CN110824502A  Method and system for converting satellite threedimensional coordinates into railway onedimensional coordinates  Google Patents
Method and system for converting satellite threedimensional coordinates into railway onedimensional coordinates Download PDFInfo
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 CN110824502A CN110824502A CN201910990901.2A CN201910990901A CN110824502A CN 110824502 A CN110824502 A CN 110824502A CN 201910990901 A CN201910990901 A CN 201910990901A CN 110824502 A CN110824502 A CN 110824502A
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Classifications

 G—PHYSICS
 G01—MEASURING; TESTING
 G01S—RADIO DIRECTIONFINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCEDETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
 G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
 G01S19/01—Satellite radio beacon positioning systems transmitting timestamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
 G01S19/13—Receivers
 G01S19/14—Receivers specially adapted for specific applications

 G—PHYSICS
 G01—MEASURING; TESTING
 G01S—RADIO DIRECTIONFINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCEDETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
 G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
 G01S19/01—Satellite radio beacon positioning systems transmitting timestamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
 G01S19/13—Receivers
 G01S19/35—Constructional details or hardware or software details of the signal processing chain
 G01S19/37—Hardware or software details of the signal processing chain
Abstract
The invention relates to a method and a system for converting a satellite threedimensional coordinate into a railway onedimensional coordinate, which comprises the following steps: acquiring threedimensional coordinates of a positioning reference point and a satellite point to be positioned, and converting the threedimensional coordinates into twodimensional coordinates; determining a mapping point of the satellite point to be positioned on the reference connecting line according to the curvature of the reference connecting line by taking a railway line between two adjacent positioning reference points as the reference connecting line; and converting the twodimensional coordinates of the positioning reference point and the satellite point to be positioned into onedimensional coordinates on the railway line based on the mapping point. The invention has the technical effects that: firstly, converting the threedimensional coordinates of a satellite point to be positioned into ground twodimensional coordinates; secondly, mapping the satellite points to be positioned on the reference connecting line to obtain mapping points of the satellite points; and finally, judging whether the mapping result is acceptable according to the engineering precision requirement, thereby obtaining the onedimensional coordinate of the satellite point to be positioned based on the actual railway line.
Description
Technical Field
The invention belongs to the field of rail transit, and particularly relates to a method and a system for converting a satellite threedimensional coordinate into a railway onedimensional coordinate.
Background
Currently, the positioning technology based on the satellite mainly adopts the GPS, and the coordinate positioning achievement form is based on a WGS84(World geographic System 1984, a coordinate System established for the GPS global positioning System) coordinate System.
All the positioning results obtained by adopting the GPS receiver are in the format of NMEA0183, and the data in the format cannot be directly applied to engineering measurement. NMEA0183 is a standard format established by the National marine electronics Association (National Marine electronics Association) for marine electronic devices, and is a unified RTCM (radio Technical Commission for Markime services) standard protocol for GPS navigation devices.
In the method for confirming the train position in the prior art, a coordinate transformation equation is listed by utilizing two sets of coordinates of at least more than 3 common points in a measuring area, and 7 transformation parameters are solved and calculated by adopting a least square principle to obtain the transformation equation, wherein the 7 transformation parameters refer to 3 translation parameters, 3 rotation parameters and 1 scale parameter.
The defects of the prior art are as follows: 1. when the sevenparameter coordinate transformation method is used for transforming the coordinate system, the GPS network and the ground network have at least 3 coincident points so as to obtain a transformation matrix;
2. the conversion of the NMEA0183 format coordinates into the plane coordinates needs to be converted into the space coordinates of the Clay guy fusiform ellipsoid, then into the geodetic coordinates of the Clay guy fusiform ellipsoid and finally into the Gaussian plane coordinates, and the conversion process is complicated and the measurement engineering precision is easy to lose;
3. the train can not be directly positioned at the accurate position on the railway line by the Gaussian plane coordinates.
In the rail transit industry, people do not need to know detailed longitude and latitude coordinates of a train, but pay more attention to the specific position of the train on a railway line, and need to quickly find the specific position of the train on the railway line, so that the situation that the train position is troublesome to find due to excessive steps is prevented. And the position of the train on the railway line is quickly found, and the system scheduling can be facilitated. Therefore, there is a need for a method of converting a train position fix obtained from a GPS receiver to a determined position that can be marked on a railway line.
