CN109782225B  Method for positioning coordinates of base station  Google Patents
Method for positioning coordinates of base station Download PDFInfo
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 CN109782225B CN109782225B CN201910047284.2A CN201910047284A CN109782225B CN 109782225 B CN109782225 B CN 109782225B CN 201910047284 A CN201910047284 A CN 201910047284A CN 109782225 B CN109782225 B CN 109782225B
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Abstract
The invention relates to the field of communication base station positioning, and particularly discloses a method for positioning a base station coordinate; the method comprises the following steps: dividing one or more areas to be measured, including a first area to be measured, according to the position layout of the base station; setting a reference polyhedron in the first region to be detected, generating a first reference coordinate system by taking a vertex on the reference polyhedron as a reference point, and calculating the coordinates of each vertex on the reference polyhedron in the first reference coordinate system; measuring the distance between the base station to be measured and each vertex of the reference polyhedron in the first area to be measured, and calculating and generating the coordinate of each base station in the first reference coordinate system; setting one base station to be measured in the first area to be measured as a reference base station, and generating a reference coordinate system by taking the reference base station as an origin; the method for positioning the coordinates of the base station has accurate positioning and high intelligence degree, and can automatically generate the positioning layout of multiple base stations.
Description
Technical Field
The invention relates to the field of communication base station positioning, in particular to a method for positioning a base station coordinate.
Background
At present, in actual base station construction, a base station is positioned, X, Y and Z coordinates of the base station are measured one by one mainly by manpower, the method is not scientific and the construction difficulty is high, firstly, the distribution of the base station to be measured is not necessarily in a rectangular position and can be distributed on a series of irregular curved surfaces, at this time, the space coordinate of the base station to be measured manually can have great errors, and the workload of the base station is not small, for example, partition walls or how to measure the X and Y values of points outside a visual field, most of the base stations can only be overlapped for many times, the measurement is carried out by continuously establishing a middle point mode, the precision is difficult to guarantee, and the requirements on the patience and the quality of constructors are high. This has a great influence on the quality of the engineering.
Disclosure of Invention
The invention aims to provide a positioning method which has accurate positioning and high intelligence degree and can automatically generate multiple base stations.
The above purpose is realized by the following technical scheme: a method for positioning coordinates of a base station comprises the following steps: dividing one or more areas to be measured, including a first area to be measured, according to the position layout of the base station; setting a reference polyhedron in the first region to be detected, generating a first reference coordinate system by taking a vertex on the reference polyhedron as a reference point, and calculating the coordinates of each vertex on the reference polyhedron in the first reference coordinate system; measuring the distance between the base station to be measured and each vertex of the reference polyhedron in the first area to be measured, and calculating and generating the coordinate of each base station in the first reference coordinate system; setting one base station to be measured in the first area to be measured as a reference base station, and generating a reference coordinate system by taking the reference base station as an origin; and calculating and generating coordinates of each base station in the first reference coordinate system in the base stations to be measured.
According to the method for positioning the coordinates of the base station, the coordinates of each base station in the space of the base station can be automatically generated by setting the area to be measured and the reference polyhedron, and perfect matching of the base station and a map can be completed through coordinate translation and coordinate rotation. The base stations can be laid out indiscriminately when laid out, the coordinate information of all the base stations is automatically generated after the laying out is finished, and the base station plan is drawn through the coordinate information.
Drawings
Fig. 1 is a schematic flow chart illustrating a first embodiment of a method for locating coordinates of a base station according to the present invention;
fig. 2 is a schematic flow chart of step 2 of a first embodiment of a method for locating coordinates of a base station according to the present invention;
fig. 3 is a schematic flow chart of step 3 of a first embodiment of a method for locating coordinates of a base station according to the present invention;
fig. 4 is a schematic structural diagram of a region to be measured according to a first embodiment of the method for positioning coordinates of a base station of the present invention;
fig. 5 is a schematic structural diagram of a reference polyhedron of the first embodiment of the method for locating coordinates of a base station of the present invention;
fig. 6 is a flowchart illustrating a second embodiment of a method for locating coordinates of a base station according to the present invention;
fig. 7 is a schematic structural diagram of a region to be measured according to a second embodiment of the method for positioning coordinates of a base station of the present invention;
fig. 8 is a flowchart illustrating step 9 of a second embodiment of the method for locating coordinates of a base station according to the present invention;
fig. 9 is a flowchart illustrating a third embodiment of a method for locating coordinates of a base station according to the present invention;
fig. 10 is a flow chart illustrating step 10 of a third embodiment of the method for locating coordinates of a base station according to the present invention;
fig. 11 is a flowchart illustrating a fourth embodiment of a method for locating coordinates of a base station according to the present invention;
fig. 12 is a flowchart illustrating step 11 of a fourth embodiment of a method for locating coordinates of a base station according to the present invention;
fig. 13 is a schematic diagram illustrating a reference polyhedron selfcalibration structure of a method for locating coordinates of a base station according to the present invention;
in the drawings, S represents a step, and S1 is step 1.
