic map are quickly and effectively calibrated, and method is simple, are easy to implement, and calibration accuracy is high, are convenient for subsequent base
In the accurate mapping of electronic map and path planning etc., mapping mode is got ready around plot compared to traditional, is significantly improved
Working efficiency, without getting ready each plot, as long as having calibrated electronic map, so that it may realize any in electronic map
The mapping operations in operation plot.
Fig. 2 shows the flow chart of another Map calibration method, based on having carried out on the basis of Fig. 1 workflow into one
Step limits, and improves the efficiency and precision of Map calibration.
Further, further include step S1021 after S102: judgement matching is to number, for judging the number of matching pair
Whether enough measure m；If enough, continuing to execute subsequent step, the location information that S101 reacquires mapped point is otherwise returned,
In, n >=m, m >=1 (n is mapped point number).The quantity that task needs to set m can be needed or surveyed and drawn according to calibration, if it is desired to
The map for obtaining calibration or the calibration of higher precision is bigger, then needs the quantity of m bigger, in general, m=2,3,4,5,6,
Or 7 etc..Preferably, can according to the quantity of m come assisted Selection calibration relation (in step S103), due to for translation error into
When row calibration, m >=1, when being calibrated for rotation error, m >=2, when being calibrated for map distortion error, m >=
3, therefore as m=2, distortion relation can be excluded.It should be noted that then being needed if necessary to the error source for calibrating higher order
The number that more match pair.
By joined judgement matching to number step, can match in the insufficient situation of number, prompt is used in advance
Family obtains greater number of mapped point, generates enough matchings pair, is promoted and calculate operational efficiency, saved system power dissipation.
Further, further include step S1031 before S104: verifying calibration relation generates position according to calibration relation
The cost equation of information error can be the cost equation of the maximum position error of these matchings pair, be also possible to location error
The cost equation of weighted sum.And step S1032: if the cost of cost equation is less than or equal to preset threshold, verifying is suitable,
Subsequent step S104 is continued to execute, the location information that S101 reacquires mapped point is otherwise returned.Or in another embodiment,
Using not matched mapped point, calibration relation is verified.The corresponding point map of these mapped points is first determined, if these maps
The cost of the location error of point and mapped point is within a preset threshold, then it is assumed that is that calibration is suitable, if it exceeds this threshold
It is worth range, then calibrates improper.Cost is calculated by not matched mapped point, the verification result on certain probability is more acurrate.
Specifically, location error equation errors=F2 (V ', V ") is generated according to calibration relation equation V "=F1 (V), and
The cost equation cost=F3 (errors) of location error is generated, wherein V is mapped point, and V ' is the point map of acquisition before calibration,
V " is the point map obtained after calibrating.Refering to what is shown in Fig. 3, Fig. 3 A is the point map and mapped point before calibration, Fig. 3 B is after calibrating
Point map the calibration of point map and/or electronic map may be implemented by calibration relation equation V "=F1 (V).
By verify calibration relation, can largely reduction calibration relation error, improve calibration accuracy, make ground
Figure calibration can be applied to arbitrary mapping task or path planning task.
It should be noted that calibration method of the invention can be adapted for any running meter configured with electronic map
In the equipment of calculation, including mobile phone, tablet computer, controller, laptop, desktop computer, palm PC etc., pass through mapped point
To map point and/or electronic map are calibrated, and the electronic map after calibration can be applied to other users or any field
It closes, calibration accuracy is high, and calibration efficiency is high, and it is practical, guarantee is provided for the accurate application of electronic map.
Another object of the present invention is to provide a kind of mapping mobile terminal 41, as shown in figure 4, comprising:
Communication module 411, for receiving the location information of mapped point.Specifically, communication module 411 for signal receive and
It sends, the including but not limited to modes such as bluetooth, cellular network transmission, the transmission of 2.4G data are communicated.Communication module 411 can
To include several communication equipments, it may for example comprise established and communicated to connect by bluetooth equipment and mapping instrument 42, pass through wireless data
Transmission device is communicatively coupled etc. with 2.4G radio data communication mode or cellular communication apparatus and base station.In general, this
The base station at place provides differential correction information for the equipment near it.
