CN110290456A - The localization method and device of target object - Google Patents
The localization method and device of target object Download PDFInfo
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- CN110290456A CN110290456A CN201910417910.2A CN201910417910A CN110290456A CN 110290456 A CN110290456 A CN 110290456A CN 201910417910 A CN201910417910 A CN 201910417910A CN 110290456 A CN110290456 A CN 110290456A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000004807 localization Effects 0.000 title claims abstract description 18
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 62
- 238000012546 transfer Methods 0.000 claims abstract description 23
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- 241000209094 Oryza Species 0.000 description 4
- 235000007164 Oryza sativa Nutrition 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
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- 230000006870 function Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 235000009566 rice Nutrition 0.000 description 4
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Classifications
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
- G01S5/0054—Transmission from base station to mobile station of actual mobile position, i.e. position calculation on base station
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Instructional Devices (AREA)
Abstract
The present invention relates to research and development administrative skill fields, provide the localization method and device of a kind of target object.Localization method includes the position coordinates for obtaining three datum marks in plane coordinate system；Position coordinates of the target object in the plane coordinate system are determined using three-point fix algorithm and based on the position coordinates of three datum marks；Position coordinates of the target object in plane coordinate system are converted into the position coordinates in the geographic coordinate system of kinds of platform based on coordinate system transfer algorithm.The technical program solve in the prior art not high to the positioning accuracy of target position in plane coordinate system and developer's bottom use the technical issues of only there are two types of the conversions between coordinate system.
Description
[technical field]
The present invention relates to research and development administrative skill field more particularly to the localization methods and device of a kind of target object.
[background technique]
In the prior art, on the one hand, it is not high to the positioning accuracy of target position in plane coordinate system, on the other hand, mesh
In preceding different coordinates in the market the positioning of target position be all carried out by pair warp and weft degree coordinate some enciphering and deciphering algorithms or
Person is added what the means such as offset were realized, is generally possible to be given to the only tool that developer's bottom uses that there are two types of between coordinate system
Conversion, such as Mars coordinate system turns Baidu's coordinate system.
[summary of the invention]
In view of this, the embodiment of the invention provides a kind of localization method of target object and device, it is existing to solve
In technology not high to the positioning accuracy of target position in plane coordinate system and developer's bottom use only there are two types of coordinate
The technical issues of conversion between system.
On the one hand, the embodiment of the invention provides a kind of localization methods of target object, comprising: obtains three datum marks and exists
Position coordinates in plane coordinate system；Using three-point fix algorithm and based on described in the determination of the position coordinates of three datum marks
Position coordinates of the target object in the plane coordinate system；The target object is sat in plane based on coordinate system transfer algorithm
Position coordinates in mark system are converted into the position coordinates in the geographic coordinate system of kinds of platform.
Optionally, the target object is mobile target object；It is described to utilize three-point fix algorithm and be based on described three
The position coordinates of datum mark determine that position coordinates of the target object in plane coordinate system include: setting predetermined period；Benefit
With three-point fix algorithm and the position coordinates based on three datum marks, the mobile target is determined every the predetermined period
Current position coordinates of the object in plane coordinate system.
Optionally, the mesh is determined described using three-point fix algorithm and based on the position coordinates of three datum marks
After position coordinates of the mark object in plane coordinate system further include: according to the mobile target object in plane coordinate system
Multiple current position coordinates determine the motion track of the mobile target object.
Optionally, described to be turned position coordinates of the target object in plane coordinate system based on coordinate system transfer algorithm
Changing the position coordinates in the geographic coordinate system of kinds of platform into includes: by the target object according to coordinate system transfer algorithm flat
Position coordinates in areal coordinate system change into the position coordinates in the first platform geographic coordinate system；Based on the first platform geographic coordinate system
The migration algorithm of coordinate system conversion between the second platform geographic coordinate system, in first platform by the target object
Position coordinates in reason coordinate system are converted into the position coordinates in the second platform geographic coordinate system.
Optionally, described to be turned position coordinates of the target object in plane coordinate system based on coordinate system transfer algorithm
Changing the position coordinates in the geographic coordinate system of kinds of platform into includes: that dichotomy algorithm is combined in the coordinate system transfer algorithm
Position coordinates of the target object in plane coordinate system are converted into the position coordinates in the geographic coordinate system of kinds of platform.
