CN113093243A - Boundary address point positioning method and device, electronic equipment and computer readable storage medium - Google Patents
Boundary address point positioning method and device, electronic equipment and computer readable storage medium Download PDFInfo
- Publication number
- CN113093243A CN113093243A CN202110293008.1A CN202110293008A CN113093243A CN 113093243 A CN113093243 A CN 113093243A CN 202110293008 A CN202110293008 A CN 202110293008A CN 113093243 A CN113093243 A CN 113093243A
- Authority
- CN
- China
- Prior art keywords
- target
- boundary point
- distance information
- pieces
- measuring equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000005259 measurement Methods 0.000 claims abstract description 121
- 238000004590 computer program Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a method and a device for locating a boundary point, electronic equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring first coordinate information of measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment; acquiring at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and a target boundary point based on the at least two ranging modes; and determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information. The invention can realize the measurement of the boundary point shielded in the sky and can ensure the precision and the efficiency of the boundary point measurement.
Description
Technical Field
The present invention relates to the field of land cadastral survey, and in particular, to a boundary point positioning method, a boundary point positioning apparatus, an electronic device, and a non-transitory computer-readable storage medium.
Background
The village and town cadastral survey and the accurate measurement of the coordinates of the boundary points are one of the main contents of the current cadastral survey field. The boundary point is an inflection point of the land ownership boundary line, and the determination of the boundary point means the determination of the land ownership geometric relationship, the land parcel area and the ownership boundary line. The boundary point coordinate is the mathematical expression of the geographical position of the boundary point and is the basis for determining the land ownership geographical information. The boundary point coordinates have legal protection effect on the boundary points, and if the boundary points are artificially or naturally moved or damaged, the boundary points can be restored through the boundary point coordinates. The high-precision determination of the coordinates of the boundary points is an important basic information guarantee for guaranteeing the definition of land ownership and the legal and reasonable use of national land.
Typically, the error in the first order landmark point coordinate accuracy is 5 cm. Generally, the conventional measurement means can meet the requirement of the precision. At present, the village and town right measurement mostly adopts a total station or a Real-time kinematic (RTK) positioning technology to establish a village and town right measurement network which is controlled step by step and distributed in a grading manner.
However, the total station requires a large amount of manual operation, the measurement calibration rate is low, and although the RTK positioning is higher in efficiency compared with the total station, the measurement accuracy of an access point above which a tree or a building blocks is not good, or even the measurement cannot be performed.
Disclosure of Invention
The invention provides a boundary point positioning method, a boundary point positioning device, electronic equipment and a computer readable storage medium, which are used for solving the defects that the measurement efficiency of the boundary point is low, the measurement precision is poor when the upper part of the boundary point is shielded, and even the measurement cannot be carried out in the prior art, realizing the measurement of the shielded boundary point in the upper part, and ensuring the precision and the efficiency of the boundary point measurement.
The invention provides a method for locating a boundary point, which comprises the following steps:
acquiring first coordinate information of measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment;
acquiring at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and a target boundary point based on the at least two ranging modes;
and determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information.
According to the method for locating an address point provided by the present invention, the determining the second coordinate information of the target address point based on the at least two pieces of the first distance information, the at least two pieces of the second distance information and the first coordinate information includes:
determining third distance information between the target measuring equipment and each measuring equipment in other measuring equipment according to the obtained at least two pieces of first distance information, and determining fourth distance information between the target measuring equipment and a target boundary point according to the obtained at least two pieces of second distance information;
adjusting the third distance information and the first coordinate information to correct the third distance information and the first coordinate information;
and determining second coordinate information of the target boundary point through distance intersection according to the corrected first coordinate information and the fourth distance information.
