CN109883321B - Land parcel area measurement device and method based on Beidou positioning - Google Patents
Land parcel area measurement device and method based on Beidou positioning Download PDFInfo
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Abstract
The invention discloses a land parcel area measurement device and method based on Beidou positioning, comprising a Beidou signal receiving module, a singlechip module, an interactive touch screen module and a power supply module; the Beidou signal receiving module is used for receiving information sent by a Beidou satellite; the power supply module provides stable voltage for power interfaces of the Beidou signal receiving module, the singlechip and the voice broadcasting module through the voltage conversion module; the interactive touch screen displays the current coordinate point in real time, the coordinate point with obvious error can be corrected through the screen, and the operation unit price is input through the interactive touch screen to be charged in a charging mode; the singlechip receives longitude and latitude data sent by the Beidou signal receiving module in real time and carries out filtering processing to obtain more accurate longitude and latitude data, when the area is measured, the singlechip directly outputs a result to the interactive touch screen for display, when the area is calculated, besides displaying the measurement area, the unit price information input by the screen is received, and the area is multiplied, and then the calculation result is displayed on the screen.
Description
Technical Field
The invention belongs to the technical field of agriculture, relates to an area measuring instrument, and particularly relates to a land parcel area measuring device and method based on Beidou positioning.
Background
When working on various plots, the working area is critical data. Such as green area measurement, lawn maintenance pricing, farmland operation area measurement pricing, etc., are generally estimated roughly from empirical data, or manually measured and calculated manually with a meter ruler. However, in the case of irregular land shapes or high data accuracy requirements, manual measurement is time-consuming and labor-consuming and the required accuracy is difficult to achieve.
The function of the conventional area measuring device in the market is mainly to measure and price the area of farmlands. For example, the patent CN101672639a published by grant of 3 months of 2010 discloses a system and a method for measuring farmland operation area based on GPS, which is hand-held for one circle around the measurement area, calculates and displays the area according to GPS positioning coordinate points, and the method is widely applied to the field of area measurement at present. Based on the method, in order to save time and improve the operation efficiency, the invention patent of CN103791879A disclosed in 14 days 5 months 2014 discloses an area measurement method based on a GPS area measurement instrument, the handheld GPS area measurement instrument is hinged on a harvester through a telescopic rod, the first circle of the harvester is harvested along the edge of a farmland, the farmland area is measured during operation, the time of handheld measurement is saved, but the method is not flexible enough, and when the user encounters an obstacle or cannot walk according to the edge, the user still needs to carry out handheld measurement.
Along with the gradual maturity of autonomous Beidou satellite positioning systems in China, real-time longitude, latitude, elevation and other navigation positioning information can be provided in the asia-pacific region, the precision is equivalent to that of a GPS, and the Beidou-based positioning measurement method is gradually applied to all aspects of satellite positioning navigation. The invention patent CN106248040A disclosed in 12 months of 2016 discloses a farmland area measuring device based on Beidou GPS dual-mode positioning, and adopts a dual-mode positioning method to avoid the condition that a single GPS positioning system is easily affected by the environment. However, the Beidou satellite positioning system still exists as an aid to the GPS system, and few area measuring instruments are realized on the market at present by completely relying on the Beidou satellite positioning system.
Disclosure of Invention
The invention aims to provide a land area measurement device and method based on Beidou positioning, which realize accurate positioning of land edge position points by virtue of Beidou positioning, perform area calculation through positioning results and simultaneously have the function of a price calculator.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the land area measurement device (shown in figure 1) based on Beidou positioning comprises a Beidou signal receiving module, a singlechip module, a voice broadcasting module, an interactive touch screen module and a power supply module; the singlechip is respectively connected with the Beidou signal receiving module, the voice broadcasting module and the interactive touch screen module;
the Beidou signal receiving module consists of a Beidou built-in antenna, a Beidou signal receiving module and a peripheral circuit; the power module is powered by the storage battery, and provides stable voltage for power interfaces of the Beidou signal receiving module, the singlechip and the voice broadcasting module through the voltage conversion module; the interactive touch screen displays the current coordinate point in real time, the coordinate point with obvious error can be corrected through the screen, and the operation unit price is input through the interactive touch screen for pricing in a pricing mode; the voice broadcasting module prompts the current direction to change when the advancing direction is changed, and automatically broadcasts the area measurement result and the pricing result when the measurement is finished; the singlechip receives longitude and latitude data sent by the Beidou signal receiving module in real time, carries out further filtering treatment to remove abnormal points, obtains accurate longitude and latitude data, directly outputs a result to the interactive touch screen for display during area measurement, displays the measurement area except for displaying the measurement area during pricing mode, receives unit price information input by the screen, multiplies the unit price information by the area, displays the pricing result on the screen, and carries out voice broadcasting through the voice broadcasting module.
