CN112327291A - Three-dimensional ground penetrating radar survey line coverage display method based on tile map - Google Patents

Three-dimensional ground penetrating radar survey line coverage display method based on tile map Download PDF

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CN112327291A
CN112327291A CN202011049499.7A CN202011049499A CN112327291A CN 112327291 A CN112327291 A CN 112327291A CN 202011049499 A CN202011049499 A CN 202011049499A CN 112327291 A CN112327291 A CN 112327291A
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王鹏飞
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Shenzhen Ande Space Technology Co ltd
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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging

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Abstract

The invention discloses a three-dimensional ground penetrating radar survey line coverage display method based on a tile map. Firstly, picking up coordinates of two points on a Baidu map, wherein a rectangle with the two points as vertexes comprises a measuring road; then calculating the numbers of the tile maps where the two points are located, downloading the tile maps within the number range of the two points in batches, splicing and merging the downloaded tile maps according to the number sequence, and storing the spliced and merged tile maps as a large base map; and finally, reading the GPS coordinate file of each measuring line, calculating the coordinates of each point of the channel at the two sides of each measuring line, and converting the coordinates into the coordinates of pixel points on the base map, thereby drawing a measuring line coverage map on the base map. The method can conveniently check the uncovered area so as to supplement the detection in time and realize the full-coverage detection of the road.

Description

Three-dimensional ground penetrating radar survey line coverage display method based on tile map
Technical Field
The invention relates to the field of ground penetrating radars, in particular to a tile map-based three-dimensional ground penetrating radar survey line coverage display method.
Technical Field
The three-dimensional ground penetrating radar is commonly used for nondestructive detection of urban roads and expressways, and can be used for positioning and imaging underground pipelines, voids, cavities and the like. The detection width of the current vehicle-mounted three-dimensional ground penetrating radar is generally smaller than the width of a motor vehicle lane, and each lane can be covered by 2-3 times of detection. In order to ensure full coverage detection of the road, after the measurement is completed, the detection coverage condition of the road needs to be checked on site, an uncovered area is found out, and the detection is timely carried out. Some existing methods introduce a survey line into an online map, and set a certain line width to approximately represent a detection coverage, which is not accurate, and an uncovered area cannot be clearly found due to the limitation of the zoom level (maximum 19 levels) of the online map. The method cannot be used in some road detection with poor network signals (such as expressways and tunnels).
In the information disclosed on the network, no related invention patent or article exists in China. Foreign three-dimensional ground penetrating radar software, such as acquisition software Talon matched with a Raptor three-dimensional ground penetrating radar of impule radar company in Sweden, can check survey line coverage conditions on a map, but is also based on an online road map, so that not only network conditions and zoom level limitation exist, but also a road on the road map has certain difference with a real road (satellite map).
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a three-dimensional ground penetrating radar survey line coverage display method based on a tile map. Firstly, downloading the tile map of a measurement area in advance indoors, and splicing and storing the combined tile map as a large base map. And secondly, reading the GPS file of each measuring line, and calculating the longitude and latitude coordinates of each point on the channels (sidelines) at two sides through the longitude and latitude coordinates of the middle channel so as to ensure the accuracy of the detection coverage. And finally, converting longitude and latitude coordinates of each point on the channels (sidelines) on the two sides of each side line into coordinates of pixel points on the base map, thereby accurately drawing the coverage range of each side line on the base map. Because the survey line coverage condition is drawn on the picture (base map), the user can freely zoom in and out the map, the uncovered area is convenient to view, and the map can be used in the place with poor network signals.
In order to achieve the purpose, the invention adopts the following technical scheme:
step 1: acquiring Baidu map coordinates of the upper left corner A and the lower right corner B of the measurement area on the Baidu map pickup coordinate API, and converting the Baidu map coordinates into Google map coordinates;
step 2: calculate the number X of the tile map where two points AB are located at zoom level zAYAAnd XBYBNumber [ X ] at download level zA，XB]And [ YA，YB]A tile map within the scope. And circularly reading the tile map according to the numbering sequence, and splicing and merging the tile map into a large base map.