Optionally, described to determine the target using three-point fix algorithm and based on the position coordinates of three datum marks
Position coordinates of the object in the plane coordinate system comprise determining that the target object arrives the of three datum marks respectively
One linear distance, second straight line distance and third linear distance；Position coordinates based on three datum marks and described
One linear distance, second straight line distance and the third linear distance determine the target object in the plane coordinates
Position coordinates in system.
On the other hand, the embodiment of the invention also provides a kind of positioning devices of target object, including base position to obtain
Module, for obtaining position coordinates of three datum marks in plane coordinate system；Target position determining module, for utilizing at 3 points
Location algorithm simultaneously determines position of the target object in the plane coordinate system based on the position coordinates of three datum marks
Set coordinate；Coordinate system conversion processing module is used for the target object based on coordinate system transfer algorithm in plane coordinate system
Position coordinates be converted into the position coordinates in the geographic coordinate system of kinds of platform.
In another aspect, the embodiment of the invention also provides a kind of computer equipment, including memory, processor and it is stored in
On the memory and the computer program that can run on the processor, the processor execute the computer program
When, realize the localization method of above-mentioned target object.
In another aspect, being stored thereon the embodiment of the invention also provides a kind of non-transitorycomputer readable storage medium
There is computer program, when the computer program is executed by processor, realizes the localization method of above-mentioned target object.
Compared with prior art, the technical program at least has the following beneficial effects:
The localization method of the target object provided according to embodiments of the present invention, using three-point fix algorithm, in conjunction with three bases
Position coordinates on schedule can determine position coordinates of the target object in plane coordinate system.When target object is mobile terminal,
In the case of three datum marks are base station, according to mobile terminal respectively the signal strength between three base stations to determine
State linear distance d of the mobile terminal respectively between three base stations1、d2And d3, which is mobile terminal and base station top
Between linear distance, but in plane coordinate system, between the position coordinates of mobile terminal and the position coordinates of three base stations
Linear distance is equivalent to d1、d2And d3In the projection that plane coordinates is fastened.Therefore when establishing equation group, error is introduced respectively
Measure Δ d1、Δd2、Δd3, avoid causes equation group without solution due to there are error.Then, coordinate system transfer algorithm is based on by institute
State the position coordinates that position coordinates of the target object in plane coordinate system are converted into the geographic coordinate system of kinds of platform.
For mobile target object, by the way that predetermined period is arranged, then using three-point fix algorithm and based on described three
The position coordinates of datum mark determine current location of the mobile target object in plane coordinate system every the predetermined period
Coordinate.Further, the mobile target is determined according to multiple current position coordinates of the mobile target object in plane coordinate system
The motion track of object, and then can determine motion track of the mobile target object in the geographic coordinate system of kinds of platform.
[Detailed description of the invention]
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow chart of the embodiment of the localization method of target object of the application；
Fig. 2 is a kind of structural schematic diagram of the embodiment of the positioning device of target object of the application；
Fig. 3 is the structural schematic diagram of computer equipment one embodiment of the application.
[specific embodiment]
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of flow chart of the embodiment of the localization method of target object of the application.With reference to Fig. 1, the positioning
Method includes:
Step 101 obtains position coordinates of three datum marks in plane coordinate system.
Step 102 determines the target pair using three-point fix algorithm and based on the position coordinates of three datum marks
As the position coordinates in the plane coordinate system.
Step 103 is converted position coordinates of the target object in plane coordinate system based on coordinate system transfer algorithm
At the position coordinates in the geographic coordinate system of kinds of platform.
In the present embodiment, the plane coordinate system refers to using O as origin, and the two dimension that X-axis is horizontal axis, Y-axis is the longitudinal axis is flat
Areal coordinate system.The position coordinates of P point are expressed as P (x, y) in plane coordinate system.The geographic coordinate system refers to using three-dimensional ball
Face defines earth surface position, to realize the coordinate system quoted by longitude and latitude to earth surface point.In geographic coordinate system
The position coordinates of interior P point are indicated with longitude and latitude, such as P (latitude, longitude).