Detailed Description
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
First embodiment
Fig. 1 is a schematic flow chart of a method for positioning coordinates of a base station according to a first embodiment of the present invention; in this embodiment, include
Step 1: dividing one or more areas to be measured, including a first area to be measured, according to the position layout of the base station;
step 2: setting a reference polyhedron in the first region to be detected, generating a first reference coordinate system by taking a vertex on the reference polyhedron as a reference point, and calculating the coordinates of each vertex on the reference polyhedron in the first reference coordinate system;
fig. 2 is a schematic flow chart of step 2 of a method for positioning coordinates of a base station according to a first embodiment of the present invention; fig. 4 is a schematic structural diagram of a region to be measured according to a first embodiment of a method for positioning coordinates of a base station in the present invention; fig. 5 is a schematic structural diagram of a reference polyhedron according to a first embodiment of a method for locating coordinates of a base station in the present invention;
in this embodiment, for example, the reference polyhedron is a tetrahedron, and the tetrahedron is an equilateral tetrahedron including four vertices S1, S2, S3, and S4; the method comprises the following steps:
step S21: setting S1 as a reference point, wherein one edge where the S1 is located is closely superposed with the laser indicating line;
step S22: setting a plane where an edge strictly superposed with the laser indicating line is located as a horizontal plane;
step S23: setting the coordinates of the vertex S1 to be (0,0,0), and generating a first reference coordinate system; and calculating the coordinates of three vertexes S2, S3 and S4 according to the side length of the equilateral tetrahedron.
As a preferred technical scheme, the side length of the equilateral tetrahedron is 1, and the coordinates of the point B are calculated according to an algorithmThe coordinate of the point C is (2,0,0), and the coordinate of the point D is
Fig. 3 is a schematic flow chart of step 3 of a method for positioning coordinates of a base station according to a first embodiment of the present invention; in this embodiment, step 3: measuring the distance between the base station to be measured and each vertex of the reference polyhedron in the first area to be measured, and calculating and generating the coordinate of each base station in the first reference coordinate system;
the method comprises the following steps: step 31: measuring distances a, b, c and d from the base station in the first area to be measured to S1, S2, S3 and S4 respectively;
step 32: setting the coordinates of the base station in the first reference coordinate system as (x, y, z), and calculating the values of x, y and z according to an equation set;
the system of equations is:
a^{2}＝x^{2}+y^{2}+z^{2} (1)
c^{2}＝(x2)^{2}+y^{2}+z^{2} (3)
the arithmetic solution is:
and according to the position of the base station in the first reference coordinate system, the z value is known to be a positive number or a negative number.
Therefore, by the above formula, the coordinates (xn, yn, zn) of the base station An to be measured in the reference coordinate system with S1 as the reference point can be calculated.
And 4, step 4: setting one base station to be measured in the first area to be measured as a reference base station, and generating a reference coordinate system by taking the reference base station as an origin; for example, in this embodiment, the a1 base station is set as a reference base station, and a reference coordinate system with the a1 base station as the origin is generated, in the reference coordinate system, the coordinates of the a1 base station are (0,0, 0);
exemplarily, distances a1, b1, c1 and d1 of the A1 base station from S1, S2, S3 and S4 are measured in the first region to be detected; calculating the coordinates of the A1 base station as (x1, y1, z1) according to the formulas (1), (2), (3) and (4);
measuring distances An, bn, cn and dn of An base stations from S1, S2, S3 and S4 in the first region to be measured; and (xn, yn, zn) is calculated as the coordinates of An base station according to the formulas (1), (2), (3) and (4).
And 5: and calculating and generating coordinates of each base station in the base station to be measured in the reference coordinate system.