And step 3: reading a GPS coordinate file of each measuring line of the three-dimensional ground penetrating radar, calculating coordinates of each point of a channel (sideline) on two sides of each measuring line, converting the coordinates into coordinates of pixel points on a base map, and drawing a measuring line coverage map on the base map.
Further, the specific steps of coordinate picking and conversion in step 1 are as follows:
step 1.1: openhttp://api.map.baidu.com/lbsapi/getpoint/index.htmlThe method is a coordinate picking-up website based on a Baidu map API and searches for roads needing to be detected.
Step 1.2: and selecting a point AB at the upper left and the lower right of the road, requiring a rectangle taking the AB as a vertex to contain the road to be detected, picking up and storing the coordinates of the AB point.
Step 1.3: the website picks up Baidu map coordinates, and converts the AB coordinates into Google map coordinates according to the following formula. Where (lon _ b, lat _ b) is longitude and latitude in hundredth degree coordinate, and (lon _ g, lat _ g) is longitude and latitude in google coordinate.
Figure RE-GDA0002872816910000031
Further, the tile map downloading, splicing and merging in the step 2 specifically comprises the following steps:
step 2.1: the map zoom level z is selected, and in order to obtain more accurate road information, it is generally taken as z 20. Calculating the numbers of the tiles where the two points AB are located under the level z according to the following formula, and respectively marking as XAYAAnd XBYB. In the following formula, (lon _ g, lat _ g) are Google coordinates, z is zoom level, and X iswYwThe number of tiles.
Figure RE-GDA0002872816910000032
Step 2.2: outer loop X from XATo XBInner layer cycle Y from YATo YBSequentially downloading zoom level z numbered x, y]The downloaded web address and the required format of the tile map of (1) are as follows:http://mt2.google.cn/vt/lyrs＝s&hl＝ zh-CN&gl＝cn&x＝′,num2str(x),′&y＝′,num2str(y),′&z＝′,num2str(z)the address can be saved directly as a picture with the urlwrite function in MATLAB, noting that the picture is named with its number x-y for ease of later use.
Step 2.3: let the empty matrix aa ═ 2]Outer loop X from XATo XBSetting a blank matrix bb ═ 2]Inner layer cycle Y from YATo YBReading the tile map with the picture name x-y saved in the last step, and using the imread function in MATLAB, wherein cc is imread ('x-y. png'), and bb is bb, cc is]After the inner layer circulation is finished, aa ═ aa, bb]After the outer layer loop is finished, aa is saved as a picture, and the imwrite function in MATLAB, imwrite (aa' combine.
Further, the specific steps of calculating the edge coordinates and measuring the line coverage map in the step 3 are as follows:
step 3.1: firstly, reading a GPS file of each measuring line, and reserving the GPS file into a matrix with three columns, wherein the first column is a trace number, the second column is longitude, and the third column is latitude. Because RTK records the longitude and latitude coordinates of the measuring points according to a certain time interval, and not every measuring point (trace number) in the GPS file has a longitude and latitude value, the GPS data needs to be interpolated. Using the interp1 function in MATLAB, W2 ═ interp1(h, W, h2), where h is the first column trace number, W is the longitude or latitude column, h2 is h (1) to h (length (h)) with an interval of 1, and W2 is the interpolated longitude or latitude column.
Step 3.2: the longitude and latitude coordinates (WGS84 geodetic coordinates) of all the measurement points (middle passage) of one measurement line are converted into gaussian plane coordinates (XY) according to fig. 1, where L is longitude, B is latitude, and L0 is central meridian, and x4 and y4 are converted coordinates used in fig. 2.