As known to those skilled in the art, the earth is an irregular spherical shape, geographic coordinate system, that is, reference ellipsoid mark
It is quasi-, it has not been convenient to which that the amount for carrying out the parameters such as distance, orientation, area is calculated, therefore geographic coordinate system is positioned on the earth using longitude and latitude
Position.Plane coordinate system can be used as the projected coordinate system of the geographic coordinate system, and the plane coordinate system is from the earth
What approximate spheroid projected, specific projecting method can use existing projecting method, such as: Lambert projection,
Mercator projection etc..
It is not high to the position positioning accuracy of target object in plane coordinate system due in the prior art, cause to put down
The position coordinates that areal coordinate is fastened be converted into geographic coordinate system (or other with longitude and latitude position coordinate system) in longitude and latitude
When will appear bigger error.Therefore, the present embodiment improves the position in plane coordinate system to target object in the following way
Set positioning accuracy.
It should be noted that the present embodiment is primarily adapted for use in the lesser positioning scene of spatial dimension, therefore have ignored ground
Height factor is to establish plane coordinate system.
In a step 101, according to Mercator projecting method by three location points fastened based on geographical coordinate (such as base
Stand A, base station B and base station C) longitude and latitude be converted into the position coordinates in plane coordinate system, and with one of location point (example
Such as the location point of datum mark A) it is origin, using latitude direction where the location point as X-direction, place longitudinal is Y-axis side
To plane coordinate system is established, it may thereby determine that position coordinates of these three location points in the plane coordinate system to put down as this
Three datum marks in areal coordinate system, i.e. A (x1, y1),B(x2, y2) and C (x3, y3), wherein A (x1, y1) it is origin (0,0).
In a step 102, the mesh is determined using three-point fix algorithm and based on the position coordinates of three datum marks
Mark position coordinates of the object in the plane coordinate system.
Specifically, this step includes:
Step 1021 determines that the target object arrives first straight line distance, the second straight line of three datum marks respectively
Distance and third linear distance；
Step 1022, the position coordinates based on three datum marks and first straight line distance, second straight line distance and
Third linear distance determines position coordinates of the target object in the plane coordinate system.
It in the present embodiment, is mobile terminal with the target object, three datum marks are described for base station.
Three base stations (such as base station A, base station B and base station C) can be determined in plane coordinates according to the embodiment of above-mentioned steps 101
Position coordinates in system.As known to those skilled in the art, mobile terminal receive base station signal strength and the mobile terminal and this
Linear distance between base station has negatively correlated relationship (i.e. linear distance is remoter, and signal strength is weaker).Therefore the present embodiment
In, according to the mobile terminal respectively the signal strength between three base stations come determine the mobile terminal respectively with three bases
Linear distance between standing, it should be noted that the linear distance according to signal strength determination is mobile terminal and base station top
Between linear distance.
Therefore, in the step 1021, the first straight line distance d1Between the mobile terminal and the top of base station A
Linear distance, the second straight line distance d2Linear distance between the mobile terminal and the top of base station B, described
Three linear distance d3For the linear distance between the mobile terminal and the top of base station C.It is mobile but in plane coordinate system
Linear distance between the position coordinates of terminal and the position coordinates of three base stations is the equal of above three linear distance d1、d2
And d3In the projection that plane coordinates is fastened.Therefore, if directly with d1、d2And d3It can be due to being led there are error to establish equation group
Cause equation group without solution, in addition, the linear distance between the mobile terminal and base station calculated according to signal strength also has
Certain error, therefore when establishing equation group, margin of error Δ d is introduced respectively1、Δd2、Δd3。
Specific equation group includes following three equations:
(x1-x0)2+(y1-y0)2=(d1+Δd1)2；
(x2-x0)2+(y2-y0)2=(d2+Δd2)2；
(x3-x0)2+(y3-y0)2=(d3+Δd3)2。
Wherein, (x0, y0) it is the position coordinates of mobile terminal (i.e. target object) in plane coordinate system；(x1, y1) it is base
Stand position coordinates, (x of the A in plane coordinate system2, y2) it is position coordinates, (x of the base station B in plane coordinate system3, y3) it is base
It stands position coordinates of the C in plane coordinate system.
Δd1There is (2 × D/s)+1 value, is respectively as follows:-D,-(D-s),-(D-2 × s),-(D-3 × s) ... ..., -3 ×
S, -2 × s,-s, 0, s, 2 × s, 3 × s ... ..., D-3 × s, D-2 × s, D-s, D.