The external of the device is provided with a key to control the power switch and select the measurement mode.
As a further explanation of the invention, the power module comprises a storage battery and a voltage conversion module, wherein the voltage conversion module is used for converting and outputting specified voltage, and the output voltage is connected to the power interfaces of the Beidou signal receiving module, the singlechip and the voice broadcasting module.
As a further explanation of the invention, the external key is connected with the IO port of the singlechip to realize the control of the power supply and the selection of the measurement mode.
As a further illustration of the present invention, the interactive touch screen employs an LCD display unit through which parameters and instructions are entered.
As a further explanation of the invention, the singlechip adopts STM32F407, the chip is connected with a touch screen driver, and the driver is connected to the interactive touch screen.
As a further explanation of the invention, the voice broadcasting module comprises a voice module and a loudspeaker, wherein the voice module is connected with the singlechip through an IO port and is controlled by the singlechip to output voice prompts.
As a further explanation of the present invention, the measurement mode includes an automatic/manual area measurement mode in which the LCD screen displays an area measurement result and a pricing mode in which a corresponding unit price is input through the LCD screen to be calculated by multiplying the measurement area.
As a further explanation of the invention, the area measurement mode is divided into automatic measurement and manual measurement, when the shape of the land block is irregular, automatic measurement is selected to carry out continuous positioning measurement, the shape of the land block is drawn, when the shape of the land block is regular, manual measurement can be selected, and fixed point measurement is carried out at each inflection point of the land block, thereby improving the measurement efficiency.
As a further explanation of the invention, when the direction of the coordinate point is obviously changed by more than 45 degrees during automatic measurement, the singlechip reports the current travelling direction to be changed through the voice module, and highlights the current coordinate point on the interactive touch screen by using a red point, and if the actual direction is not changed, the point is manually corrected through the interactive touch screen by a person.
As a further explanation of the invention, in the measuring process, when the track is obviously deviated by comparing the real-time travelling track with the coordinate points on the interactive touch screen and the track route drawn in real time, the coordinate points are selected by the touch screen, when the coordinate points are highlighted, the points can be modified, the points are modified by translating the coordinate points up and down and left and right, the track route is adjusted in real time during the movement until the real travelling track is met, and the correction of the coordinate points is confirmed by clicking the blank of the screen. The walking track can be corrected by moving the coordinate point both in the advancing process and when the measurement is completed.
Based on the measuring device, the land area measuring method of the invention comprises the following steps:
s1, after a starting point is selected, starting a device to start measurement, running along the edge of a land block, continuously receiving a positioning signal by a singlechip in the running process, removing coordinate points corresponding to abnormal longitude and latitude data, displaying the coordinate points on a screen, and connecting and drawing the measured coordinate points into lines.
And S2, when the direction is changed in the advancing process, the singlechip immediately prompts the coordinate point through the voice broadcasting module after receiving the signal and determining the coordinate point, and if the actual advancing direction is not changed, the singlechip can be corrected manually in time.
S3, when the coordinate points displayed on the screen and the actual travel route are obviously deviated in the travel process, the travel can be temporarily stopped, and the deviated coordinate points can be manually moved until the coordinate points accord with the actual track route; as shown in fig. 5, (a) shows a trajectory pattern before manual correction and (b) shows a trajectory pattern after correction.
And S4, after the measurement is completed, forming a closed track diagram, and when the track diagram is obvious from the graph of the actual measured land, correcting the graph by moving coordinates on a screen.
And S5, in the area measurement mode, after the track graph is drawn, automatically calculating the area of the land, visually displaying the measurement result on the interactive touch screen, and simultaneously broadcasting the current area measurement result through voice.
And S6, after the area measurement is finished, if the pricing is needed, clicking the pricing mode, controlling the cursor to input price through the touch screen to calculate, displaying the pricing result on the screen in real time, and broadcasting by voice.