Step 3.3: the tangent slope along the measuring direction at each measuring point is calculated by using the XY coordinates of the left and right adjacent points, and the calculation formula is as follows.
ki＝(xi+1-xi-1)/(yi+1-yi-1)
Step 3.4: and calculating the Gaussian plane coordinates of the two points (the channels or the side lines at the two sides) at the point, which are perpendicular to the tangent direction of the point, and the half detection width, wherein the calculation formula is as follows. Where M is the three-dimensional radar detection width and ki is the slope of the tangent at the measurement point (Xi, Yi).
Figure RE-GDA0002872816910000051
Step 3.5: the gaussian plane coordinates of each point on the most two-sided channel (sideline) of one side line can be obtained through the above steps, and the gaussian plane coordinates of each point are converted into longitude and latitude coordinates (WGS84 geodetic coordinates) according to fig. 2, wherein xy is the gaussian plane coordinates, L0 is the central longitude calculated in fig. 1, and L and B are the converted longitude and latitude.
Step 3.6: and converting the longitude and latitude coordinates of the channels (sidelines) on the two sides obtained in the last step into Google map coordinates according to a figure 3. In the formula, (lon, lat) are longitude and latitude coordinates (WGS84 geodetic coordinates), and (lon _ g, lat _ g) are converted google coordinates.
Step 3.7: the google map coordinates obtained in the previous step are converted into pixel point coordinates on the merged background map (bin.png in step 2.3), and the formula is as follows. Where z is the map level, XAYAIs the number of the tile map where the point A is located, and is also the starting number of the downloaded tile map.
Figure RE-GDA0002872816910000052
Step 3.8: in the previous step, the pixel point coordinates of the measuring points on the combined base map on the channels (side lines) on the two sides of one side line can be obtained, the coverage range of each measuring line can be drawn on the base map by using a fill function in MATLAB, wherein, hh is fill (mm (: 1), mm (: 2), and 'r'), wherein, mm is a two-column matrix formed by connecting the pixel point coordinates of the measuring points of the 1 st channel and the 16 th channel end to end, and the transparency alpha (hh,0.5) of the side line coverage map can be modified by using an alpha function.
The invention has the advantages of
The invention provides a three-dimensional ground penetrating radar survey line coverage display method based on a tile map. And secondly, reading the GPS file of each measuring line, and calculating the longitude and latitude coordinates (the distance is one half of the detection width) of each point on the channels (sidelines) at two sides through the longitude and latitude coordinates of the middle channel so as to ensure the accuracy of the detection coverage. And finally, converting longitude and latitude coordinates of each point on the channels (sidelines) on the two sides of each side line into coordinates of pixel points on the base map, thereby accurately drawing the coverage range of each side line on the base map.
The GPS data of each measuring line is accurately measured by centimeter-level precision RTK, the longitude and latitude coordinates of each point on the side line of the measuring line are accurately calculated by the longitude and latitude coordinates of the middle channel and the detection width, and the longitude and latitude coordinates of the measuring point and the pixel point coordinates of the base map are converted according to a strict formula, so that the accuracy of the drawn detection coverage is ensured.
Because the survey line coverage condition is drawn on the picture (base map), the user can freely zoom in and out the map to view the uncovered area without the limitation of the map zooming level. And may also be used where the network signal is poor. And moreover, the Google satellite map is used as a base map, so that the road details are richer and clearer, and the road map is more accordant with the actual road condition.
Drawings
FIG. 1 is a formula of converting longitude and latitude coordinates (WGS84 geodetic coordinates) into Gaussian plane coordinates (XY);
FIG. 2 is a formula of Gaussian planar coordinates (XY) converted to longitude and latitude coordinates (WGS84 geodetic coordinates);
FIG. 3 is a formula of converting longitude and latitude coordinates (WGS84 geodetic coordinates) into Google map coordinates;
FIG. 4 is a schematic view of a detection road of the vehicle-mounted three-dimensional ground penetrating radar of the invention;
FIG. 5 is a schematic diagram of the invention picking coordinates on a Baidu map picking coordinate API;
FIG. 6 is a schematic diagram of the present invention for batch download of tile maps;
FIG. 7 is a schematic view of a tiled merged tile map of the present invention;
FIG. 8 is a schematic diagram of the present invention for calculating coordinates of two side channels (edges) from coordinates of a middle channel;
FIG. 9 is a schematic view of a line overlay displayed on an off-line map in accordance with the present invention;
FIG. 10 is a schematic diagram of a coordinate system and scaling process according to the present invention;
detailed description of the invention
The three-dimensional ground penetrating radar survey line coverage display method based on the tile map provided by the invention is further explained with reference to fig. 4 to 9.