Disclosure of Invention
In order to solve the problems, the invention relates to a method for converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway, which comprises the following steps:
acquiring threedimensional coordinates of a positioning reference point and a satellite point to be positioned, and converting the threedimensional coordinates into twodimensional coordinates;
determining a mapping point of the satellite point to be positioned on the reference connecting line according to the curvature of the reference connecting line by taking a railway line between two adjacent positioning reference points as the reference connecting line;
and converting the twodimensional coordinates of the positioning reference point and the satellite point to be positioned into onedimensional coordinates on the railway line based on the mapping point.
Preferably, the positions of the positioning reference points are set on a railway line, and the railway line mark between every two adjacent positioning reference points is marked as a group of the reference connecting lines.
Preferably, the elevation parameter in the threedimensional coordinate is deleted, and the threedimensional coordinate is converted into the twodimensional coordinate.
Preferably, the railway line between two adjacent positioning reference points is used as a reference line, and the curvature according to the reference line comprises:
judging the curvature of the reference connecting line, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
if the curvature is zero, mapping the satellite point to be positioned to the reference connecting line to determine the mapping point;
and if the curvature is nonzero, mapping the satellite point to be positioned to the reference connecting line to determine the mapping point.
Preferably, if the curvature is zero, mapping the satellite point to be positioned to the reference link, and determining the mapping point includes:
judging the relation between the satellite point to be positioned and the reference connecting line, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
if the satellite point to be positioned is outside the reference connecting line, the satellite point to be positioned makes a mapping point to the reference connecting line;
and if the satellite point to be positioned is on the reference connecting line, calculating the position relation between the satellite point to be positioned and the positioning reference point.
Preferably, if the curvature is nonzero, mapping the satellite point to be positioned to the reference link, and determining the mapping point includes:
determining the curvature radius and the circle center coordinate of the reference connecting line;
judging whether the distance between the satellite point to be positioned and the reference connecting line meets the engineering precision or not, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
if the distance meets the engineering precision, mapping points are made to the reference connecting line by the satellite points to be positioned;
and if the distance does not meet the engineering precision, discarding the satellite points to be positioned.
Preferably, based on the mapping point, the positioning reference point, and the twodimensional coordinates of the satellite point to be positioned, it is determined whether the distance between the satellite point to be positioned and the mapping point satisfies the engineering precision, and a processing step is executed according to the determination result, where the processing step includes:
if the distance between the satellite point to be positioned and the mapping point meets the engineering precision, obtaining the actual onedimensional coordinate position of the satellite point to be positioned on the railway line;
and if the distance between the satellite point to be positioned and the mapping point does not meet the engineering precision, discarding the satellite point to be positioned.
Preferably, if the satellite point to be positioned is outside the reference link, the making of a mapping point to the reference link by the satellite point to be positioned includes:
and drawing a perpendicular line from the satellite point to be positioned to the reference connecting line or the extension line of the reference connecting line, wherein the intersection point of the perpendicular line and the reference connecting line is a mapping point.
Preferably, if the distance of the vertical line meets the engineering precision, the distance between the mapping point and the positioning reference point is a onedimensional coordinate position of the train on the real railway;
and if the distance of the vertical line does not meet the engineering precision, discarding the satellite point to be positioned.
Preferably, if the satellite point to be positioned is on the reference connection line, calculating the position relationship between the satellite point to be positioned and the positioning reference point includes:
and calculating the distance between the satellite point to be positioned and the positioning reference point, wherein the distance is the onedimensional coordinate position of the train on the real railway.
Preferably, if the distance between the satellite point to be positioned and the mapping point meets the engineering precision, obtaining the actual onedimensional coordinate position of the satellite point to be positioned mapped on the railway line includes:
the intersection point of the straight line passing through the satellite point to be positioned and the circle center and the reference connecting line is a mapping point;
and the distance between the mapping point and the positioning reference point is a onedimensional coordinate position of the train on the real railway.
A system for converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway comprises a positioning module, a curvature module and a mapping module;
the positioning module is used for acquiring threedimensional coordinates of a positioning reference point and a satellite point to be positioned and converting the threedimensional coordinates into twodimensional coordinates;
the curvature module is used for determining a mapping point of the satellite point to be positioned on a reference connecting line by taking a railway line between two adjacent positioning reference points as the reference connecting line according to the curvature of the reference connecting line;
the mapping module is used for converting the twodimensional coordinates of the positioning reference point and the satellite point to be positioned into onedimensional coordinates on a railway line based on the mapping point;
the positioning module is connected with the curvature module, and the curvature module is connected with the mapping module.