Δd2There is (2 × D/s)+1 value, is respectively as follows:-D,-(D-s),-(D-2 × s),-(D-3 × s) ... ..., -3 ×
S, -2 × s,-s, 0, s, 2 × s, 3 × s ... ..., D-3 × s, D-2 × s, D-s, D.
Δd3There is (2 × D/s)+1 value, is respectively as follows:-D,-(D-s),-(D-2 × s),-(D-3 × s) ... ..., -3 ×
S, -2 × s,-s, 0, s, 2 × s, 3 × s ... ..., D-3 × s, D-2 × s, D-s, D.
Wherein, D is error range, can be obtained by experience, as unit of rice, for example, the value of D be 20 meters, 30 meters or
40 meters etc.；S is step-length, takes 0.05 meter, 0.1 meter or 0.2 meter etc..
By permutation and combination principle it is found that above equation group has [(2 × D/s)+1]3Kind concrete form.For each tool
Body form, is solved.Wherein, Duffing equation group is no solution.The x acquired0, y0As mobile terminal (the i.e. described target pair
As) position coordinates.
For example, when the value of D is 20 meters, when the value of s is 0.1 meter, Δ d1There are 401 values, respectively -20, -
19.9, -19.8 ..., -0.3, -0.2, -0.1,0,0.1,0.2,0.3 ... 19.8,19.9,20, unit is rice；Δd2
Have 401 values, respectively -20, -19.9, -19.8 ..., -0.3, -0.2, -0.1,0,0.1,0.2,0.3 ... 19.8,
19.9,20, unit is rice；Δd3Have 401 values, respectively -20, -19.9, -19.8 ..., -0.3, -0.2, -0.1,
0,0.1,0.2,0.3 ... 19.8,19.9,20, unit is rice.By permutation and combination principle it is found that above equation group has
4013Kind concrete form.For each concrete form, solved.Wherein, most of equation group is no solution, small part side
Journey group is in the presence of solution.For there is the equation group of solution, the x acquired0, y0As mobile terminal (the i.e. described target object) may
Position coordinates.Assuming that being solved with the presence of 18 groups of equation groups, then 18 groups of position coordinates (x can be obtained0, y0), this 18 groups of positions are sat
Mark (x0, y0) it is all mobile terminal (the i.e. described target object) possible position coordinates.
Further, in practical applications, the target object that inventor's discovery is calculated using linear distance is sat in plane
Position coordinates in mark system, will appear large error when subsequent conversion is at position coordinates in other coordinate systems.Therefore it is asking
When solving above-mentioned equation group, linear distance can be replaced to calculate using arc length, so that the target object made is in plane coordinates
Position coordinates subsequent conversion in system is higher at the accuracy of the position coordinates of other coordinate systems.
Specifically, linear distance is converted to by arc length according to following calculation.It specifically includes:
1) perimeter of circle: c=2 × PI × r is calculated；Wherein, r is earth radius
2) arcsin value formed by half linear distance and radius: asin=(d/2)/r is calculated；Wherein, d is two o'clock
Between linear distance；
3) arc length both ends and center of circle angle: AOB=Math.asin (asin) × 2 are calculated；Wherein, Math.asin is to negate
Sine value
4) arc length length: l=AOB/360 × c is calculated.
The calculation of arc length is converted to using above-mentioned linear distance, respectively by first straight line distance d1, first straight line away from
From d2With first straight line distance d3It is converted into corresponding first arc length l1, the second arc length l2With third arc length l3。
(x1-x0)2+(y1-y0)2=(l1+Δd1)2；
(x2-x0)2+(y2-y0)2=(l2+Δd2)2；
(x3-x0)2+(y3-y0)2=(l3+Δd3)2。
The solution procedure of above-mentioned equation group can refer to foregoing embodiments, and details are not described herein.
In step 103, the position coordinates based on coordinate system transfer algorithm by the target object in plane coordinate system
The position coordinates being converted into the geographic coordinate system of kinds of platform.
In the present embodiment, the target object can be sat in the position of plane coordinate system using coordinate system transfer algorithm
Mark the position coordinates being converted into the geographic coordinate system of kinds of platform.Wherein, the geographic coordinate system of kinds of platform includes that Mars is sat
Mark system, Baidu's coordinate system, high moral coordinate system and Google's coordinate system.The conversion that the geographic coordinate system of different platform is mutual is main
Be converted mutually using the projection factor, the environmental factors such as eccentricity of the earth by migration algorithm, and different coordinates it
Between migration algorithm it is not identical.