As shown in fig. 4, which is a schematic diagram of a detection road of a vehicle-mounted three-dimensional ground penetrating radar, the vehicle-mounted ground penetrating radar can simultaneously obtain two-dimensional radar profiles of 16 channels by one detection, and a GPS receiver records a GPS coordinate (WGS-84 coordinate system) of each measurement point of the middle channel. In order to ensure full-coverage detection of the whole road, each lane needs to be detected for 2-3 times, and it is difficult to ensure full-coverage detection of the road only by a driver, so that a method capable of checking detection coverage conditions on a map is needed. Meanwhile, in order to overcome the limitations of the scaling grade of the online map and the dependence on the network, the tile map of the measuring area range is downloaded indoors and is combined into a large base map by splicing so as to be used in the field work.
Step 1: and acquiring the Baidu map coordinates of the upper left corner A and the lower right corner B of the measurement area on the Baidu map pickup coordinate API, and converting the Baidu map coordinates into Google map coordinates, as shown in FIG. 5.
Step 1.1: openhttp://api.map.baidu.com/lbsapi/getpoint/index.htmlThe method is a coordinate picking-up website based on a Baidu map API and searches for roads needing to be detected.
Step 1.2: and selecting a point AB at the upper left and the lower right of the road, requiring a rectangle taking the AB as a vertex to contain the road to be detected, picking up and storing the coordinates of the AB point.
Step 1.3: the website picks up Baidu map coordinates, and converts the AB coordinates into Google map coordinates according to the following formula. Where (lon _ b, lat _ b) is longitude and latitude in hundredth degree coordinate, and (lon _ g, lat _ g) is longitude and latitude in google coordinate.
Figure RE-GDA0002872816910000081
Step 2: calculate the number X of the tile map where two points AB are located at zoom level zAYAAnd XBYBNumber [ X ] at download level zA，XB]And [ YA，YB]A tile map within the scope. The tile map is read circularly according to the numbering sequence, and the tile map is spliced and merged into a large base map, as shown in fig. 6 and 7.
Step 2.1: the map zoom level z is selected, and in order to obtain more accurate road information, it is generally taken as z 20. Calculating the numbers of the tiles where the two points AB are located under the level z according to the following formula, and respectively marking as XAYAAnd XBYB. In the following formula, (lon _ g, lat _ g) are Google coordinates, z is zoom level, and X iswYwThe number of tiles.
Figure RE-GDA0002872816910000091
Step 2.2: outer loop X from XATo XBInner layer cycle Y from YATo YBSequentially downloading zoom level z numbered x, y]The downloaded web address and the required format of the tile map of (1) are as follows:http://mt2.google.cn/vt/lyrs＝s&hl＝ zh-CN&gl＝cn&x＝′,num2str(x),′&y＝′,num2str(y),′&z＝′,num2str(z)the address can be saved directly as a picture with the urlwrite function in MATLAB, noting that the picture is named with its number x-y for ease of later use.
Step 2.3: let the empty matrix aa ═ 2]Outer loop X from XATo XBSetting a blank matrix bb ═ 2]Inner layer cycle Y from YATo YBReading the tile map with the picture name x-y saved in the last step, and using the imread function in MATLAB, wherein cc is imread ('x-y. png'), and bb is bb, cc is]After the inner layer circulation is finished, aa ═ aa, bb]After the outer loop is over, save aa as picture, can useThe imwrite function in MATLAB, imwrite (aa' combine.