Mapping module 412, for obtaining electronic map by communication module 411 or directly storing electronic map.Including
Commercial satellite map or aerial chart.
Interactive module 413 for receiving user's input, and mapped point and electronic map is exported to user.User's input
The point attribute information of mapped point is inputted with the matched point map of mapped point or user including user's selection.A kind of embodiment
In, matching clock synchronization is formed in manual mode, needs user to select point map on the electronic map to realize matching, user is defeated at this time
Enter the point map to select on the electronic map, and matching mapped point and point map；In another embodiment, in automatic side
When formula matches, mapped point is defined according to the point attribute information of the mapped point of user's input, with point attribute according to mapped point come
Auto-matching obtains corresponding point map；In other implementations, it is also not necessary to user's input, Auto-matching is obtained
The corresponding point map of mapped point, mapped point is the point on operation boundary of land block at this time.Further, interactive module 413 is also responsible for
It shows mapped point, point map, electronic map, calibration process, calibration result, mapped results etc., passes through interactive module 413, user
Can mapped point and point map be monitored, checked or modified in real time.
Application module 414, according to the location information and electronic map of mapped point, according to calibration method above-mentioned to electricity
Sub- map is calibrated, and details are not described herein again.Optionally, calibration data is stored in mapping mobile terminal, and/or is set by communication
Standby 411 are uploaded to server.Calibration data includes mapping dot position information, map dot position information, calibration relation, authentication
The electronic map etc. after point map, calibration after method, matching process, calibration, application module 414 can be by the electronics after calibration
Map is exported by terminal communication module 411 to server, to be supplied to other users or work order.As long as in this way, carrying out primary
Map calibration, so that it may be supplied to any required user using the electronic map or work order, greatly improve working efficiency, save
About human cost.
It preferably, can electronics after calibration when mapped point includes the angle point of operation boundary of land block in mapping task
Operation boundary of land block, or the work formed in the electronic map after calibration or the point map after calibration are directly generated on map
Path planning directly is carried out to operation plot on industry plot.It, can be with when mapped point is selected as the angle point on operation boundary of land block
Closed operation plot is directly formed, in this way, without selecting operation boundary of land block on map after calibration, so that it may complete to survey
Draw task, especially suitable for small-scale operation in the case where, simpler convenience improves mapping efficiency.
A further object of the present invention is to provide a kind of mapping system 400, comprising:
Mobile terminal 41 is surveyed and drawn, reference is aforementioned, and details are not described herein again；
Mapping instrument 42 comprising:
Anneta module 421, for obtaining the satellite information of mapped point.Anneta module 421 is placed in by mapping instrument 42
Mapped point captures the satellite-signal for tracking the point.
Receiving module 422 generates the location information of mapped point according to the satellite information.
The location information of mapped point is sent to mapping mobile terminal 41 by communication module 423.Specifically, mapping instrument is logical
Letter module 423 is sended and received for signal, and including but not limited to bluetooth, WIFI, microwave, cellular network transmission, 2.4G are wireless
The modes such as data transmission are communicated.
Further, the communication module 423 of mapping instrument receives differential correction information, and receiving module 422 is according to satellite-signal
Mapping dot position information is generated with differential correction information.Mapping instrument can be artificial mapping equipment or remote control mapping equipment, only
It wants that mapping dot position information can be obtained, further, differential correction information can also be received and realize difference correction, make its survey
The location information drawn a little is more accurate.In general, due to atmosphere delay error, satellite ephemeris error, Satellite clock errors etc.,
The precision of satellite information can make the precision of the location information of mapped point reach in meter level by the correction of differential correction information
To within Centimeter Level even 1 centimetre, for accurately surveying and drawing, for accurate operation, the precision of Centimeter Level is very important, especially
For accurately spraying, if the growing space of a crops within 1m, if precision is more than meter level, can largely effect on
Operation precision, or even cause phytotoxicity.