Preferably, the curvature module includes a straight line unit and a curved line unit;
the straight line unit is used for mapping the satellite point to be positioned to the reference connecting line if the curvature is zero, and determining the mapping point;
and the curve unit is used for mapping the satellite point to be positioned to the reference connecting line if the curvature is nonzero, and determining the mapping point.
Preferably, the mapping module comprises a mapping point unit;
and the mapping point unit is used for determining the distance between the mapping point and the positioning reference point as a onedimensional coordinate position of the train on the real railway if the distance between the satellite point to be positioned and the mapping point meets the engineering precision.
The invention has the technical effects that: firstly, converting the threedimensional coordinates of a satellite point to be positioned into ground twodimensional coordinates; secondly, mapping the satellite points to be positioned on the reference connecting line to obtain mapping points of the satellite points; and finally, judging whether the mapping result is acceptable according to the engineering precision requirement, thereby obtaining the onedimensional coordinate of the satellite point to be positioned based on the actual railway line, and converting the threedimensional coordinate of the satellite positioning into the onedimensional coordinate of the railway track.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 shows an overall flow diagram of an embodiment of the invention;
FIG. 2 shows a schematic view of a satellite point to be located on a reference link according to an embodiment of the invention;
FIG. 3 is a schematic diagram illustrating a satellite spot to be located off of a reference link according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a position structure of a satellite point to be located and a reference connection line according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows an overall flow diagram of an embodiment of the invention. As shown in fig. 1, the present invention provides a method for converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway, comprising the steps of:
the method comprises the following steps: acquiring threedimensional coordinates of a positioning reference point and a satellite point to be positioned, and converting the threedimensional coordinates into twodimensional coordinates;
according to actual measurement on site, the field equipment is used as a positioning reference point, the threedimensional coordinates of the field equipment are used as the coordinates of the positioning reference point, and the (at least) threedimensional position coordinates of the train are obtained from a satellite in real time. Wherein the threedimensional coordinates include longitude, latitude, and elevation. Illustratively, the specific direction can be accurately determined by selecting the positioning reference point and the satellite point to be positioned through the threedimensional data.
For example, if the altitude parameter is important for threedimensional data confirmation on the winding mountain, under the condition that the longitude and the latitude are the same, only the altitude is different to distinguish different coordinate points. Due to the particularity of railway construction, when data measurement is carried out on railway engineering, the influence of elevation parameters on a train is nearly ignored within a certain distance range, so that the azimuth is determined only through longitude and latitude independently, the threedimensional coordinate of satellite positioning is changed into a twodimensional coordinate, and the twodimensional coordinate of a positioning reference point and a satellite point to be positioned is obtained.
Step two: determining a mapping point of the satellite point to be positioned on the reference connecting line according to the curvature of the reference connecting line by taking a railway line between two adjacent positioning reference points as the reference connecting line;
the positioning reference points are arranged on a railway line where the train runs, the plurality of positioning reference points divide the railway line into a plurality of lines, every two adjacent positioning reference points form a group, and a connecting line between the group of positioning reference points is set as a reference connecting line. Illustratively, a positioning reference point and a satellite point to be positioned are both selected and displayed on the satellite map, wherein the positioning reference point is a selected fixed point whose exact longitude and latitude coordinates are known, and the satellite point to be positioned is a train positioning point obtained from a GPS receiver.
Illustratively, the railway lines between each group of positioning reference points form a reference connecting line, wherein the curvature of the reference connecting line is obtained by measurement, and when an electronic map of one line is obtained, the curvature of the reference connecting line can be obtained by measurement.
For example: a plane rectangular coordinate system is established on a map, the track of the train running on the map is drawn, and positioning reference points A and B are arranged on the track. If the traced track is a curve, the circle center of the curve is taken as the origin of the plane rectangular coordinate system, the curve connecting line is AB, and the circle center of the curve connecting line AB is taken as the origin.
If the traced track is a straight line, the origin of the plane rectangular coordinate system is used as a positioning reference point to form a straight line connecting line passing through the origin.
Judging the curvature of the reference connecting line, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
and if the curvature of the reference connecting line is zero, mapping the satellite point to be positioned to the reference connecting line, and determining the mapping point. When the curvature of the reference connecting line is zero, the reference connecting line to be measured is a straight line, on the satellite map, the track line connecting line of the railway line between two adjacent positioning reference points, namely a straight line segment between a reference point A and a reference point B, wherein the reference point A is a starting point, and the reference point B is a final point.