According to a method for locating an endpoint provided by the present invention, the obtaining at least two pieces of first distance information of each of a target measurement device and other measurement devices based on at least two ranging methods, and obtaining at least two pieces of second distance information of the target measurement device and a target endpoint based on the at least two ranging methods, includes:
the method comprises the steps that at least two kinds of ranging signals are transmitted and received by each of other measuring equipment, so that at least two pieces of first distance information of the target measuring equipment and each of the other measuring equipment are obtained;
and acquiring at least two pieces of second distance information of the target measuring equipment and the target boundary point by receiving and transmitting at least two kinds of ranging signals with the target boundary point.
According to the method for locating the boundary point, provided by the invention, the ranging signal comprises at least two of a pseudo satellite signal, an ultra wide band signal and a radio frequency signal.
According to the method for locating the boundary point, the obtaining of the first coordinate information of the measuring equipment includes:
identifying the target boundary point by receiving a preset signal sent by the target boundary point, and guiding the measuring equipment to reach the vicinity of the target boundary point according to an identification result;
and acquiring the first coordinate information of the measuring equipment according to the positioning signal by receiving the positioning signal sent by a preset positioning system.
Before the method for locating an endpoint receives a locating signal sent by a preset locating system and obtains the first coordinate information of the measuring device, the method further includes:
and determining the observation position of the measuring equipment to the target boundary point according to the acquired video information, and adjusting the measurement posture of the measuring equipment after the measuring equipment reaches the observation position.
The present invention also provides an interface point positioning device, comprising:
the measuring equipment is used for acquiring first coordinate information of the measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment; acquiring at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and a target boundary point based on the at least two ranging modes;
and the cloud platform is used for determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information.
According to an apparatus for locating an address point provided by the present invention, the cloud platform comprises:
the first processing module is used for determining third distance information between the target measuring equipment and each measuring equipment in other measuring equipment according to the obtained at least two pieces of first distance information, and determining fourth distance information between the target measuring equipment and a target boundary point according to the obtained at least two pieces of second distance information;
the second processing module is used for adjusting the third distance information and the first coordinate information and correcting the third distance information and the first coordinate information;
and the third processing module is used for determining second coordinate information of the target boundary point through distance intersection according to the corrected first coordinate information and the fourth distance information.
According to an embodiment of the present invention, the measurement device includes:
the distance measurement module is used for acquiring at least two pieces of first distance information of the target measurement device and each of other measurement devices by receiving and transmitting at least two kinds of distance measurement signals with each of the other measurement devices; and acquiring at least two pieces of second distance information of the target measuring equipment and the target boundary point by receiving and transmitting at least two kinds of ranging signals with the target boundary point.
According to the boundary point positioning device provided by the invention, the ranging signal comprises at least two of a pseudo satellite signal, an ultra wide band signal and a radio frequency signal.
According to an embodiment of the present invention, the measurement device further includes:
the identification module is used for identifying the target boundary point by receiving a preset signal sent by the target boundary point and guiding the measuring equipment to reach the position near the target boundary point according to an identification result;
and the positioning module is used for receiving a positioning signal sent by a preset positioning system and acquiring the first coordinate information of the measuring equipment according to the positioning signal.
According to the boundary point positioning device provided by the invention, the identification module is further used for determining the observation position of the measurement equipment on the target boundary point according to the acquired video information, and adjusting the measurement posture of the measurement equipment after the measurement equipment reaches the observation position.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above boundary point positioning methods when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the method for location of an endpoint as described above.