It should be noted that be supplied to that developer's bottom uses in the prior art only there are two types of turn between coordinate system
It changes.But the algorithm that the geographic coordinate system in the present embodiment, providing two or more platforms is mutually converted.
Specifically, this step includes:
Step 1031 changes into position coordinates of the target object in plane coordinate system according to coordinate system transfer algorithm
Position coordinates in first platform geographic coordinate system.
Step 1032, based between the first platform geographic coordinate system and the second platform geographic coordinate system coordinate system conversion
Position coordinates of the target object in the first platform geographic coordinate system are converted into second platform by migration algorithm
Position coordinates in geographic coordinate system.
Wherein, coordinate system transfer algorithm is thrown according to the coordinate between plane coordinate system and the geographic coordinate system for needing to be converted into
The factors such as the shadow factor and eccentricity of the earth determine.It is sat between the geographic coordinate system of different platform according to different migration algorithms
Conversion between mark system.
In the present embodiment, in order to further increase the accuracy converted between different coordinates, turn in the coordinate system
Position coordinates of the target object in plane coordinate system are converted into kinds of platform in conjunction with dichotomy algorithm in scaling method
Position coordinates in geographic coordinate system.
For example, in practical applications, the coordinate system transfer algorithm between different coordinates can use following algorithm
It realizes:
General formula explanation:
Sine value is sought in Sin expression
Cosine value is sought in Cos expression
Atan2 (x, y) expression asks x-axis to the angle between point (x, y)
The public variable needed:
Pi,
Projection factor a=6378245.0,
Oval eccentric rate ee=0.00669342162296594323
Formula 1
Known variables x and y
It acquires:
Formula 2
Known variables x and y
It acquires:
Geographic coordinate system turns Mars coordinate system
The latitude x of known Mars coordinate system, longitude y
It acquires:
Value m brings x-105, y-35 into formula 1 and obtains variable m
Value n brings x-105, y-35 into formula 2 and obtains variable n value s=1-ee × sin (180 × π of x ÷) × sin (x ÷
180 × π) value
Longitude x1=x+ (m × 180) ÷ ((a × (1-ee))/(s × s1) × π)
Longitude y1=y+ (m × 180) ÷ (a ÷ s1 × cos (180 × π of x ÷) × π) Mars coordinate system turns geographic coordinate system
The latitude x of known Mars coordinate system, longitude y
It acquires:
It brings x-105, y-35 into formula 1 and obtains variable m
It brings x-105, y-35 into formula 2 and obtains variable n
S=1-ee × sin (180 × π of x ÷) × sin (180 × π of x ÷)
It is as follows to be converted into geographic coordinate system longitude and latitude:
Latitude x1=x × 2- (x+ (m × 180) ÷ ((a × (1-ee)) ÷ (s × s1) × π)) longitude y1=y × 2-y+ (m
×180)÷(a÷s1×cos(x÷180×π)×π)
Mars coordinate system turns Baidu's coordinate system
The latitude x of known Mars coordinate system, longitude y
It acquires:
T=atan2 (y, x)+0.000003 × cos (x × π)
The longitude and latitude for being converted into Baidu's coordinate system is as follows:
Longitude y1=z × cos (t)+0.0065；
Latitude x1=z × sin (t)+0.006；
Baidu's coordinate system turns Mars coordinate system
The latitude x of known Baidu's coordinate system, longitude y
Y1=y-0.0065,
X1=x-0.006；
T=atan2 (y, x) -0.000003 × cos (x × π)；
The longitude and latitude for being converted into Mars coordinate system is as follows:
Y2=z × cos (t)；
X2=z × sin (t)；
Geographic coordinate system (WGS-84) and Baidu's coordinate system (BD-09) are converted mutually
× geographic coordinate system turns Baidu's coordinate system
1 first converts Mars coordinate system for geographic coordinate system
2 due to the above-mentioned mutual conversion for having been carried out Mars coordinate system and Baidu's coordinate system, so the result in 1 is turned again
It is melted into Baidu's coordinate system.