And judging the position of the satellite point to be positioned, and if the satellite point to be positioned is on the reference line, calculating the distance between the satellite point to be positioned and the positioning reference point to obtain the specific position of the train on the real railway line. When the specific position of the train is determined, the coordinates of the positioning reference point and the coordinates of the satellite shop to be positioned need to be determined, and the distance between the satellite point to be positioned and the positioning reference point is calculated according to the coordinates. Fig. 2 shows a schematic view of a satellite point to be located on a reference link according to an embodiment of the present invention. As shown in fig. 2, the satellite point P to be positioned is on the reference line AB, the distance between the points PA is calculated at this time, and after the specific coordinate values of the reference point a and the reference point B are confirmed, the distance between the satellite point P to be positioned and the reference point a can be determined to be the onedimensional coordinate position on the real railway line.
For example, when the distance calculation is performed based on the rectangular plane coordinate system, the coordinate of the reference point a is (x)_{1}，y_{1}) The coordinate of the satellite point P to be positioned is (x)_{2}，y_{2}) Then, thenAnd further obtaining the actual distance between the satellite point P to be positioned and the reference point A, thereby obtaining the specific position of the satellite point P to be positioned on the real railway.
For example, when calculating the distance between two coordinates on the earth, by equation 1:
wherein R is the radius of the earth, and the average value can be 6371 km; d is the distance between the two coordinates; representing the latitude between two coordinates; Δ λ represents the difference between two coordinate longitudes;
wherein, haversin (theta) ═ sin^{2}(θ/2)＝(1cos(θ))/2；
Haverine is converted into sine and cosine modes, so that the distance between the two coordinates is calculated, the calculation results are compared, a more accurate result is obtained, and the distance between the two coordinates is calculated according to the longitude and the latitude of the two coordinates.
And if the satellite point to be positioned is not on the reference connecting line, the satellite point to be positioned makes a mapping point on the reference connecting line. Fig. 3 shows a schematic diagram of a satellite spot to be located not on a reference link according to an embodiment of the present invention. As shown in fig. 3, a perpendicular line is drawn from the satellite point P to be positioned to the reference link AB, and the intersection of the perpendicular line and the reference link is a mapping point D. At this time, it is necessary to determine the engineering accuracy of the perpendicular line PD, and for example, when the engineering accuracy of the perpendicular line PD is determined, when the perpendicular line PD is less than or equal to 5m, the perpendicular line PD is within the engineering accuracy determination range, and when the perpendicular line PD is greater than 5m, the perpendicular line PD is outside the engineering accuracy determination range. If the perpendicular line PD meets the requirement of engineering precision, the length of the AD is directly calculated, and then the distance between the mapping point D and the reference point A is the onedimensional coordinate position of the train on the real railway line. Illustratively, when a satellite point P to be positioned makes a perpendicular line towards a reference connecting line AB, the intersection point of the perpendicular line and the extension line of the reference connecting line is Q, at the moment, the engineering precision judgment needs to be carried out on the distance between the perpendicular line PQ and the connecting line AQ, and if the perpendicular line PQ and the connecting line AQ meet the engineering precision requirement, the distance between the intersection point Q and a reference point A is confirmed to be the onedimensional coordinate position of the train on the real railway line.
And if the curvature of the reference connecting line is nonzero, mapping the satellite point to be positioned to the reference connecting line to determine the mapping point. Fig. 4 is a schematic diagram illustrating a position structure of a satellite point to be located and a reference connection line according to an embodiment of the present invention. As shown in fig. 4, when the curvature of the reference connection line is nonzero, the reference connection line to be measured is a curve, and the curvature radius and the circle center coordinate of the reference connection line, i.e., the curve connection line between the reference point a and the reference point B, are determined on the satellite map, where the reference point a is a starting point, the reference point B is an end point, and the circle center is O.