The invention provides a method for processing abnormal longitude and latitude data coordinate points in a positioning process based on Kalman filtering, which comprises the following steps:
1. firstly, establishing a Kalman filtering model, which comprises the following steps of
1) Establishing a dynamics equation and an observation equation:
equation (1) is a dynamic equation, equation (2) is an observation equation, symbol '≡' represents an estimated value, k represents an observation time, X k+1 Represents the predicted value at time k+1, Z k+1 Represents the observed value at time k+1, Φ k+1,k State transition matrix, H k+1 To observe the matrix, w k To process noise, Q k V is dynamic noise k To the amount ofMeasuring noise, R k To observe noise v k Is a covariance matrix of (2).
2) According to the observation matrix H k Observed value covariance matrix R k Sum error covariance matrix P k A gain matrix is obtained and the gain matrix is obtained,
3) Calculating a predicted value, updating the covariance matrix,
4) Finally, the predicted value is updated,
wherein the symbol '-' represents a prediction, and the filtered values are obtained by sequentially substituting the recursive estimation into the above equation
2. The abnormal longitude and latitude coordinate points are removed by using the Kalman filtering model, as shown in figure 2, the specific operation steps are as follows:
1) Determining an initial position: and at least 10 times of effective point acquisition are carried out at the measurement starting point, the acquired longitude and latitude data are filtered, and the longitude filtering threshold Lonfilter and the latitude filtering threshold Latfilter are determined by the performance of the Beidou signal receiving module. Setting position data of a continuous measurement starting point for 15 times, sequentially marking as D1 and D2 … D15, and performing cross comparison on the rest data from D1 to obtain a difference delta D 12 ＝|D1-D2|，Δd 13 = |d1-d3| …. When the difference exceeds the filtering threshold, the data is judged to be a suspected fault point, the suspected value is increased by one, when the suspected value exceeds half of the effective measurement times, the point is judged to be the fault point, and the position data is removed. After all the error points are removed from the traversing position data, the arithmetic average value of the residual position data is recorded as effective initial position data P 0 。
2) Determining a threshold for updating neighboring location points: let t be the optimal position estimated value P t The best estimated value at time t-1 is P t-1 The best estimated value at the time t is differenced with the best estimated value at the time t-1, and the absolute value is taken, so as to obtain the change value delta P in unit time from the time t-1 to the time t t,t-1 ＝|P t -P t-1 The average value of the change of the adjacent time is recorded as deltap by averaging the change value of each unit time from the time 0 t 。
Δp 0 With reference to the normal adult walking speed setting Δp t And updating synchronously with the positioning frequency. The adjacent location point threshold is noted as Δp t And the value of + -a is the maximum value of the difference value of the change values at each moment in normal walking, and is determined by manually repeating the measurement for a plurality of times.
3) Initial position P 0 Initial reference threshold Δp 0 And after the determination is finished, starting measurement.
4) The above-determined initial position P 0 Substituting Kalman filtering model to combine observation position P 'of current 1 moment' 1 Calculating to obtain a filtered position P' at the moment 1 1 。
5) Determining a proportionality coefficient k: let Δp' 1 ＝|P′ 1 -P 0 |，Δp′ 1 Is the absolute value of the difference between the observed position data and the initial position data. Will Δp' 1 With an initial reference threshold Δp 0 Comparison of + -a, Δp' 1 Within the reference threshold, then the coefficient k of the observed position when summed with the filtered position weights may take a larger value, noThe observed value belongs to an outlier and the coefficient k takes a small value.
6) And according to the k value, weighting and summing the observed position and the filtered position to obtain an optimal estimated value, and determining the optimal estimated value as the position at the moment 1.
7) Updating the reference threshold Δp at time 2 1 ±a。
8) At time t, the position P at time t-1 is calculated t-1 Substituting, calculating the filtered position P' at the time t according to the step 4) t 。
9) Repeating the step 5), and comparing the position change value delta p 'at the time t' t With reference to the threshold Δp at time t t-1 A, determining a proportionality coefficient k.