Baidu's coordinate system turns terrestrial coordinate system
1 first converts Mars coordinate system for Baidu's coordinate system
2 due to the above-mentioned mutual conversion for having been carried out Mars coordinate system and geographic coordinate system, so the result in 1 is turned again
It is melted into geographic coordinate system.
Further, in the above-described embodiments, if the target object is that (i.e. the target object position is solid for fixed target object
It is fixed), the target object can be determined in plane using three-point fix algorithm and based on the position coordinates of three datum marks
Fixed position coordinates in coordinate system.
If the target object is that (i.e. the position of the target object whithin a period of time can become mobile target object
It is dynamic), in this case, the step 102 includes:
Step 1021, setting predetermined period.
Step 1022, using three-point fix algorithm and the position coordinates based on three datum marks, every described default
Period determines current position coordinates of the mobile target object in plane coordinate system.
Specifically, for mobile target object, position coordinates and on-fixed in plane coordinate system, therefore it is arranged one
A predetermined period obtains present bit of the mobile target object in plane coordinate system by time interval of the predetermined period
Coordinate is set, the mobile target pair can be calculated using the position coordinates of three-point fix algorithm and three datum marks
The current position coordinates of elephant.Specific calculating process is referred to the above-mentioned description for step 102.
Then, the movement is determined according to multiple current position coordinates of the mobile target object in plane coordinate system
The motion track of target object.
Further, multiple present bits based on coordinate system transfer algorithm by the mobile target object in plane coordinate system
The position coordinates that coordinate is converted into the geographic coordinate system of kinds of platform are set, it in this way can be in the geographic coordinate system of kinds of platform
Determine the motion track of the mobile target object.
In practical applications, it can also be not provided with predetermined period, current mobile target object is obtained in real time and sat in plane
Position coordinates in mark system, are calculated movement using the position coordinates of three-point fix algorithm and three datum marks in real time
Target object position coordinates current in plane coordinate system.
Based on the localization method of above-mentioned target object, the embodiment of the invention also provides a kind of positioning of target object dresses
It sets.Fig. 2 is a kind of structural schematic diagram of the embodiment of the positioning device of target object of the application.
With reference to Fig. 2, the positioning device 2 includes: that base position obtains module 21, for obtaining three datum marks in plane
Position coordinates in coordinate system.Target position determining module 22, for using three-point fix algorithm and based on three benchmark
The position coordinates of point determine position coordinates of the target object in the plane coordinate system.Coordinate system conversion processing module
23, for position coordinates of the target object in plane coordinate system to be converted into kinds of platform based on coordinate system transfer algorithm
Geographic coordinate system in position coordinates.Motion track determining module 24, for being sat according to the mobile target object in plane
Multiple current position coordinates in mark system determine the motion track of the mobile target object.
Specifically, if the target object is mobile target object, the target position determining module 22 includes: to set in the period
Order member 221, for predetermined period to be arranged.Current location determination unit 222, for using three-point fix algorithm and based on described
The position coordinates of three datum marks determine that the mobile target object is current in plane coordinate system every the predetermined period
Position coordinates.
The coordinate system conversion processing module 23 includes: the first conversion processing unit 231, is calculated for being converted according to coordinate system
Position coordinates of the target object in plane coordinate system are changed into the position coordinates in the first platform geographic coordinate system by method.The
Two conversion processing units 232, for based on the coordinate system between the first platform geographic coordinate system and the second platform geographic coordinate system
Position coordinates of the target object in the first platform geographic coordinate system are converted into described by the migration algorithm of conversion
Position coordinates in two platform geographic coordinate systems.
The coordinate system conversion processing module 23 is also used to combine dichotomy algorithm will in the coordinate system transfer algorithm
Position coordinates of the target object in plane coordinate system are converted into the position coordinates in the geographic coordinate system of kinds of platform.
In the present embodiment, the target position determining module 22 is calculated based on arc length and according to three-point fix algorithm
To position coordinates of the target object in plane coordinate system.Specifically, described in the target position determining module 22 is used to determine
Target object arrives the first straight line distance, second straight line distance and third linear distance of three datum marks respectively；It is based on
The position coordinates of three datum marks and first straight line distance, second straight line distance and third linear distance determine the mesh
Mark position coordinates of the object in the plane coordinate system.
In the present embodiment, the specific implementation process of modules and unit can be with reference to side above in the positioning device 2
Method embodiment, details are not described herein.