According to the boundary point positioning method, the boundary point positioning device, the electronic equipment and the computer readable storage medium, the first coordinate information of the measuring equipment is obtained, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and a handheld device; acquiring at least two pieces of first distance information of the target measuring equipment and each measuring equipment in other measuring equipment based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring equipment and a target boundary point based on at least two ranging modes; determining second coordinate information of the target boundary point based on the obtained at least two pieces of first distance information, the obtained at least two pieces of second distance information and the obtained first coordinate information; the method has the advantages that various types of measuring equipment can be used for automatically measuring the target boundary point, the measuring requirements of scenes with different degrees of shielding above the boundary point can be met, and sufficient synchronous observed quantity is ensured, so that the measuring precision of the boundary point can be ensured; multiple distance observation quantities of the same distance are obtained by adopting various distance measurement modes, and the precision of a distance measurement result can be improved, so that the positioning precision of the measuring equipment and the measuring precision of the measuring equipment to the boundary point are ensured, and the requirement of the positioning precision of the boundary point is met; a large amount of manual operation is not needed, and the measuring efficiency is far higher than that of the traditional total station and RTK positioning.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for 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 is a schematic flow chart illustrating a method for locating a boundary point according to the present invention;
FIG. 2 is a schematic flow chart of determining coordinates of a target boundary point according to distance information and coordinate information of a measuring device provided by the present invention;
FIG. 3 is a schematic flow chart illustrating a process of acquiring at least two distance information based on at least two distance measuring methods according to the present invention;
FIG. 4 is a schematic flow chart of acquiring coordinates of a measuring device according to the present invention;
FIG. 5 is a diagram of an application scenario for locating an endpoint using the method for locating an endpoint provided by the present invention;
FIG. 6 is a schematic diagram of an interface point positioning apparatus according to the present invention;
FIG. 7 is a schematic structural diagram of an electronic device provided by the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, 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.
The method for locating the boundary points according to the present invention will be described with reference to fig. 1 to 5.
Referring to fig. 1, fig. 1 is a schematic flow chart of a boundary point positioning method provided by the present invention, where the boundary point positioning method shown in fig. 1 can be executed by a boundary point positioning device, as shown in fig. 1, the boundary point positioning method at least includes:
101, acquiring first coordinate information of a measuring device, wherein the measuring device comprises at least two of an unmanned aerial vehicle, a ground robot and a handheld device.
In embodiments of the present invention, the measurement device may comprise at least two types of devices. For example, the measuring device may include an unmanned aerial vehicle and a ground robot, and the type of the device constituting the measuring device is not limited by the embodiment of the present invention. In practical application, the type of the device constituting the measuring device can be determined according to a specific application scenario. For example, for an application scenario in which there is a semi-shadow of an object shadow, such as a tree, a building, etc., above a target site, the measurement device may include an unmanned aerial vehicle and a ground robot; for an application scene that the shielding above the target boundary point is serious and the aerial ranging performance of the unmanned aerial vehicle is poor, the measuring equipment can comprise a ground robot and handheld equipment.
In the embodiment of the invention, the measuring equipment can acquire the first coordinate information of the measuring equipment through satellite positioning. For example, the Satellite Positioning may be a Global Positioning System (GPS), a BeiDou Navigation Satellite System (BDS), a Galileo Satellite Navigation System (Galileo), a Global Satellite Navigation System (glonasa Satellite Navigation System, GLONASS), or the like, and the embodiment of the present invention does not limit the Satellite Positioning method for acquiring the first coordinate information.
102, acquiring at least two pieces of first distance information of the target measuring device and each of the other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and the target boundary point based on at least two ranging modes.
In the embodiment of the present invention, after the measuring device acquires the first coordinate information, at least two distance measurement methods may be adopted to measure the distance between the measuring device and other measuring devices and the distance between the measuring device and the target boundary point. When the distance is measured by adopting each distance measuring mode, first distance information between the measuring equipment and another measuring equipment and second distance information between the measuring equipment and a target boundary point can be obtained.
The embodiment of the invention does not limit the realization form of the distance measuring mode for obtaining the distance information. Optionally, the distance measurement is implemented by receiving and transmitting the signal, recording the time of receiving and transmitting the signal, and calculating the distance of signal transmission according to the time of receiving and transmitting the signal and the transmission speed of the signal, so as to obtain the distance information. At this time, the measuring device and the target boundary point both have a signal transceiving function. The distance measurement is carried out by adopting different types of signals, and the method is a different type of distance measurement mode.
And 103, determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information.