In the present invention, in the reference coordinate system, the coordinates of a1 are (x1, y1, z1), and in the reference coordinate system, the coordinates of a1 are (0,0, 0); after calculating the coordinates (xn, yn, zn) of the base station An to be measured in the reference coordinate system, calculating the coordinates of the base station An in the reference coordinate system according to the coordinates (x1, y1, z1) of the base station a1 in the first reference coordinate system and the coordinates (xn, yn, zn) of the base station An by the following formula:
A_{n}＝(x_{n}x_{1},y_{n}y_{1},z_{n}z_{1}) (5)。
second embodiment
A site may contain a plurality of satellites, and a tetrahedron cannot give all the satellite coordinates at one time, so that the satellite coordinates of different regions need to be measured respectively, and then the satellite coordinates of other regions are normalized to the coordinate system of the first region through coordinate translation.
Fig. 6 is a schematic flow chart illustrating a second embodiment of the method for locating coordinates of a base station according to the present invention; as shown in fig. 7, which is a schematic structural diagram of a region to be measured in a second embodiment of the method for positioning coordinates of a base station in the present embodiment, steps 1 to 5 are the same as those in the first embodiment; in this embodiment, the step of dividing one or more regions to be measured according to the base station location layout includes: according to the position layout of the base station to be detected, on the basis of the first area to be detected, extending and dividing a second area to be detected, a third area to be detected to an Nth area to be detected; the first region to be tested, the second region to be tested, the third region to be tested and the Nth region to be tested are sequentially and adjacently arranged; preferably, each two adjacent regions under test at least include two coincident base stations: the system comprises a first superposition base station and a second superposition base station, wherein the superposed base stations are simultaneously positioned in two adjacent regions to be measured.
After the step 5, the method further comprises the following steps:
step 6: translating and moving the reference polyhedron to the Nth region to be detected;
in this step, when translating the regular tetrahedron to the next measurement area, attention must be paid to the fact that when translating the tetrahedron along the Xaxis, the edge where S1 is located must be exactly coincident with the laser indicator, while the levels mounted on the AC and BC arms are required to be horizontal. Because irregular places such as curved surfaces and broken lines may appear in actual places, it is better to make auxiliary lines at positions where regular tetrahedrons are to be placed in advance, and consider to make a movable triangular horizontal working platform (three corners can be adjusted to ensure that the tetrahedrons placed on the platform are in a vertical state), so that the positioning speed and precision can be greatly increased when the tetrahedrons are placed on the horizontal platform.
And 7: in the Nth region to be measured, generating an Nth reference coordinate system by taking a vertex on the reference polyhedron as a reference point, and calculating the coordinates of each vertex on the reference polyhedron in the Nth reference coordinate system; this step is the same in principle as the method of step 2 of the first embodiment.
And 8: measuring the distance between the base station to be measured and each vertex of the reference polyhedron in the Nth region to be measured, and calculating and generating the coordinate of each base station in the Nth reference coordinate system; this step is the same principle as the method of step 3 of the first embodiment.
And step 9: and calculating and generating the coordinates of the station to be measured in the Nth region to be measured in the reference coordinate system according to the translation distance of the reference polyhedron from the first region to be measured to the Nth region to be measured in the translation movement mode.
Fig. 8 is a schematic flowchart of step 9 of a method for positioning coordinates of a base station according to a second embodiment of the present invention;
the method comprises the following steps: step 91: calculating coordinates (x0, y0, z0) of a reference point S1 of the reference polyhedron in a reference coordinate system in the first region to be measured;
and step 92: calculating the coordinates (x0 ', y0 ', z0 ') of the reference point S1 of the reference polyhedron in the reference coordinate system after the reference polyhedron is moved to the Nth region to be measured in a translation mode
Step 93: acquiring coordinates An (xn, yn, zn) of a base station An in the nth area to be measured in the nth reference coordinate system in the nth area to be measured according to step 8;
step 94: the coordinates (xn ', yn ', zn ') of the base station An in the nth area under test in the reference coordinate system are calculated according to the following formula:
third embodiment
Fig. 9 is a schematic flow chart of a method for positioning coordinates of a base station according to a third embodiment of the present invention; in this embodiment, the principle and method of steps 1 to 9 are the same as those of the corresponding steps in the embodiment, and in this embodiment, the functions of error analysis and correction are added.
Step 10: in a previous region to be measured, acquiring the coordinates of the second coincident base station in a reference coordinate system; in the later area to be measured, calculating the coordinate of the second coincident base station in the reference coordinate system according to the relative position of the second coincident base station relative to the first coincident base station; and if the coordinate difference calculated by the two modes is larger than the preset error threshold, correcting the position of the reference polyhedron and recalculating.