Judging whether the distance between the satellite point to be positioned and the reference connecting line meets the engineering precision or not, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
and if the distance meets the engineering precision, making a mapping point from the satellite point to be positioned to the reference connecting line. The satellite point P to be positioned is connected with the circle center O, a mapping point Q is made from the satellite point P to be positioned to the reference connecting line AB, namely the intersection point of a straight line passing through the satellite point P to be positioned and the circle center O and the reference connecting line AB is the mapping point Q, at the moment, the connecting line PQ is judged for engineering precision, and whether the distance between the satellite point P to be positioned and the reference connecting line AB can meet the engineering precision is judged. If the connecting line PO meets the requirement of engineering precision, a mapping point is made from the satellite point P to be positioned to the reference connecting line AB, namely, the intersection point Q of the connecting line or the extension line of the satellite point P to be positioned and the circle center O and the reference connecting line AB, and the point Q is the mapping point of the satellite point to be positioned on the reference connecting line AB, namely, the specific position of the train. And calculating the distance PA between the reference point P to be positioned and the initial reference point A, and approximately considering that  PA  ≈ QA . Therefore, the distance between the two coordinates of the reference point P to be positioned and the initial reference point A can be calculated to approximately obtain the distance QA, and the distance between the intersection point Q and the reference point A is determined to be the onedimensional coordinate position of the train on the real railway line.
And if the distance does not meet the engineering precision, discarding the satellite points to be positioned.
Step three: based on the mapping points, converting the twodimensional coordinates of the positioning reference points and the satellite points to be positioned into onedimensional coordinates on the railway line;
when the satellite point to be positioned makes a mapping point on the reference connecting line, and the engineering precision of the perpendicular line PD is judged when the foot point D is on the reference connecting line AB in the graph in FIG. 3; and when the foot drop point Q is on the extension line of the reference connecting line AB, judging the engineering precision of the vertical line PQ and the connecting line AQ. In fig. 4, the connection line between the satellite point P to be positioned and the circle center O is subjected to engineering precision determination, that is, the engineering precision determination of the connection line PO.
And when the foot drop point D or the intersection point Q does not meet the engineering precision, the satellite point P to be positioned loses the positioning function, and the satellite point P to be positioned needs to be abandoned. For example, when the satellite point P to be positioned of the train obtained by the GPS receiver cannot obtain an accurate position location on the reference line AB, the satellite point P to be positioned at this time needs to be discarded, so that the satellite point P to be positioned of the train positioning point is received by the GPS receiver again, and the next detection of the train position is facilitated.
Executing a processing step according to the engineering precision judgment result, wherein the processing step comprises the following steps:
if the satellite point to be positioned meets the engineering precision, obtaining the actual onedimensional coordinate position of the satellite point P to be positioned mapped on the railway line;
the curvature of the reference link is zero:
when the satellite point P to be positioned is on the reference connecting line AB, the satellite point P to be positioned is a mapping point, and a onedimensional coordinate position of the train on the real railway is obtained according to the mapping point;
when the satellite point P to be positioned is not on the reference connecting line, a perpendicular line is drawn from the satellite point P to the reference connecting line AB or the extension line of the reference connecting line AB, wherein the intersection point obtained by the perpendicular line and the extension line of the reference connecting line AB or the extension line of the reference connecting line AB is the mapping point of the satellite point P to be positioned on the reference connecting line AB, and the onedimensional coordinate position of the train on the real railway is obtained according to the mapping point.
The reference link curvature is not zero:
wherein, the intersection point of the connecting line of the satellite point P to be positioned and the circle center and the extension line of the connecting line and the reference connecting line is the mapping point of the satellite point P to be positioned on the reference connecting line AB, and the onedimensional coordinate position of the train on the real railway is obtained according to the mapping point.
And if the satellite point to be positioned does not meet the engineering precision, discarding the satellite point P to be positioned.
The invention also provides a system for converting the threedimensional coordinates of the satellite into the onedimensional coordinates of the railway, which comprises a positioning module, a curvature module and a mapping module;
the positioning module is used for acquiring threedimensional coordinates of a positioning reference point and a satellite point to be positioned and converting the threedimensional coordinates into twodimensional coordinates; the positioning reference point is a fixed point which is selected and known with accurate longitude and latitude coordinates, and the satellite point to be positioned is a train positioning point obtained from a GPS receiver.
The curvature module is used for determining a mapping point of the satellite point to be positioned on a reference connecting line by taking a railway line between two adjacent positioning reference points as the reference connecting line according to the curvature of the reference connecting line; the curvature of the reference connecting line is judged, so that whether the reference connecting line is a curve or a straight line is judged, and then the satellite point to be positioned is mapped on the reference connecting line.