Optionally, differential correction information is received for the communication module of mapping instrument 423, can receive from base station or
The differential correction information of service platform；Alternatively, the difference correction letter that the communication module 411 for receiving mapping mobile terminal 41 is sent
Differential correction information is exported the mapping instrument 42 communicated to connect at least one by breath, the communication module 411 for surveying and drawing mobile terminal.It is excellent
Choosing, when the differential correction information that the communication module 411 that the communication module 423 of mapping instrument receives mapping mobile terminal is sent,
The communication module 411 for surveying and drawing mobile terminal receives the difference correction from base station or service platform by radio data-transmission equipment
Information, and differential correction information is sent to by short-distance communication equipment (for example, Bluetooth communication equipment) communication of mapping instrument
The communication module 423 of module 423, mapping instrument receives differential correction information by short-distance communication equipment.At this point, 42 nothing of mapping instrument
Need the higher radio data-transmission equipment of setup fee directly to receive base station or service platform differential correction information (due to
The distance of base station or service platform farther out, needs to transmit signal, such as bee using the radio data-transmission equipment of higher cost
Nest communication equipment), and received by the lower short-distance communication equipment of cost from the mapping mobile terminal 41 being closer
Differential correction information, meanwhile, mapping mobile terminal 41 can also send difference correction letter to multiple mapping instruments 42 simultaneously
Breath can more reduce cost, save power consumption.
It optionally, further include mapping instrument interactive module, for directly inputting the point attribute information of mapped point, nothing in mapping
It need to input, avoid forgeing or omit on subsequent survey mobile terminal 41.
The above mapping instrument 42, can be hand-held, vehicle-mounted mapping instrument, be also possible to the mapping instrument of the airflight of remote control,
As long as mapped point can be reached, the location information of mapped point is obtained.
Mapping system 400 of the invention obtains the location information of mapped point by mapping instrument 42, by surveying and drawing mobile terminal
42 realize that the calibration to electronic map, the two cooperation can realize the school of any electronic map with a small amount of accurate mapped point
Standard, so that subsequent survey or planning path use, simple and practical, work efficiency is high, and calibration accuracy is high, is particularly suitable for mapping just
Scholar.
Here is a kind of embodiment of the invention, can be according to limited survey based on the mapping of Map calibration method
It draws a little, realizes being rapidly completed for field surveys.
Refering to what is shown in Fig. 5, including the following steps:
S501: preset or downloading electronic map is generated.Can quickly offline created electronic map, for special
Field operation, such as unmanned plane agricultural spray, aerial mapping etc..The electronic map may include point map attribute, such as side
Boundary, fence, corner, road edge, building, pillar.
S502: input Map calibration rule, including calibration accuracy, calibration method, verification method, matching process etc., matching
Method includes point matching/lines matching/direction matching/shape matching/matching etc. manually；Calibration method include for translation error,
The point map of rotation error, map distortion error etc. corresponds to the calibration relation formula of mapped point；Verification method includes several costs
Equation；Calibration accuracy, for different electronic maps to be adaptively adjusted.
S503: it receives mapping dot position information and generates mapped point, mapped point can be operation plot side in mapping task
Boundary, corner, barrier boundary point or road edge, continuous point, electric pole, lamppost etc. on ridge.Further
, further include receiving mapped point point attribute information, can add, modify the point attribute of mapped point manually.It can be moved in mapping
Input point attribute information in the interactive module of terminal 41 or the interactive mode of mapping instrument 42 live can be inputted, can also be surveyed and drawn
It inputs after the completion.For example, user can hold the location information that mapping instrument 42 obtains different mapped points at the scene, further
, user can also input corresponding attribute of mapped point while mapping as needed on mapping instrument, alternatively, if surveying
Drawing does not have interactive module on device 42, user can input corresponding attribute of mapped point on mapping mobile terminal 41.Preferably,
It surveys and draws dot position information and passes through difference correction, precision is in Centimeter Level or higher precision.