And step 3: reading a GPS coordinate file of each measuring line of the three-dimensional ground penetrating radar, calculating coordinates of each point of a channel (sideline) on two sides of each measuring line, converting the coordinates into coordinates of pixel points on a base map, and drawing a measuring line coverage map on the base map, as shown in fig. 8 and 9.
Step 3.1: firstly, reading a GPS file of each measuring line, and reserving the GPS file into a matrix with three columns, wherein the first column is a trace number, the second column is longitude, and the third column is latitude. Because RTK records the longitude and latitude coordinates of the measuring points according to a certain time interval, and not every measuring point (trace number) in the GPS file has a longitude and latitude value, the GPS data needs to be interpolated. Using the interp1 function in MATLAB, W2 ═ interp1(h, W, h2), where h is the first column trace number, W is the longitude or latitude column, h2 is h (1) to h (length (h)) with an interval of 1, and W2 is the interpolated longitude or latitude column.
Step 3.2: the longitude and latitude coordinates (WGS84 geodetic coordinates) of all the measurement points (middle passage) of one measurement line are converted into gaussian plane coordinates (XY) according to fig. 1, where L is longitude, B is latitude, and L0 is central meridian, and x4 and y4 are converted coordinates used in fig. 2.
Step 3.3: the tangent slope along the measuring direction at each measuring point is calculated by using the XY coordinates of the left and right adjacent points, and the calculation formula is as follows.
ki＝(xi+1-xi-1)/(yi+1-yi-1)
Step 3.4: and calculating the Gaussian plane coordinates of the two points (the channels or the side lines at the two sides) at the point, which are perpendicular to the tangent direction of the point, and the half detection width, wherein the calculation formula is as follows. Where M is the three-dimensional radar detection width and ki is the slope of the tangent at the measurement point (Xi, Yi).
Figure RE-GDA0002872816910000101
Step 3.5: the gaussian plane coordinates of each point on the most two-sided channel (sideline) of one side line can be obtained through the above steps, and the gaussian plane coordinates of each point are converted into longitude and latitude coordinates (WGS84 geodetic coordinates) according to fig. 2, wherein xy is the gaussian plane coordinates, L0 is the central longitude calculated in fig. 1, and L and B are the converted longitude and latitude.
Step 3.6: and converting the longitude and latitude coordinates of the channels (sidelines) on the two sides obtained in the last step into Google map coordinates according to a figure 3. In the formula, (lon, lat) are longitude and latitude coordinates (WGS84 geodetic coordinates), and (lon _ g, lat _ g) are converted google coordinates.
Step 3.7: the google map coordinates obtained in the previous step are converted into pixel point coordinates on the merged background map (bin.png in step 2.3), and the formula is as follows. Where z is the map level, XAYAIs the number of the tile map where the point A is located, and is also the starting number of the downloaded tile map.
Figure RE-GDA0002872816910000111
Step 3.8: in the previous step, the pixel point coordinates of the measuring points on the combined base map on the channels (side lines) on the two sides of one side line can be obtained, the coverage range of each measuring line can be drawn on the base map by using a fill function in MATLAB, wherein, hh is fill (mm (: 1), mm (: 2), and 'r'), wherein, mm is a two-column matrix formed by connecting the pixel point coordinates of the measuring points of the 1 st channel and the 16 th channel end to end, and the transparency alpha (hh,0.5) of the side line coverage map can be modified by using an alpha function.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (4)

1. A tile map-based three-dimensional ground penetrating radar survey line coverage display method is characterized by comprising the following steps:
step 1: and picking up the Baidu map coordinates of the upper left corner A and the lower right corner B of the road to be detected (the road to be detected can be contained as required) on the Baidu map, and converting the Baidu map coordinates into Google map coordinates.
Step 2, calculating the tile map number X of the two points AB under the level zAYAAnd XBYBNumber [ X ] at download level zA，XB]And [ YA，YB]A tile map within the scope. And circularly reading the tile map according to the numbering sequence, and splicing and merging the tile map into a large base map.