Fig. 3 is the structural schematic diagram of the application computer equipment one embodiment.
Computer equipment may include memory, processor and be stored on above-mentioned memory and can be on above-mentioned processor
Mesh provided by the embodiments of the present application may be implemented when above-mentioned processor executes above-mentioned computer program in the computer program of operation
Mark the localization method of object.
Wherein, above-mentioned computer equipment can be server, such as: Cloud Server, or electronic equipment, such as:
The intelligent electronic devices such as smart phone, smartwatch or tablet computer, specific form of the present embodiment to above-mentioned computer equipment
It is not construed as limiting.
Fig. 3 shows the block diagram for being suitable for the exemplary computer device 12 for being used to realize the application embodiment.Fig. 3 is shown
Computer equipment 12 be only an example, should not function to the embodiment of the present application and use scope bring any restrictions.
As shown in figure 3, computer equipment 12 is showed in the form of universal computing device.The component of computer equipment 12 can be with
Including but not limited to: one or more processor or processing unit 16, system storage 28 connect different system components
The bus 18 of (including system storage 28 and processing unit 16).
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (Industry Standard
Architecture；Hereinafter referred to as: ISA) bus, microchannel architecture (Micro Channel Architecture；Below
Referred to as: MAC) bus, enhanced isa bus, Video Electronics Standards Association (Video Electronics Standards
Association；Hereinafter referred to as: VESA) local bus and peripheral component interconnection (Peripheral Component
Interconnection；Hereinafter referred to as: PCI) bus.
Computer equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be by
The usable medium that computer equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (Random Access Memory；Hereinafter referred to as: RAM) 30 and/or cache memory 32.Computer equipment 12
It may further include other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only conduct
Citing, storage system 34 can be used for reading and writing immovable, non-volatile magnetic media, and (Fig. 3 do not show, commonly referred to as " hard disk
Driver ").Although being not shown in Fig. 3, the magnetic for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided
Disk drive, and to removable anonvolatile optical disk (such as: compact disc read-only memory (Compact Disc Read Only
Memory；Hereinafter referred to as: CD-ROM), digital multi CD-ROM (Digital Video Disc Read Only
Memory；Hereinafter referred to as: DVD-ROM) or other optical mediums) read-write CD drive.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, and it is each that these program modules are configured to perform the application
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 52 can store in such as memory 28
In, such program module 52 includes --- but being not limited to --- operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.Program mould
Block 52 usually executes function and/or method in embodiments described herein.
Computer equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 34
Deng) communication, can also be enabled a user to one or more equipment interact with the computer equipment 12 communicate, and/or with make
The computer equipment 12 any equipment (such as network interface card, the modulatedemodulate that can be communicated with one or more of the other calculating equipment
Adjust device etc.) communication.This communication can be carried out by input/output (I/O) interface 32.Also, computer equipment 12 may be used also
To pass through network adapter 30 and one or more network (such as local area network (Local Area Network；Hereinafter referred to as:
LAN), wide area network (Wide Area Network；Hereinafter referred to as: WAN) and/or public network, for example, internet) communication.Such as figure
Shown in 3, network adapter 30 is communicated by bus 18 with other modules of computer equipment 12.Although should be understood that in Fig. 3 not
It shows, other hardware and/or software module can be used in conjunction with computer equipment 12, including but not limited to: microcode, equipment are driven
Dynamic device, redundant processing unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize the localization method of target object provided by the embodiments of the present application.
The embodiment of the present application also provides a kind of non-transitorycomputer readable storage medium, is stored thereon with computer journey
The localization method of target object provided by the embodiments of the present application may be implemented in sequence, above-mentioned computer program when being executed by processor.
Above-mentioned non-transitorycomputer readable storage medium can appointing using one or more computer-readable media
Meaning combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer can
Reading storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device
Or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes:
Electrical connection, portable computer diskette, hard disk, random access memory (RAM), read-only storage with one or more conducting wires
Device (Read Only Memory；Hereinafter referred to as: ROM), erasable programmable read only memory (Erasable
Programmable Read Only Memory；Hereinafter referred to as: EPROM) or flash memory, optical fiber, portable compact disc are read-only deposits
Reservoir (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer
Readable storage medium storing program for executing can be any tangible medium for including or store program, which can be commanded execution system, device
Either device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with one or more programming languages or combinations thereof come write for execute the application operation computer
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
It is related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (Local
Area Network；Hereinafter referred to as: LAN) or wide area network (Wide Area Network；Hereinafter referred to as: WAN) it is connected to user
Computer, or, it may be connected to outer computer (such as being connected using ISP by internet).