S504: according to the regular selectively figure point of calibration, the matching pair of the location information of mapped point and point map is generated.Manually
Matching process are as follows: for user according to the physical location of mapped point in the interactive module 413 of mapping mobile terminal 41, it is right with it to select
The position for the point map answered obtains matching pair of the m to test point and point map.Alternatively, by the point attribute of mapped point itself or
Person user passes through modes, automatic identification and the mappings such as a matching/lines matching/direction matching/shape matching in the point attribute of input
The matched point map of point forms matching pair of the m to test point and point map.For example, the point attribute of mapped point is operation plot
Boundary, then image recognition algorithm is according to this feature, while considering and factors, the automatic identification such as surveying and drawing at a distance from dot position information
Point map corresponding with this mapped point is calculated, realizes the matching of mapped point and point map, realizes full automation processing.It needs
It is noted that manual matching process can be not only used, but also use automatic matching method, for being easier in a kind of embodiment
The mapped point of identification, can use automatic identifying method, mapped point unconspicuous for attribute, can be using manual matched side
Method improves matched accuracy.Further, clock synchronization is matched in selection, if it find that the matching pair of mistake, for example matching is to it
Between distance it is excessive, then can delete these matchings pair, not use these matchings to calibrating.
S505: according to matching to generation calibration relation.Specifically, relation formula V '=F1 of selection point map and mapped point
(V), wherein V ' is known point map, and V is known mapped point, and further, V ' and V are two-dimensional coordinates, according to known map
The location information of point and mapped point, determines the parameter of calibration relation equation, and the calibration relation to determine point map and mapped point is public
Formula.In a kind of embodiment, when determining that the relationship of point map and mapped point is linear according to calibration relation, V '=VA+B, herein
Point map and mapped point are illustratively defined as 2-D data and are illustrated by figure point and the non-one-dimensional data of mapped point.V ' is
Known point map, V are known mapped point, and A and B are the values for needing to solve.When using m matching to calculate A and B, V ' and V
It is all the matrix of m × 2, A is 2 × 2 spin matrixs to obtain the rotation relationship between point map and mapped point, and B is 1 × 2
Matrix, θ are the rotation angles between point map and mapped point.According to known point map and the location information of mapped point with determination
The parameter A and B of calibration relation.
Such as:
Wherein, x1……xnFor the coordinate value along x-axis in two-dimensional coordinate in known mapped point, y1……ynFor known survey
Draw the coordinate value along y-axis in a little in two-dimensional coordinate；x′1……xn' for the seat along x-axis in two-dimensional coordinate in known point map
Scale value, y1′……yn' for the coordinate value along y-axis in two-dimensional coordinate in known point map；B1 and b2 is parameter.
In a kind of preferred embodiment, determine that the parameter of calibration relation further includes optimization calibration relation, according to m to map
Point and mapped point generate corresponding location error Errors (or cost equation using response error size), and minimize position
Error (or cost of cost equation) is set to optimize calibration relation parameter, i.e., parameter A and B are further modified, to be missed
The lesser calibration relation formula of difference.
Wherein, location error may be calculated:
S506: cost is calculated to verify calibration relation, map after calibrating is generated according to calibration relation equation V "=F1 (V)
Point, by location error equation F2 (V ', V ") calculating position error e rrors=F2 (V ', V "), and according to cost equation F3
(errors) the cost cost=F3 (errors) of location error is generated, wherein V is mapped point, and V ' is the point map before calibration,
V " is the point map obtained after calibrating.It should be noted that the point map V ' before calibration is used to calculate the ginseng of calibration relation equation
Number, when the parameter of calibration relation equation determines that then calibration relation equation also determines, then can be according to determining calibration relation equation
Point map V " after calculating calibration.In a kind of embodiment, location error Errors is the matrix of m × 2, and may be calculated Vi ' is
One known two-dimensional map point, Vi are corresponding two-dimentional mapped point, eiIt is 1 × 2 matrix, in a kind of embodiment, cost equation
The 2- norm of Errors equation, cost (cost) is the square root of Errors maximum eigenvalue, also can choose 1- norm or
∞-norm or other weight equations calculate cost as cost equation.Parameter A and B confirm in step S505, therefore, position
It sets error E rrors and its cost can be according to its calculating.