And step 3: reading a GPS coordinate file of each measuring line of the three-dimensional ground penetrating radar, calculating coordinates of each point of a channel (sideline) on two sides of each measuring line, converting the coordinates into coordinates of pixel points on a base map, and drawing a measuring line coverage map on the base map.
2. The specific steps of coordinate picking and conversion in the step 1 are as follows:
step 1.1: openhttp://api.map.baidu.com/lbsapi/getpoint/index.htmlThe method is a coordinate picking-up website based on a Baidu map API and searches for roads needing to be detected.
Step 1.2: and selecting a point AB at the upper left and the lower right of the road, requiring a rectangle taking the AB as a vertex to contain the road to be detected, picking up and storing the coordinates of the AB point.
Step 1.3: the website picks up Baidu map coordinates, and converts the AB coordinates into Google map coordinates according to the following formula. Where (lon _ b, lat _ b) is longitude and latitude in hundredth degree coordinate, and (lon _ g, lat _ g) is longitude and latitude in google coordinate.
Figure FDA0002709109450000011
。
3. The specific steps of downloading, splicing and merging the tile map in the step 2 are as follows:
step 2.1: the map zoom level z is selected, and in order to obtain more accurate road information, it is generally taken as z 20. According to the followingThe formula (A) calculates the numbers of the tiles where the two points (AB) are located under the level (z), and the numbers are respectively marked as XAYAAnd XBYB. In the following formula, (lon _ g, lat _ g) are Google coordinates, z is zoom level, and X iswYwThe number of tiles.
Figure FDA0002709109450000021
Step 2.2: outer loop X from XATo XBInner layer cycle Y from YATo YBSequentially downloading zoom level z numbered x, y]The downloaded web address and the required format of the tile map of (1) are as follows:http://mt2.google.cn/vt/lyrs＝s&hl＝zh-CN& gl＝cn&x＝',num2str(x),'&y＝',num2str(y),'&z＝',num2str(z)the address can be saved directly as a picture with the urlwrite function in MATLAB, noting that the picture is named with its number x-y for ease of later use.
Step 2.3: let the empty matrix aa ═ 2]Outer loop X from XATo XBSetting a blank matrix bb ═ 2]Inner layer cycle Y from YATo YBReading the tile map with the picture name x-y saved in the last step, and using the imread function in MATLAB, wherein cc is imread ('x-y. png'), and bb is bb, cc is]After the inner layer circulation is finished, aa ═ aa, bb]After the outer layer loop is finished, aa is saved as a picture, and the imwrite function in MATLAB, imwrite (aa' combine.
4. The specific steps of calculating the edge coordinates and measuring the line coverage map in the step 3 are as follows:
and 3.1, obtaining radar profiles of 16 channels by one-time measurement of the vehicle-mounted detection radar, and accurately recording longitude and latitude coordinates of each measuring point of each measuring line by a centimeter-level RTK-GPS device externally connected to the radar vehicle. Typically, RTK is placed directly above the three-dimensional radar, i.e. the coordinate information of the middle channel is recorded. Therefore, the longitude and latitude of each measuring point of the channels (i.e. sidelines) at two sides are calculated according to the longitude and latitude of each measuring point of the middle channel. Firstly, reading a GPS file of each measuring line, and reserving the GPS file into a matrix with three columns, wherein the first column is a trace number, the second column is longitude, and the third column is latitude. Because RTK records the longitude and latitude coordinates of the measuring points according to a certain time interval, and not every measuring point (trace number) in the GPS file has a longitude and latitude value, the GPS data needs to be interpolated. Using the interp1 function in MATLAB, W2 ═ interp1(h, W, h2), where h is the first column trace number, W is the longitude or latitude column, h2 is h (1) to h (length (h)) with an interval of 1, and W2 is the interpolated longitude or latitude column.
Step 3.2: the longitude and latitude coordinates (WGS84 geodetic coordinates) of all the measurement points (middle passage) of one measurement line are converted into gaussian plane coordinates (XY) according to annex formula 1, where L is longitude, B is latitude, L0 is central meridian, which are used in annex formula 2, and x4 and y4 are converted coordinates.