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination " or " in response to detection ".Similarly, depend on context, phrase " if it is determined that " or " if detection
(condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when the detection (condition of statement
Or event) when " or " in response to detection (condition or event of statement) ".
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (10)
1. a kind of localization method of target object, which is characterized in that included:
Obtain position coordinates of three datum marks in plane coordinate system；
Determine the target object in the plane using three-point fix algorithm and based on the position coordinates of three datum marks
Position coordinates in coordinate system；
Position coordinates of the target object in plane coordinate system are converted into kinds of platform based on coordinate system transfer algorithm
Position coordinates in geographic coordinate system.
2. the method as described in claim 1, which is characterized in that the target object is mobile target object；
It is described to determine the target object in plane using three-point fix algorithm and based on the position coordinates of three datum marks
Position coordinates in coordinate system include:
Predetermined period is set；
Using three-point fix algorithm and the position coordinates based on three datum marks, the shifting is determined every the predetermined period
Current position coordinates of the moving-target object in plane coordinate system.
3. method according to claim 2, which is characterized in that described using three-point fix algorithm and based on three bases
Position coordinates on schedule determine after position coordinates of the target object in plane coordinate system further include:
The mobile target object is determined according to multiple current position coordinates of the mobile target object in plane coordinate system
Motion track.
4. the method as described in claim 1, which is characterized in that described that the target object is existed based on coordinate system transfer algorithm
Position coordinates in plane coordinate system are converted into the position coordinates in the geographic coordinate system of kinds of platform
Position coordinates of the target object in plane coordinate system are changed into the first platform geography according to coordinate system transfer algorithm
Position coordinates in coordinate system；
Based on the migration algorithm of the coordinate system conversion between the first platform geographic coordinate system and the second platform geographic coordinate system, by institute
Target object is stated to be converted into the second platform geographic coordinate system in the position coordinates in the first platform geographic coordinate system
Position coordinates.
5. the method as described in claim 1, which is characterized in that described that the target object is existed based on coordinate system transfer algorithm
Position coordinates in plane coordinate system are converted into the position coordinates in the geographic coordinate system of kinds of platform
Position of the target object in plane coordinate system is sat in conjunction with dichotomy algorithm in the coordinate system transfer algorithm
Mark the position coordinates being converted into the geographic coordinate system of kinds of platform.
6. the localization method of target object as described in claim 1, which is characterized in that described to utilize three-point fix algorithm and base
Determine that position coordinates of the target object in the plane coordinate system include: in the position coordinates of three datum marks
Determine the target object arrive respectively three datum marks first straight line distance, second straight line distance and third it is straight
Linear distance；
Position coordinates based on three datum marks and first straight line distance, second straight line distance and described the
Three linear distances determine position coordinates of the target object in the plane coordinate system.
7. a kind of positioning device of target object characterized by comprising
Base position obtains module, for obtaining position coordinates of three datum marks in plane coordinate system；
Target position determining module, for determining institute using three-point fix algorithm and based on the position coordinates of three datum marks
State position coordinates of the target object in the plane coordinate system；
Coordinate system conversion processing module, for the position based on coordinate system transfer algorithm by the target object in plane coordinate system
Set the position coordinates that coordinate is converted into the geographic coordinate system of kinds of platform.
8. positioning device as claimed in claim 7, which is characterized in that the target object is mobile target object；The mesh
Cursor position determining module includes:
Period setting unit, for predetermined period to be arranged；
Current location determination unit, for using three-point fix algorithm and position coordinates based on three datum marks, every
The predetermined period determines current position coordinates of the mobile target object in plane coordinate system.
9. a kind of computer equipment, which is characterized in that including memory, processor and be stored on the memory and can be in institute
The computer program run on processor is stated, when the processor executes the computer program, is realized as in claim 1-6
Any method.
10. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the meter
Such as method as claimed in any one of claims 1 to 6 is realized when calculation machine program is executed by processor.
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