In a kind of preferred embodiment, using cost optimization calibration relation formula is minimized, then exist when in step S505
In step S506, without being recalculated into this equation, so that it may be directly used in step S505 and obtain cost.In another embodiment
In, it can choose the cost equation different from cost equation used in step S505 in step S506 and be used for calculate cost
Verify calibration relation.
S507: whether cost is less than or equal to preset threshold, if being less than or equal to preset threshold, error range is smaller,
Into S508, otherwise, calibration error is larger, and return step S503 regains mapped point, can also be provided by interactive interface
It is recommended that, it is proposed that operating personnel carries out the mapping of mapped point in the place of suggestion or region.Preset threshold can be according to different electricity
Sub- map is set, and this is not restricted.In another embodiment, if more than preset threshold, can first return step S504,
Inappropriate matching pair is deleted, re-execute the steps S505, if be still unsatisfactory for, return step S503 regains mapping
Point.
S508: the mapping after output calibration.The calibration that all points based on map will obtain in calibration according to the map
Relationship and be adjusted, output calibration after electronic map.
Field surveys are carried out using the above method, it can be by the small number of mapped point of field surveys, to electronic map
Calibrated, and directly quickly output calibration after mapping, directly passed in and out on mapping subsequent mapping task or
Path planning, it is easy to operate, it is used convenient for amateur mapping worker, calibration accuracy is high, convenient for the realization of subsequent job task.
The above method can be applied not only to unmanned plane, can also be applied to surface car, this is not restricted.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (16)
1. a kind of Map calibration method, which is characterized in that the described method includes:
Obtain the location information of n mapped point；
The location information for obtaining the point map opposite with the mapped point is calculated, on the electronic map to generate matching pair；
Calibration relation according to the matching to the location information for generating the mapped point and point map；
Point map after being calibrated according to calibration relation.
2. Map calibration method according to claim 1, which is characterized in that it is described calibrated according to calibration relation after
Before point map step, including verifying calibration relation, the cost equation of location information error is generated according to the calibration relation, if
The cost of the cost equation is less than or equal to preset threshold, then verifying is suitable, continues to execute subsequent step, otherwise returns again
Obtain the location information of mapped point.
3. Map calibration method according to claim 1, which is characterized in that the location information for obtaining n mapped point
Step includes: the position letter that selected and/or arbitrary mapped point is obtained by artificial mapping equipment or remote control mapping equipment
Breath, wherein the location information of the mapped point passes through the correction of differential correction information.
4. Map calibration method according to claim 1, which is characterized in that described to calculate acquisition and institute on the electronic map
The location information of the opposite point map of mapped point is stated, includes: to generate a pairing step
Point map corresponding with the mapped point is manually selected on the electronic map, and is calculated and obtained the point map
Location information, by the composition matching pair of the location information of the mapped point and point map；
And/or automatic identification and the matched point map of the mapped point on the electronic map, and calculate and obtain the map
The location information of point, by the composition matching pair of the location information of the mapped point and point map.
5. Map calibration method according to claim 1, which is characterized in that described to be matched according to described to the generation survey
It draws a little and before the calibration relation step of the location information of point map, further includes judgement matching to number step, for judgement
Whether the quantity m of pairing is enough；If enough, continuing to execute subsequent step, the position letter for reacquiring mapped point is otherwise returned
Breath, wherein n >=m, m >=1.