10 Repeating the step 6), and determining the position P at the moment t according to the k value t 。
P t ＝k·P t ′+(1-k)·P″ t (10)
11 Updating t+1 time reference threshold Δp t ±a。
12 Repeating the above steps 8), 9), 10), 11) until the measurement is completed.
The invention provides an area calculation method for a graph with an irregular curve in a land area, which is characterized in that a minimum circumscribed rectangle of an irregular area is determined according to graph coordinates, and the rectangle area can be expressed as the required irregular graph area S as shown in figures 3-4 0 And the sum of areas of four areas consisting of rectangular edges and irregular figure boundaries, and the four boundary areas are sequentially marked as S 1 ，S 2 ，S 3 ，S 4 。
Then, assuming that the length and width of the smallest circumscribed rectangle is a, b, the rectangular area s=s 0 +S 1 +S 2 +S 3 +S 4 。
Therefore S 0 ＝S-(S 1 +S 2 +S 3 +S 4 )＝ab-(S 1 +S 2 +S 3 +S 4 ) (11)
Respectively calculate S 1 ，S 2 ，S 3 ，S 4 The area of the obtained irregular region S can be obtained 0 Is a part of the area of the substrate. Calculation S 1 ，S 2 ，S 3 ，S 4 The method comprises the following steps of S 1 The following are examples:
1、S 1 the area of the area 1 is that the area 1 is surrounded by two right-angle sides and a curve bevel, and a right-angle coordinate system is established by taking the two right-angle sides as an X axis and a Y axis respectively.
2. When the point coordinates x and y on the inclined side of the curve are one-to-one, that is, when the curve segment can be expressed as y=f (x) under the rectangular coordinate system, firstly dividing the inclined side curve segment, dividing the curve segment by taking the concave point or the convex point on the curve as the dividing point, and dividing the region 1 into n+1 approximate curves Bian Zhijiao trapezoids if the curve segment has n dividing points.
3. Fitting the kth curve segment in sequence,
1) When the fitting result is a straight line, the area of the right trapezoid is directly calculated,
in the formula, 0<k is less than or equal to n+1, n+1 divided patterns are provided, y k+1 And y k The Y-axis coordinate of the dividing point is the length of the upper and lower sides of the trapezoid, x k And x k+1 X is the X-axis coordinate of the division point, X k+1 -x k Indicating a trapezoid with a high height.
2) When fitting to a curve, the fitting curve is set as f (x), the area of the divided region is calculated by a fixed integral,
wherein 0 is<k≤n+1，x k And x k+1 Is the X-axis coordinate of the bottom end point of the curved trapezoid.
4. The area S of the region 1 can be obtained by sequentially calculating the areas of n+1 small regions 1 ，
S 1 ＝S 11 +S 12 +S 13 +…+S 1(n+1) (14)
S is obtainable by the same way 2 ，S 3 ，S 4 Substituting (9) to obtain the required irregular area S 0 。
In the above process, when S 1 When the curve segment of (a) cannot be expressed as y=f (x), the curve segment is further divided so that y and x are in one-to-one correspondence in a local area, and S is further defined as 1 Dividing into a plurality of small areas, repeating the steps 3 and 4 for the small areas in sequence to obtain the area of each small area, and further obtaining S 1 。
The invention provides a land area measurement device and method based on Beidou satellite positioning, which are widely applied to farmland operation area measurement, and can be applied to community, park greening area, building area measurement and area measurement of various areas, in particular to area measurement of various irregular lands.
The invention discloses a land area measurement device and a land area measurement method based on Beidou satellite positioning, wherein the device has the following functions: the current satellite searching number and the signal intensity can be displayed in real time; the device is held for one circle around the land block to be measured, coordinate points in the advancing process are continuously and continuously positioned, when obvious direction change occurs to the positioning coordinates, the position is indicated by voice, the point is marked on the interactive touch screen, and meanwhile, the obvious deviation coordinate points can be manually adjusted to a proper position; after the plot shape is drawn, the singlechip control unit automatically outputs the area and broadcasts, and when the track graph is inconsistent with the reality, the track graph can be drawn again by correcting the coordinate point in a mode of manually adjusting the coordinate point; the price counter function can be realized by inputting price on the interactive touch screen.
The invention has the beneficial effects that:
1. according to the land area measurement device and method based on Beidou positioning, beidou independent positioning is adopted, and the effect of Beidou satellites in the agricultural field is fully exerted; the single chip microcomputer optimizes the positioning data through data preprocessing, kalman filtering and other methods, so that the positioning accuracy is improved; the interactive touch screen can intuitively display positioning coordinate points, advancing tracks and land shapes, and the coordinate points can be corrected manually; the voice broadcasting module prompts when deflection occurs in the travelling track direction, so that coarse errors can be effectively avoided, and area measurement errors are reduced; for the area measurement of irregular plots, the coordinate points of the edges of the plots can be accurately positioned, recheck correction can be manually carried out, the drawing of the shapes of the edges of the irregular plots is more fit with the actual shapes, and meanwhile, the area calculation adopts a method of dividing the curve to make the curve fitting degree higher, the error between the curve fitting degree and the actual curve is smaller, and the area measurement precision is higher.