Fig. 10 is a schematic flow chart of step 10 of a method for positioning coordinates of a base station according to a third embodiment of the present invention;
the step 10 comprises:
step 101: acquiring a coordinate B1 of the first coincident base station and the second coincident base station in a reference coordinate system in a previous region to be measured;
step 102: calculating a coordinate B2' of the second coincident base station in a reference coordinate system according to the position of the second coincident base station relative to the first coincident base station;
step 103: acquiring the difference value between the coordinate B2 calculated in the step 102 and the coordinate B2' calculated in the step 103 in three directions of a reference coordinate system respectively;
step 104: and if any one or more of the difference values in the three directions of the reference coordinate system is larger than a preset error threshold, adjusting the reference polyhedron, and recalculating the coordinates of the station to be measured in the Nth region to be measured.
For example, the first area to be detected is set to include six base stations, namely a1, a2, A3, a4, a5 and A6, and the second area to be detected, adjacent to the first area to be detected, includes six base stations, namely a5, A6, a7, A8, a9 and a 10; the coordinates of the six base stations A1, A2, A3, A4, A5 and A6 are known and are A_{1}(x_{1},y_{1},z_{1})，……，A_{5}(x_{5},y_{5},z_{5})，A_{6}(x_{6},y_{6},z_{6}) (ii) a Wherein A1 is a reference base station, and a reference coordinate system is established;
in the second region to be measured, the reference polyhedron is translated to the position T ', and the coordinates of A5, A6, A7, A8, A9 and A10 relative to the translated polyhedron are measured and calculated as A'_{5}(x'_{5},y'_{5},z'_{5}) And A'_{6}(x'_{6},y'_{6},z'_{6}) … …, the algorithm is the same as in example two.
Since A5 and A6 are coincident base stations and are positioned in the first region to be measured and the second region to be measured at the same time, the coordinate A of A5 in the reference coordinate system can be calculated_{5}(x_{5},y_{5},z_{5}) Coordinate A of A6 in the reference coordinate system_{6}(x_{6},y_{6},z_{6})。
Let A_{5}(x_{5},y_{5},z_{5})＝A'_{5}(x'_{5},y'_{5},z'_{5}) Because we keep the coordinate system of the tetrahedron flat when we place the second tetrahedronDegree of parallelism, by base station a5, a6 can be converted to coordinates in a reference coordinate system:in the process of actual application,and A_{6}May be in error. A judgment is introduced to judge whether the current time is less than the preset time,and A_{6}And if the error distance in X, Y, Z in three directions is larger than 15cm, the system gives an alarm and requires retesting, and the difference can be reduced by adjusting the posture of the regular tetrahedron.
Fourth embodiment
Sometimes, the buildings are not necessarily oriented to the true south and the true north, and the maps are basically in the directions of the upper north, the lower south, the left, the right, the left and the right, and for the continuity of the maps, a rotation change is needed to change the coordinate system of the base station into the same direction as the maps, and after the included angle gamma between the true north of the maps and the Y direction of the base station is found, the included angle gamma can be calculated.
Fig. 11 is a schematic flow chart of a method for positioning coordinates of a base station according to a fourth embodiment of the present invention; in this embodiment, steps 1 to 10 are the same as the corresponding steps of the third embodiment, and as shown in fig. 12, are a schematic flow chart of step 11 of a fourth embodiment of the method for positioning coordinates of a base station according to the present invention;
step 11: converting the coordinate of the base station to be measured in the reference coordinate system into a coordinate value in the map setting according to the included angle between the coordinate direction in the base station coordinate system and the coordinate direction in the map setting;
the step 11 comprises:
step 111: acquiring an included angle gamma between the due north direction in the map setting and the Y direction in the reference coordinate system;
step 112: converting the coordinates in the reference coordinate system into coordinate values in a map setting according to the following formula;
wherein, (x, y, z) is a coordinate value of the base station to be measured in the reference coordinate system; (x ', y ', z ') are coordinate values converted into in the map setting.
Fig. 13 is a schematic diagram of a reference polyhedron selfcalibration structure of the method for positioning coordinates of a base station according to the present invention; in the invention, the reference polyhedron can also be selfcorrected, for example, a regular tetrahedron is placed on a horizontal plane, three points of the bottom surface of the regular tetrahedron are intersected at one point by three spokes with strict equal length, and a plumb line is led from the point A to the bottom surface. The AC point is strictly superposed on the laser indicating line, and then the horizontal plane is adjusted by adjusting the height of 3 points on the bottom surface of the regular tetrahedron, so that the plumb line is strictly opposite to the intersection point of the three spokes.