6. Map calibration method according to claim 1, which is characterized in that described to be matched according to described to the generation survey
Draw a little and in the calibration relation step of the location information of point map, the calibration relation include at least one of following relationship or
It is a variety of: translation relation, rotation relationship, distortion relation.
7. Map calibration method according to claim 1, which is characterized in that it is described calibrated according to calibration relation after
In point map step, the point map after calibration include point map after the corresponding calibration of the mapped point and it is described electronically
The part or all of point map of figure.
8. Map calibration method according to claim 2, which is characterized in that described to generate position according to the calibration relation
The cost equation of information error includes: to generate location error equation errors=F2 according to calibration relation equation V "=F1 (V)
(V ', V "), and the cost equation cost=F3 (errors) of location error is generated, wherein V is mapped point, and V ' is acquisition before calibration
Point map, V " is the point map that obtains after calibration.
9. a kind of mapping mobile terminal (41) with Map calibration characterized by comprising
Communication module (411), for receiving the location information of mapped point；
Mapping module (412), for obtaining electronic map by the communication module or directly storing electronic map；
Interactive module (413) for receiving user's input, and the mapped point and electronic map is exported to user；
Application module (414), any calibration method calibrates the electronic map according to claim 1~8.
10. mapping mobile terminal (41) according to claim 9, it is characterised in that: the calibration method application and/or life
At calibration data be stored in the mapping mobile terminal (41), and/or be uploaded to service by the communication equipment (411)
Device.
11. mapping mobile terminal (41) according to claim 9, it is characterised in that: user's input includes that user selects
Select the point attribute information that mapped point is inputted with the matched point map of the mapped point or user.
12. mapping mobile terminal (41) according to claim 9, it is characterised in that: when the mapped point includes that mapping is appointed
In business when the angle point of operation boundary of land block, the operation boundary of land block can be directly generated on electronic map after calibration, or
Person is on the operation plot that the electronic map after calibration or the point map after calibration are formed directly to operation plot carry out road
Diameter planning.
13. a kind of mapping system, which is characterized in that the described in any item mapping mobile terminals (41) of claim 9~12 are used,
And mapping instrument (42), the mapping instrument (42) include:
Anneta module (421), for obtaining the satellite information of mapped point；
Receiving module (422), the location information of the mapped point is generated according to the satellite information；
The location information of the mapped point is sent to the mapping mobile terminal by communication module (423).
14. mapping system according to claim 13, which is characterized in that it is poor that the mapping instrument communication module (423) receives
Divide control information, the receiving module (422) generates mapped point position according to the satellite-signal and the differential correction information
Information.
15. mapping system according to claim 14, which is characterized in that it is poor that the mapping instrument communication module (423) receives
Divide control information, receives the difference correction letter from base station or service platform including the mapping instrument communication module (423)
Breath；Alternatively, the mapping instrument communication module (423) receives the difference that the communication module (411) of the mapping mobile terminal is sent
Control information, the communication module (411) of the mapping mobile terminal, which exports the differential correction information, gives at least one communication
The mapping instrument (42) of connection.
16. mapping system according to claim 15, which is characterized in that when the mapping instrument communication module (423) receives
When the differential correction information that the communication module of the mapping mobile terminal is sent, the communication module of the mapping mobile terminal
(411) differential correction information from base station or service platform is received by radio data-transmission equipment, and logical by short distance
Believe that the differential correction information is sent to the mapping instrument communication module (423), the mapping instrument communication module (423) by equipment
The differential correction information is received by short-distance communication equipment.
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| CN201811449529.6A CN109737963A (en) | 2018-11-30 | 2018-11-30 | A kind of Map calibration method, mapping mobile terminal and mapping system |
| PCT/CN2019/122131 WO2020108634A1 (en) | 2018-11-30 | 2019-11-29 | Map calibration method, mobile terminal for surveying and mapping, and surveying and mapping system |
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| CN201811449529.6A CN109737963A (en) | 2018-11-30 | 2018-11-30 | A kind of Map calibration method, mapping mobile terminal and mapping system |
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