2. The invention adopts the Beidou satellite positioning system independently researched and developed in China, has complete intellectual property rights, can effectively and safely position for a long time, is less influenced by natural environment, and improves the safety and reliability of the system while ensuring the precision.
3. The invention can meet the measurement requirements of various outdoor areas, including farmland operation area measurement, district and park greening area measurement, etc., and has wide application range.
4. The invention has simple operation, can be used immediately after being started, does not need complex manual operation, can finish measurement by only needing to wind a hand-held device around a measurement plot, has no professional knowledge requirement on operators, and is convenient for the needs of various measurement personnel.
5. The invention has simple structure, does not need any external equipment, adopts a storage battery to supply power and can work independently.
Drawings
FIG. 1 is a block diagram showing a block diagram of a land area measurement device based on Beidou satellite positioning
FIG. 2 is a block diagram of an algorithm for processing abnormal jump points based on Kalman filtering in accordance with the present invention
FIG. 3 is a schematic view of an irregular track pattern with a circumscribed rectangle in area calculation according to the present invention
FIG. 4 is a schematic view of the external region segmentation of irregular patterns according to the present invention
FIG. 5 is a schematic diagram of the manual modification of the coordinate effects of the present invention;
(a) The trace pattern (b) before manual correction represents the trace pattern after correction
Detailed Description
The invention will be further illustrated with reference to specific examples.
The invention discloses a land area measurement device based on Beidou satellite positioning, which comprises a Beidou signal receiving module, a singlechip, an interactive touch screen, external keys, a voice broadcasting module, a power module and the like. The Beidou signal receiving module receives Beidou satellite signals; the singlechip adopts STM32F407, is based on ARM Cortex M4 kernel, has rich peripheral interfaces, has a main frequency of 168MHz, can rapidly process a large amount of data, carries out complex operation, and meets the requirements of the device on processing a large amount of data and real-time performance; the interactive touch screen displays the measurement result and receives an external touch input signal; the external key selects a measurement mode according to actual measurement requirements; the voice broadcasting module automatically broadcasts the measurement result and prompts a turning point in the measurement process; the power supply module adopts a 24v storage battery to supply power, and 12v and 5v voltages are stably output through the voltage conversion module to supply power for the singlechip, the Beidou signal receiving module and the like;
the Beidou signal receiving module is directly connected with the singlechip STM32F407, and collects positioning data of real-time measurement points.
The interactive touch screen is directly connected with the SCM STM32F407, receives result data sent by the SCM, displays real-time coordinate points and edge tracks, and transmits signals to the SCM for recognition processing when external touch signals are input.
The external key is directly connected with the singlechip, and the singlechip inputs signals by the key to determine a measurement mode.
The voice broadcasting module is directly connected with the singlechip STM32F407 and used for carrying out relevant prompt in the measuring process, and broadcasting the measuring result after the measurement is completed.
And the external key selects an automatic measurement mode, and for determining the initial point of the measured land block, the boundary point, namely the point with the changed direction of the edge of the land block, is required to be selected, so that the measurement is convenient.
The land area measurement method provided by the invention comprises the following steps:
s1, after a starting point is selected, starting a device to start measurement, running along the edge of the land, continuously receiving a positioning signal by the singlechip in the running process, displaying coordinate points on a screen, and connecting and drawing the measured coordinate points into a line.
And S2, when the direction is changed in the advancing process, the singlechip immediately prompts the coordinate point through the voice broadcasting module after receiving the signal and determining the coordinate point, and if the actual advancing direction is not changed, the singlechip can be corrected manually in time.
And S3, when the coordinate points displayed on the screen are obviously deviated from the actual travel route in the travel process, the travel can be temporarily stopped, and the deviated coordinate points can be manually moved until the coordinate points accord with the actual track route.
And S4, after the measurement is completed, forming a closed track diagram, and when the track diagram is obvious from the graph of the actual measured land, correcting the graph by moving coordinates on a screen.