In the embodiment of the present invention, after acquiring the first coordinate information, the at least two pieces of first distance information with each of the other measuring devices, and the at least two pieces of second distance information with the target address point, the measuring device may send the acquired first coordinate information, first distance information, and second distance information to the cloud platform, and the cloud platform processes the first coordinate information, first distance information, and second distance information acquired from all the measuring devices, and calculates to obtain the second coordinate information of the target address point, thereby positioning the target address point, for example, obtaining the address point coordinate with an accuracy error of less than 5 cm. The embodiment of the present invention does not limit the implementation manner of determining the second coordinate information of the target address point based on the first coordinate information and the distance information.
The method for locating the boundary point obtains first coordinate information of measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment; acquiring at least two pieces of first distance information of the target measuring equipment and each measuring equipment in other measuring equipment based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring equipment and a target boundary point based on at least two ranging modes; determining second coordinate information of the target boundary point based on the obtained at least two pieces of first distance information, the obtained at least two pieces of second distance information and the obtained first coordinate information; the method has the advantages that various types of measuring equipment can be used for automatically measuring the target boundary point, the measuring requirements of scenes with different degrees of shielding above the boundary point can be met, and sufficient synchronous observed quantity is ensured, so that the measuring precision of the boundary point can be ensured; multiple distance observation quantities of the same distance are obtained by adopting various distance measurement modes, and the precision of a distance measurement result can be improved, so that the positioning precision of the measuring equipment and the measuring precision of the measuring equipment to the boundary point are ensured, and the requirement of the positioning precision of the boundary point is met; a large amount of manual operation is not needed, and the measuring efficiency is far higher than that of the traditional total station and RTK positioning.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a process of determining coordinates of a target address point according to distance information and coordinate information of a measurement device according to the present invention, and as shown in fig. 2, determining second coordinate information of the target address point based on at least two pieces of acquired distance information and first coordinate information at least includes:
and 201, determining third distance information between the target measuring equipment and each measuring equipment in other measuring equipment according to the obtained at least two pieces of first distance information, and determining fourth distance information between the target measuring equipment and the target boundary point according to the obtained at least two pieces of second distance information.
In the embodiment of the present invention, after obtaining the first coordinate information of all the measurement devices and the distance information obtained by all the measurement devices, the cloud platform may obtain accurate third distance information of the measurement device and each of the other measurement devices by integrating at least two pieces of first distance information of the measurement device and each of the other measurement devices obtained in various ranging manners, and obtain accurate fourth distance information of the measurement device and the target boundary point by integrating at least two pieces of second distance information of the measurement device and the target boundary point obtained in various ranging manners.
Alternatively, the at least two pieces of first distance information acquired in various ranging manners may be integrated by determining an average value of the at least two pieces of first distance information acquired in various ranging manners, and similarly, the at least two pieces of second distance information acquired in various ranging manners may be integrated by determining an average value of the at least two pieces of second distance information acquired in various ranging manners, for example, the average value may be an arithmetic average value or a weighted average value.
202, the third distance information and the first coordinate information are adjusted and corrected.
In the embodiment of the invention, after the cloud platform obtains the accurate third distance information of each measuring device in the measuring devices and other measuring devices by integrating the distance information obtained in various distance measuring modes, the cloud platform can correct the third distance information and the first coordinate information by adjusting the obtained third distance information and the first coordinate information of the measuring devices, so that the accuracy of the first coordinate information of the measuring devices and the accuracy of the third distance information of each measuring device in the measuring devices and other measuring devices are further improved, the accuracy of the measuring positions of the measuring devices is ensured, particularly the accuracy of the space dynamic position of the unmanned aerial vehicle during hovering measurement in the air, and the accuracy of the measurement of the target boundary point is improved.