The mapping module is used for converting the twodimensional coordinates of the positioning reference point and the satellite point to be positioned into onedimensional coordinates on a railway line based on the mapping point; the position coordinates of the positioning reference points are confirmed on the railway line, and the satellite points to be positioned are mapped on the railway line between two adjacent positioning reference points, so that the positions mapped by the satellite points to be positioned are the specific positions of the train on the railway line.
The positioning module is connected with the curvature module, and the curvature module is connected with the mapping module.
The curvature module comprises a straight line unit and a curve unit;
and the straight line unit is used for mapping the satellite point to be positioned to the reference connecting line if the curvature is zero, and determining the mapping point.
When the satellite point to be positioned is on the reference line, the satellite point to be positioned at the moment is the mapping point of the satellite point to be positioned on the reference line;
when the satellite point to be positioned is not on the reference connecting line, a perpendicular line is drawn from the satellite point to be positioned to the reference connecting line or the extension line of the reference connecting line, and the intersection point of the perpendicular line and the reference connecting line is a mapping point.
The curve unit is used for mapping the satellite point to be positioned to the reference connecting line if the curvature is nonzero, and determining the mapping point;
the satellite point to be positioned makes a mapping point to the reference connecting line, and the intersection point of the connecting line of the satellite point to be positioned and the circle center or the extension line of the connecting line and the reference connecting line is the mapping point of the satellite point to be positioned on the reference connecting line.
The mapping module comprises a mapping point unit;
and the mapping point unit is used for determining the distance between the mapping point and the positioning reference point as a onedimensional coordinate position of the train on the real railway if the distance between the satellite point to be positioned and the mapping point meets the engineering precision.
In the prior art, longitude and latitude are one type of identification coordinate data, and the coordinate system of the Xian 80 Beijing 54 can use longitude and latitude to represent coordinate positions.
The WGS84 geocentric coordinate system can be interconverted with a reference coordinate system such as the 1954 beijing coordinate system or the 1980 sienna coordinate system, wherein: in the measuring area, two sets of coordinates of at least more than 3 common points are used for listing a coordinate conversion equation, and 7 conversion parameters are solved by adopting a least square principle to obtain the conversion equation. Where the 7 transformation parameters are 3 translation parameters, 3 rotation parameters and 1 scale parameter.
Considering the actual situation of engineering, firstly, converting the threedimensional coordinates (longitude, latitude and elevation) of a satellite point to be positioned into twodimensional coordinates (longitude and latitude) on the ground; secondly, mapping the satellite points to be positioned on the reference connecting line to obtain mapping points of the satellite points; and finally, judging whether the mapping result is accepted or rejected according to the engineering precision requirement of the engineering so as to obtain the onedimensional coordinate of the satellite point to be positioned based on the actual railway line, thereby converting the threedimensional coordinate of the satellite positioning into the onedimensional coordinate of the railway track.
Compared with the prior art, the method confirms the position of the train on the railway line through two positioning reference points and one satellite point to be positioned, reduces data for inquiring coordinate parameters, and shortens retrieval steps, so that the position of the train on the railway line can be quickly found.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (14)
1. A method for converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway is characterized by comprising the following steps:
acquiring threedimensional coordinates of a positioning reference point and a satellite point to be positioned, and converting the threedimensional coordinates into twodimensional coordinates;
determining a mapping point of the satellite point to be positioned on the reference connecting line according to the curvature of the reference connecting line by taking a railway line between two adjacent positioning reference points as the reference connecting line;
and converting the twodimensional coordinates of the positioning reference point and the satellite point to be positioned into onedimensional coordinates on the railway line based on the mapping point.
2. The method of converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to claim 1,
the positions of the positioning reference points are arranged on a railway line, and the railway line between every two adjacent positioning reference points is marked as a group of reference connecting lines.
3. The method of converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to claim 2,
and deleting the elevation parameters in the threedimensional coordinates, and converting the threedimensional coordinates into the twodimensional coordinates.
4. The method for converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to any one of claims 1 to 3,
the railway line between two adjacent positioning reference points is taken as a reference connecting line, and the curvature according to the reference connecting line comprises the following steps:
judging the curvature of the reference connecting line, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
if the curvature is zero, mapping the satellite point to be positioned to the reference connecting line to determine the mapping point;
and if the curvature is nonzero, mapping the satellite point to be positioned to the reference connecting line to determine the mapping point.