And S5, in the area measurement mode, after the track graph is drawn, the measurement result is automatically and intuitively displayed on the interactive touch screen, and meanwhile, the current area measurement result is broadcasted through voice.
And S6, after the area measurement is finished, if the pricing is needed, clicking the pricing mode, controlling the cursor to input price through the touch screen to calculate, displaying the pricing result on the screen in real time, and broadcasting by voice.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (2)
1. A land area measurement method based on Beidou positioning is characterized in that,
the method comprises the steps of advancing along the edge of a land block, continuously receiving Beidou satellite positioning signals by a singlechip in the advancing process, removing coordinate points corresponding to abnormal longitude and latitude data, displaying the coordinate points on a screen, and connecting and drawing the measured coordinate points into lines;
when the direction is changed in the advancing process, after the singlechip receives a signal to determine a coordinate point, the singlechip prompts through the voice broadcasting module, and if the actual advancing direction is not changed, the singlechip can be corrected manually in time;
when the coordinate points displayed on the screen are obviously deviated from the actual traveling route in the traveling process, the traveling can be stopped temporarily, and the deviated coordinate points can be moved manually until the coordinate points accord with the actual track route;
after the measurement is completed, a closed track diagram is formed, and when the track diagram and the graph of the actually measured land block are greatly output, the graph is corrected by moving coordinates on a screen;
in the area measurement mode, after the track graph is drawn, automatically calculating the area of the land, visually displaying the measurement result on the interactive touch screen, and simultaneously broadcasting the current area measurement result through voice;
after the area measurement is finished, if the pricing is needed, clicking a pricing mode, inputting price through a touch screen to calculate, displaying pricing results on the screen in real time, and broadcasting by voice;
when the land area is an irregular curve graph, the land area calculating method comprises the following steps:
determining the minimum circumscribed rectangle of the irregular region according to the graph coordinates, and then the rectangle area is expressed as the required irregular graph area S 0 And the sum of areas of four areas consisting of rectangular edges and irregular figure boundaries, and the four boundary areas are sequentially marked as S 1 ，S 2 ，S 3 ，S 4 ；
Assuming that the length and width of the smallest circumscribed rectangle is a, b, the rectangular area s=s 0 +S 1 +S 2 +S 3 +S 4 ；
S 0 ＝S-(S 1 +S 2 +S 3 +S 4 )＝ab-(S 1 +S 2 +S 3 +S 4 )
Calculation S 1 ，S 2 ，S 3 ，S 4 The method of (1) is as follows, S 1 For example, S 2 ，S 3 ，S 4 The calculation method is the same as that:
(1)、S 1 the area of the area 1 is that the area 1 is surrounded by two right-angle sides and a curve bevel, and a right-angle coordinate system is established by taking the two right-angle sides as an X axis and a Y axis respectively;
(2) When the point coordinates x and y on the inclined side of the curve are one-to-one, namely, when the curve section can be expressed as y=f (x) under the rectangular coordinate system, firstly dividing the inclined side curve section, dividing the curve section by taking concave points or convex points on the curve as dividing points, and dividing the region 1 into n+1 approximate curves Bian Zhijiao trapezoids if n dividing points are arranged on the curve section;
(3) Fitting the kth curve segment in sequence:
1) When the fitting result is a straight line, the area of the right trapezoid is directly calculated,
in the formula, 0<k is less than or equal to n+1, n+1 divided patterns are provided, y k+1 And y k The Y-axis coordinate of the dividing point is the length of the upper and lower sides of the trapezoid, x k And x k+1 X is the X-axis coordinate of the division point, X k+1 -x k Representing a trapezoid height;
2) When the fitting is performed to the curve, the fitting curve is set as f (x), the area of the divided area is calculated by using the fixed integral,
wherein 0 is<k≤n+1，x k And x k+1 The X-axis coordinate of the bottom end point of the approximately curved-edge rectangular trapezoid;
(4) Sequentially calculating the areas of the n+1 small areas to obtain the area S of the area 1 1 ，
S 1 ＝S 11 +S 12 +S 13 +…+S 1(n+1)
(5) S is obtained by the methods (1) to (4) 2 ，S 3 ，S 4 Substituted S 0 ＝S-(S 1 +S 2 +S 3 +S 4 )＝ab-(S 1 +S 2 +S 3 +S 4 ) Obtaining the area S of the obtained irregular area 0 ；