Or a laser pen is embedded at the tip of the plumb line. And (3) making a solid cylinder at the crossed central point of the three spokes, drilling a through hole with the diameter of 1mm (or 2mm) on the cylinder, arranging a photoelectric coupling switch below the through hole, and indicating that the regular tetrahedron is vertical when light is detected to give an OK prompt. If no light is detected, which indicates that the regular tetrahedron is not in the vertical direction, the three corners of the horizontal platform need to be adjusted continuously to ensure that the tetrahedron is in the vertical state.
According to the method for positioning the coordinates of the base station, the coordinates of each base station in the space of the base station can be automatically generated by setting the area to be measured and the reference polyhedron, and perfect matching of the base station and a map can be completed through coordinate translation and coordinate rotation. The base stations can be laid out indiscriminately when laid out, the coordinate information of all the base stations is automatically generated after the laying out is finished, and the base station plan is drawn through the coordinate information.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. A method for positioning coordinates of a base station, the method comprising:
step 1: dividing one or more areas to be measured, including a first area to be measured, according to the position layout of the base station;
step 2: setting a reference polyhedron in the first region to be detected, generating a first reference coordinate system by taking a vertex on the reference polyhedron as a reference point, and calculating the coordinates of each vertex on the reference polyhedron in the first reference coordinate system;
and step 3: measuring the distance between the base station to be measured and each vertex of the reference polyhedron in the first area to be measured, and calculating and generating the coordinate of each base station in the first reference coordinate system;
and 4, step 4: setting one base station to be measured in the first area to be measured as a reference base station, and generating a reference coordinate system by taking the reference base station as an origin;
and 5: calculating and generating coordinates of each base station in the base station to be detected in the first reference coordinate system;
the step of dividing one or more regions to be measured according to the base station position layout comprises:
according to the position layout of the base station to be detected, on the basis of the first area to be detected, extending and dividing a second area to be detected, a third area to be detected to an Nth area to be detected; the first region to be tested, the second region to be tested, the third region to be tested and the Nth region to be tested are sequentially and adjacently arranged;
after the step 5, the method further comprises the following steps:
step 6: translating and moving the reference polyhedron to the Nth region to be detected;
and 7: in the Nth region to be measured, generating an Nth reference coordinate system by taking a vertex on the reference polyhedron as a reference point, and calculating the coordinates of each vertex on the reference polyhedron in the Nth reference coordinate system;
and 8: measuring the distance between the base station to be measured and each vertex of the reference polyhedron in the Nth region to be measured, and calculating and generating the coordinate of each base station in the Nth reference coordinate system;
and step 9: calculating and generating a coordinate of a station to be measured in the Nth region to be measured in a reference coordinate system according to the translation distance of the reference polyhedron from the first region to be measured to the Nth region to be measured; every two adjacent regions to be measured at least comprise two superposed base stations: the system comprises a first superposition base station and a second superposition base station, wherein the superposed base stations are simultaneously positioned in two adjacent regions to be measured.
2. The method according to claim 1, wherein the reference polyhedron is a tetrahedron, the tetrahedron being an equilateral tetrahedron comprising four vertices S1, S2, S3 and S4;
the step of generating a first reference coordinate system with a vertex on the reference polyhedron as a reference point comprises:
step S21: setting S1 as a reference point, wherein one edge where the S1 is located is closely superposed with the laser indicating line;
step S22: setting a plane where an edge strictly superposed with the laser indicating line is located as a horizontal plane;
step S23: setting the coordinates of the vertex S1 to be (0,0,0), and generating a first reference coordinate system; and calculating the coordinates of three vertexes S2, S3 and S4 according to the side length of the equilateral tetrahedron.
3. The method according to claim 2, wherein the side length of the equilateral tetrahedron is 1, and the coordinates of the point B are calculated according to an algorithm asThe coordinate of the point C is (2,0,0), and the coordinate of the point D is
The step of measuring the distance between the base station to be measured and each vertex of the reference polyhedron in the first area to be measured and calculating and generating the coordinates of each base station in the first reference coordinate system comprises:
step 31: measuring distances a, b, c and d from the base station in the first area to be measured to S1, S2, S3 and S4 respectively;
step 32: setting the coordinates of the base station in the first reference coordinate system as (x, y, z), and calculating the values of x, y and z according to an equation set;
the system of equations is:
a^{2}＝x^{2}+y^{2}+z^{2} (1)
c^{2}＝(x2)^{2}+y^{2}+z^{2} (3)
the arithmetic solution is:
and according to the position of the base station in the first reference coordinate system, the z value is known to be a positive number or a negative number.