5. The method of converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to claim 4,
if the curvature is zero, mapping the satellite point to be positioned to the reference connecting line, and determining the mapping point comprises the following steps:
judging the relation between the satellite point to be positioned and the reference connecting line, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
if the satellite point to be positioned is outside the reference connecting line, the satellite point to be positioned makes a mapping point to the reference connecting line;
and if the satellite point to be positioned is on the reference connecting line, calculating the position relation between the satellite point to be positioned and the positioning reference point.
6. The method of converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to claim 5,
if the curvature is nonzero, mapping the satellite point to be positioned to the reference connecting line, and determining the mapping point comprises the following steps:
determining the curvature radius and the circle center coordinate of the reference connecting line;
judging whether the distance between the satellite point to be positioned and the reference connecting line meets the engineering precision or not, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
if the distance meets the engineering precision, mapping points are made to the reference connecting line by the satellite points to be positioned;
and if the distance does not meet the engineering precision, discarding the satellite points to be positioned.
7. The method for converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to any one of claims 5 to 6,
judging whether the distance between the satellite point to be positioned and the mapping point meets the engineering precision or not based on the mapping point, the positioning reference point and the twodimensional coordinates of the satellite point to be positioned, and executing a processing step according to a judgment result, wherein the processing step comprises the following steps:
if the distance between the satellite point to be positioned and the mapping point meets the engineering precision, obtaining the actual onedimensional coordinate position of the satellite point to be positioned on the railway line;
and if the distance between the satellite point to be positioned and the mapping point does not meet the engineering precision, discarding the satellite point to be positioned.
8. The method of converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to claim 5,
if the satellite point to be positioned is outside the reference connecting line, the step of mapping the satellite point to be positioned to the reference connecting line by the satellite point to be positioned comprises the following steps:
and drawing a perpendicular line from the satellite point to be positioned to the reference connecting line or the extension line of the reference connecting line, wherein the intersection point of the perpendicular line and the reference connecting line is a mapping point.
9. The method of converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to claim 8,
the distance between the mapping point and the positioning reference point is the onedimensional coordinate position of the train on the real railway if the distance between the vertical line and the positioning reference point meets the engineering precision;
and if the distance of the vertical line does not meet the engineering precision, discarding the satellite point to be positioned.
10. The method of converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to claim 5,
if the satellite point to be positioned is on the reference connection line, calculating the position relationship between the satellite point to be positioned and the positioning reference point comprises:
and calculating the distance between the satellite point to be positioned and the positioning reference point, wherein the distance is the onedimensional coordinate position of the train on the real railway.
11. The method of converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway according to claim 7,
if the distance between the satellite point to be positioned and the mapping point meets the engineering precision, obtaining the actual onedimensional coordinate position of the satellite point to be positioned mapped on the railway line comprises the following steps:
the intersection point of the straight line passing through the satellite point to be positioned and the circle center and the reference connecting line is a mapping point;
and the distance between the mapping point and the positioning reference point is a onedimensional coordinate position of the train on the real railway.
12. A system for converting threedimensional coordinates of a satellite into onedimensional coordinates of a railway is characterized in that,
the device comprises a positioning module, a curvature module and a mapping module;
the positioning module is used for acquiring threedimensional coordinates of a positioning reference point and a satellite point to be positioned and converting the threedimensional coordinates into twodimensional coordinates;
the curvature module is used for determining a mapping point of the satellite point to be positioned on a reference connecting line by taking a railway line between two adjacent positioning reference points as the reference connecting line according to the curvature of the reference connecting line;
the mapping module is used for converting the twodimensional coordinates of the positioning reference point and the satellite point to be positioned into onedimensional coordinates on a railway line based on the mapping point;
the positioning module is connected with the curvature module, and the curvature module is connected with the mapping module.
13. The system for converting threedimensional coordinates of satellites to onedimensional coordinates of railways according to claim 12,
the curvature module comprises a straight line unit and a curve unit;
the straight line unit is used for mapping the satellite point to be positioned to the reference connecting line if the curvature is zero, and determining the mapping point;
and the curve unit is used for mapping the satellite point to be positioned to the reference connecting line if the curvature is nonzero, and determining the mapping point.
14. The system for converting threedimensional coordinates of satellites to onedimensional coordinates of railways according to claim 12,
the mapping module comprises a mapping point unit;
and the mapping point unit is used for determining the distance between the mapping point and the positioning reference point as a onedimensional coordinate position of the train on the real railway if the distance between the satellite point to be positioned and the mapping point meets the engineering precision.
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