Optionally, an edge-measuring net may be constructed for all the measurement devices that are measured synchronously based on the first coordinate information of the measurement device and the third distance information of each of the measurement devices and the other measurement devices, and the first coordinate information of the measurement device and the third distance information of each of the measurement devices and the other measurement devices may be corrected by using an existing net adjustment method. The embodiment of the present invention does not limit the implementation manner of adjusting the third distance information and the first coordinate information.
And 203, determining second coordinate information of the target boundary point through distance intersection according to the corrected first coordinate information and the corrected fourth distance information.
In the embodiment of the invention, after the cloud platform obtains the first coordinate information corrected by the measuring equipment by performing adjustment on the third distance information and the first coordinate information, the cloud platform can obtain the second coordinate information of the target boundary point by distance intersection calculation according to the first coordinate information with improved precision after the adjustment correction of the measuring equipment and the fourth distance information of the target boundary point, which is obtained by integrating the distance information obtained by at least two distance measuring methods, and the target boundary point is accurately positioned.
Optionally, the distance intersection is performed according to the corrected first coordinate information and the fourth distance information, and an implementation manner of determining the second coordinate information of the target boundary point may be implemented by using an existing distance intersection method. The embodiment of the present invention does not limit an implementation manner of performing distance intersection according to the corrected first coordinate information and the fourth distance information.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a process of acquiring at least two pieces of distance information based on at least two ranging methods according to the present invention, as shown in fig. 3, acquiring at least two pieces of first distance information between a measurement device and each of other measurement devices based on the at least two ranging methods, and acquiring at least two pieces of second distance information between the measurement device and a target landmark point based on the at least two ranging methods at least include:
301, obtaining at least two first distance information between the target measurement device and each of the other measurement devices by transceiving at least two ranging signals with each of the other measurement devices.
And 302, acquiring at least two pieces of second distance information between the target measuring equipment and the target boundary point by receiving and transmitting at least two kinds of ranging signals with the target boundary point.
In the embodiment of the present invention, each measurement device for synchronously measuring the target boundary point and the target boundary point may have a function of transmitting and receiving at least two ranging signals by integrating the transmitting and receiving units of at least two ranging signals, so as to measure the distance by at least two ranging modes by transmitting and receiving the at least two ranging signals. Optionally, the at least two ranging signals may be at least two of a pseudolite signal, an Ultra Wide Band (UWB) signal, a radio frequency signal, and the like, and the type of the ranging signal is not limited in the embodiment of the present invention.
In some optional examples, the measurement device and the target access point may both integrate a pseudo satellite signal transceiver unit and an ultra wide band signal transceiver unit, the measurement device performs transceiving of pseudo satellite signals and ultra wide band signals with each of the other measurement devices and with the target access point to obtain two pieces of first distance information between the measurement device and each of the other measurement devices and two pieces of second distance information between the measurement device and the target access point, the distance between the measuring equipment and each of other measuring equipment and the distance between the measuring equipment and the target boundary point are measured by two distance measuring modes, the two pieces of first distance information and the two pieces of second distance information both comprise distance information obtained based on the transceiving ranging of the pseudo satellite signals and distance information obtained based on the transceiving ranging of the ultra-wideband signals.
In other optional examples, the measurement device and the target access point may be integrated with a pseudo satellite signal transceiver unit, an ultra wideband signal transceiver unit, and a radio frequency signal transceiver unit, the measurement device performs transceiving of pseudo satellite signals, ultra wideband signals, and radio frequency signals with each of the other measurement devices and the target access point to obtain three first distance information of the measurement device and each of the other measurement devices and three second distance information of the measurement device and the target access point, and the measurement of the distance between the measurement device and each of the other measurement devices and the measurement of the distance between the measurement device and the target access point are achieved by three ranging methods, where the three first distance information and the three second distance information each include distance information obtained based on the transceiving ranging of pseudo satellite signals, the distance information is obtained based on the distance measurement of the ultra-wideband signal and the distance information is obtained based on the distance measurement of the radio frequency signal.