Step 3.3: the tangent slope along the measuring direction at each measuring point is calculated by using the XY coordinates of the left and right adjacent points, and the calculation formula is as follows.
ki＝(xi+1-xi-1)/(yi+1-yi-1) (3)
Step 3.4: and calculating the Gaussian plane coordinates of the two points (the channels or the side lines at the two sides) at the point, which are perpendicular to the tangent direction of the point, and the half detection width, wherein the calculation formula is as follows. Where M is the three-dimensional radar detection width and ki is the slope of the tangent at the measurement point (Xi, Yi).
Figure FDA0002709109450000031
Step 3.5: the gaussian plane coordinates of each point on the most lateral channel (sideline) of one lateral line can be obtained in the above steps, and the gaussian plane coordinates of each point are converted into longitude and latitude coordinates (WGS84 geodetic coordinates) according to appendix formula 2, wherein xy is the gaussian plane coordinates, L0 is the central meridian calculated in appendix formula 1, and L and B are the converted longitude and latitude.
Step 3.6: and converting the longitude and latitude coordinates of the channels (sidelines) on the two sides obtained in the last step into Google map coordinates according to an annex formula 3. In the formula, (lon, lat) are longitude and latitude coordinates (WGS84 geodetic coordinates), and (lon _ g, lat _ g) are converted google coordinates.
Step 3.7: the google map coordinates obtained in the previous step are converted into pixel point coordinates on the merged background map (bin.png in step 2.3), and the formula is as follows. Where z is the map level, XAYAIs the number of the tile map where the point A is located, and is also the starting number of the downloaded tile map.
Figure FDA0002709109450000041
Step 3.8: in the previous step, the pixel point coordinates of the measuring points on the combined base map on the channels (side lines) on the two sides of one side line can be obtained, the coverage range of each measuring line can be drawn on the base map by using a fill function in MATLAB, wherein, hh is fill (mm (: 1), mm (: 2), and 'r'), wherein, mm is a two-column matrix formed by connecting the pixel point coordinates of the measuring points of the 1 st channel and the 16 th channel end to end, and the transparency alpha (hh,0.5) of the side line coverage map can be modified by using an alpha function.
Because the side line overlay is drawn on the picture (base map), the picture can be freely enlarged and reduced without the limitation of map zoom level and network, and the uncovered area can be conveniently found, thereby being timely tested again.
CN202011049499.7A 2020-09-29 2020-09-29 Three-dimensional ground penetrating radar survey line coverage display method based on tile map Pending CN112327291A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022166326A1 (en) * 2021-02-07 2022-08-11 华为技术有限公司 Method and apparatus for updating map tile
CN115344740A (en) * 2022-10-15 2022-11-15 深圳安德空间技术有限公司 Full-time-space retrieval method and system based on three-dimensional ground penetrating radar data
CN117330055A (en) * 2023-11-30 2024-01-02 棱镜数聚(北京)信息技术有限公司 High-definition map generation method
CN118229518A (en) * 2024-05-27 2024-06-21 四川惟邦新创科技有限公司 Map tile conversion method under different coordinate systems

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022166326A1 (en) * 2021-02-07 2022-08-11 华为技术有限公司 Method and apparatus for updating map tile
CN115344740A (en) * 2022-10-15 2022-11-15 深圳安德空间技术有限公司 Full-time-space retrieval method and system based on three-dimensional ground penetrating radar data
CN117330055A (en) * 2023-11-30 2024-01-02 棱镜数聚(北京)信息技术有限公司 High-definition map generation method
CN117330055B (en) * 2023-11-30 2024-05-28 棱镜数聚(北京)信息技术有限公司 High-definition map generation method
CN118229518A (en) * 2024-05-27 2024-06-21 四川惟邦新创科技有限公司 Map tile conversion method under different coordinate systems

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