4. The positioning method according to claim 3,
measuring distances a1, b1, c1 and d1 of an A1 base station from S1, S2, S3 and S4 in the first region to be detected; calculating the coordinates of the A1 base station as (x1, y1, z1) according to the formulas (1), (2), (3) and (4);
measuring distances An, bn, cn and dn of An base stations from S1, S2, S3 and S4 in the first region to be measured; calculating the coordinates of An base station as (xn, yn, zn) according to the formulas (1), (2), (3) and (4);
the step of setting one of the base stations to be measured in the first area to be measured as a reference base station and generating a reference coordinate system with the reference base station as an origin includes:
and setting the A1 base station as a reference base station, and generating a reference coordinate system with the A1 base station as an origin, wherein the coordinates of the A1 base station in the reference coordinate system are (0,0, 0).
5. The positioning method according to claim 4, wherein the step of calculating and generating coordinates of each base station to be measured in the reference coordinate system comprises:
calculating the coordinates of An base station in the reference coordinate system according to the coordinates (x1, y1, z1) of A1 base station and the coordinates (xn, yn, zn) of An base station in the first reference coordinate system by the following formula:
A_{n}＝(x_{n}x_{1},y_{n}y_{1},z_{n}z_{1}) (5)。
6. the positioning method according to claim 5,
the step of calculating and generating the coordinates of the station to be measured in the nth region to be measured in the reference coordinate system according to the translation distance of the reference polyhedron from the first region to be measured to the nth region to be measured in the translation movement manner comprises:
step 91: calculating coordinates (x0, y0, z0) of a reference point S1 of the reference polyhedron in a reference coordinate system in the first region to be measured;
and step 92: calculating the coordinates (x0 ', y0 ', z0 ') of the reference point S1 of the reference polyhedron in the reference coordinate system after the reference polyhedron is moved to the Nth region to be measured in a translation mode
Step 93: acquiring coordinates An (xn, yn, zn) of a base station An in the nth area to be measured in the nth reference coordinate system in the nth area to be measured according to step 8;
step 94: the coordinates (xn ', yn ', zn ') of the base station An in the nth area under test in the reference coordinate system are calculated according to the following formula:
7. the method according to claim 5, wherein the first and second overlay base stations are located in two regions to be measured, a previous region to be measured and a next region to be measured, simultaneously, and the method further comprises:
step 10: in a previous region to be measured, acquiring the coordinates of the second coincident base station in a reference coordinate system; in the later area to be measured, calculating the coordinate of the second coincident base station in the reference coordinate system according to the relative position of the second coincident base station relative to the first coincident base station; if the coordinate difference calculated by the two modes is larger than a preset error threshold, correcting the position of the reference polyhedron and recalculating;
the step 10 comprises:
step 101: acquiring a coordinate B1 of the first coincident base station and the second coincident base station in a reference coordinate system in a previous region to be measured;
step 102: calculating a coordinate B2' of the second coincident base station in a reference coordinate system according to the position of the second coincident base station relative to the first coincident base station;
step 103: acquiring the difference value between the coordinate B2 calculated in the step 102 and the coordinate B2' calculated in the step 103 in three directions of a reference coordinate system respectively;
step 104: and if any one or more of the difference values in the three directions of the reference coordinate system is larger than a preset error threshold, adjusting the reference polyhedron, and recalculating the coordinates of the station to be measured in the Nth region to be measured.
8. The positioning method according to claim 3, further comprising:
step 11: converting the coordinate of the base station to be measured in the reference coordinate system into a coordinate value in the map setting according to the included angle between the coordinate direction in the base station coordinate system and the coordinate direction in the map setting;
the step 11 comprises:
step 111: acquiring an included angle gamma between the due north direction in the map setting and the Y direction in the reference coordinate system;
step 112: converting the coordinates in the reference coordinate system into coordinate values in a map setting according to the following formula;
wherein, (x, y, z) is a coordinate value of the base station to be measured in the reference coordinate system; (x ', y ', z ') are coordinate values converted into in the map setting.
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