Referring to fig. 4, fig. 4 is a schematic flow chart of obtaining coordinates of a measurement device according to the present invention, and as shown in fig. 4, obtaining first coordinate information of the measurement device at least includes:
401, identifying the target boundary point by receiving a preset signal sent by the target boundary point, and guiding the measuring equipment to reach the vicinity of the target boundary point according to the identification result.
402, by receiving a positioning signal sent by a preset positioning system, obtaining first coordinate information of the measurement device according to the positioning signal.
In the embodiment of the invention, the target boundary point can continuously send out the preset signal through the transmitting unit integrated with the preset signal, and the measuring equipment can identify the target boundary point through the receiving unit integrated with the preset signal by receiving the preset signal sent by the target boundary point, so that the measuring equipment is guided to automatically approach the target boundary point according to the identification result and reach the vicinity of the target boundary point. In some optional examples, the preset signal may be a radio frequency signal, and the measurement device may perform radio frequency identification on the target address point by receiving the radio frequency signal sent by the target address point, and guide the measurement device to reach the vicinity of the target address point according to a result of the radio frequency identification.
Optionally, the preset signal for identifying the target boundary point may also be a ranging signal, for example, when the preset signal is a radio frequency signal, the radio frequency signal may also be a ranging signal, at this time, the transceiver unit of the ranging signal integrated with the target boundary point also serves as sending of the preset signal of the target boundary point, and the transceiver unit of the ranging signal integrated with the measuring device also serves as receiving of the preset signal of the measuring device.
In the embodiment of the present invention, the preset positioning system may be an existing satellite positioning system, such as GPS, BDS, GALILEO, or GLONASS, and the type of the preset positioning system is not limited in the embodiment of the present invention.
Optionally, after the measuring device reaches the vicinity of the target boundary point, the measuring device may determine, according to the collected video information, an observation position of the measuring device with respect to the target boundary point, and adjust a measurement posture of the measuring device after the measuring device reaches the observation position, and the measuring device receives a positioning signal sent by a preset positioning system, and acquires first coordinate information of the measuring device at the determined observation position in the adjusted measurement posture. After the measuring equipment reaches the vicinity of the target boundary point, the observation position is determined, the measurement attitude is adjusted, and the optimal observation position and the optimal measurement attitude can be automatically selected to measure the target boundary point, so that the reliability of the measurement data is improved.
In some optional examples, when the shielding above the target boundary point is serious, the aerial distance measurement performance of the unmanned aerial vehicle is poor, and the measurement of the target boundary point is dominated by the ground, that is, the ground robot and the handheld device are used as measurement devices to measure the target boundary point, the unmanned aerial vehicle can be used for receiving and identifying a preset signal sent by the target boundary point to assist in guiding the ground robot to park to a specified position, so that the reliability of measurement data is improved.