In the above step, when S i If the curve segment of (a) cannot be expressed as y=f (x), further dividing the curve segment so that y and x are in one-to-one correspondence in the local region, dividing Si into a plurality of small regions, and repeating the steps (3) and (4) for the small regions in sequence to obtain the area of each small region to obtain S i 。
2. The method for measuring the land area based on Beidou positioning according to claim 1, wherein the method for eliminating coordinate points corresponding to abnormal longitude and latitude data is characterized by comprising the following steps:
firstly, establishing a Kalman filtering model, wherein the method is as follows
1) Establishing a dynamics equation and an observation equation:
equation 1 is a kinetic equation, equation 2 is an observation equation, symbol '≡' represents an estimated value, k represents an observation time, and X k+1 Represents the predicted value at time k+1, Z k+1 Represents the observed value at time k+1, Φ k+1,k State transition matrix, H k+1 To observe the matrix, w k To process noise, Q k V is dynamic noise k To measure noise, R k To observe noise v k Is a covariance matrix of (1);
2) According to the observation matrix H k Observed value covariance matrix R k Sum error covariance matrix P k A gain matrix is obtained and the gain matrix is obtained,
3) Calculating a predicted value, updating the covariance,
4) Finally, the predicted value is updated,
wherein, the superscript symbol '-' represents prediction, and the filtered value is obtained by substituting the above equation in turn through recursive estimation;
the Kalman filtering model is utilized to remove abnormal longitude and latitude coordinate points, and the method comprises the following steps:
1) Determining an initial position: at least 10 effective point acquisitions are carried out at the measurement starting point, the position data of the continuous measurement starting point is set for 15 times, and is sequentially marked as D1, D2 … D15, and the rest data are subjected to cross comparison from the beginning of D1 to obtain a difference delta D 12 ＝|D1-D2|，Δd 13 When the difference exceeds the filtering threshold, the data is judged as a suspected error point, the suspected value is increased by one, when the suspected value exceeds half of the effective measurement times, the point is judged as an error point, the position data is removed, after all error points are removed by traversing the position data, the arithmetic mean value of the residual position data is recorded as effective initial position data P 0 ；
2) Determining adjacent location pointsNew threshold: let t be the optimal position estimated value P t The best estimated value at time t-1 is P t-1 The best estimated value at the time t is differenced with the best estimated value at the time t-1, and the absolute value is taken, so as to obtain the change value delta P in unit time from the time t-1 to the time t t,t-1 ＝|P t -P t-1 The average value of the change of the adjacent time is recorded as deltap by averaging the change value of each unit time from the time 0 t ，
Δp 0 With reference to the normal adult walking speed setting Δp t Synchronously updating with the positioning frequency, and marking the threshold value of the adjacent position point as delta p t A is the maximum value of the difference value of the change value at each moment in normal walking;
3) Initial position P 0 Initial reference threshold Δp 0 Starting measurement after the determination is finished;
4) The above-determined initial position P 0 Substituting Kalman filtering model to combine observation position P of current 1 moment 1 'position P' after filtering at 1 moment is obtained by calculation 1 ；
5) Determining a proportionality coefficient k: let Δp' 1 ＝|P 1 ′-P 0 |，Δp′ 1 To observe the absolute value of the difference between the position data and the initial position data, Δp 'is calculated' 1 With an initial reference threshold Δp 0 Comparison of + -a, Δp' 1 In the range of the reference threshold value, the coefficient k of the observation position in weighted summation with the filtered position can take a larger value, otherwise, the observation value belongs to an abnormal value, and the coefficient k takes a smaller value;
6) According to the k value, weighting and summing the observed position and the filtered position to obtain an optimal estimated value, and determining the optimal estimated value as the position at the moment 1;
7) Updating the reference threshold Δp at time 2 1 ±a；
8) At time t, the position P at time t-1 is calculated t-1 Substituting, calculating the filtered position P' at the time t according to the step 4) t ；
9) Repeating step 5) to compare the position change value deltap 'at the time t' t With reference to the threshold Δp at time t t-1 A, determining a proportionality coefficient k;
10 Repeating the step 6) to determine the position of the t moment according to the k value;
P t ＝k·P t ′+(1-k)·P″ t
11 Updating t+1 time reference threshold Δp t ±a；
12 Repeating the above steps 8), 9), 10), 11).
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