Referring to fig. 5, fig. 5 is a schematic diagram of an application scenario for locating an endpoint by using the method for locating an endpoint provided in the present invention, as shown in fig. 5, a measurement apparatus includes: the system comprises four unmanned aerial vehicles and a ground robot, wherein satellite positioning modules are integrated on the unmanned aerial vehicles and the ground robot, and a pseudo-satellite signal transceiving unit, an ultra-wideband signal transceiving unit and a radio frequency signal transceiving unit are integrated on the unmanned aerial vehicles, the ground robot and a target boundary point. The unmanned aerial vehicle and the ground robot can receive radio frequency signals sent by the target boundary point through the radio frequency signal receiving and sending unit, identify the target boundary point, sense the approximate position of the target boundary point according to the identification result, automatically approach the target boundary point and reach the vicinity of the target boundary point. Near the target boundary point, the unmanned aerial vehicle and the ground robot can determine the optimal observation position of the target boundary point according to the collected video information, and adjust the measurement attitude after reaching the optimal observation position. After the attitude adjustment is completed, the unmanned aerial vehicle and the ground robot can receive a positioning signal sent by a satellite positioning system through a satellite positioning module, and acquire first coordinate information according to the positioning signal. Then, the unmanned aerial vehicle and the ground robot can transmit and receive pseudolite signals, ultra-wideband signals and radio frequency signals with each measuring device in other measuring devices except the unmanned aerial vehicle and the ground robot and a target boundary point through the pseudolite signal transmitting and receiving unit, the ultra-wideband signal transmitting and receiving unit and the target boundary point, three pieces of first distance information of each measuring device in other measuring devices except the unmanned aerial vehicle and the ground robot and three pieces of second distance information of the target boundary point are obtained, and the first coordinate information, the three pieces of first distance information and the three pieces of second distance information are sent to the cloud platform. The cloud platform can determine third distance information of each of the unmanned aerial vehicle and the ground robot and other measuring equipment except the cloud platform according to the three pieces of first distance information of the unmanned aerial vehicle and the ground robot, and determine fourth distance information of the unmanned aerial vehicle and the ground robot and a target boundary point according to the three pieces of second distance information of the unmanned aerial vehicle and the ground robot; based on first coordinate information and third distance information of the unmanned aerial vehicle and the ground robot, constructing a side measuring network for all measuring equipment which are synchronously measured, balancing the third distance information and the first coordinate information, and correcting the third distance information and the first coordinate information; and then, according to the corrected first coordinate information and the corrected fourth distance information, determining second coordinate information of the target boundary point through distance intersection, realizing air-ground cooperative positioning measurement, and obtaining the target boundary point coordinate with the precision error smaller than 5 cm.
The following describes the boundary point positioning device provided by the present invention, and the boundary point positioning device described below and the boundary point positioning method described above can be referred to with each other.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an interface point positioning apparatus provided in the present invention, the interface point positioning apparatus shown in fig. 6 can be used to execute the interface point positioning method shown in fig. 1, and as shown in fig. 6, the interface point positioning apparatus at least includes:
the measuring device 610 is used for acquiring first coordinate information of the measuring device, wherein the measuring device comprises at least two of an unmanned aerial vehicle, a ground robot and a handheld device; the method comprises the steps of obtaining at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and obtaining at least two pieces of second distance information of the target measuring device and a target boundary point based on at least two ranging modes.
And the cloud platform 620 is configured to determine second coordinate information of the target boundary point based on the obtained at least two pieces of first distance information, the obtained at least two pieces of second distance information, and the obtained first coordinate information.
Optionally, cloud platform 620, comprises:
the first processing module is used for determining third distance information between the target measuring equipment and each measuring equipment in other measuring equipment according to the obtained at least two pieces of first distance information, and determining fourth distance information between the target measuring equipment and the target boundary point according to the obtained at least two pieces of second distance information;
the second processing module is used for adjusting the third distance information and the first coordinate information and correcting the third distance information and the first coordinate information;
and the third processing module is used for determining second coordinate information of the target boundary point through distance intersection according to the corrected first coordinate information and the corrected fourth distance information.
Optionally, the measurement device 610 comprises:
the distance measurement module is used for receiving and transmitting at least two kinds of distance measurement signals with other measurement equipment of each measurement equipment to obtain at least two pieces of first distance information of the target measurement equipment and each measurement equipment of the other measurement equipment; and acquiring at least two pieces of second distance information of the target measuring equipment and the target boundary point by receiving and transmitting at least two kinds of ranging signals with the target boundary point.
Optionally, the ranging signal comprises at least two of a pseudolite signal, an ultra wideband signal, and a radio frequency signal.
Optionally, the measurement apparatus 610 further includes:
the identification module is used for identifying the target boundary point by receiving a preset signal sent by the target boundary point and guiding the measuring equipment to reach the position near the target boundary point according to an identification result;
and the positioning module is used for receiving a positioning signal sent by a preset positioning system and acquiring first coordinate information of the measuring equipment according to the positioning signal.
Optionally, the identification module is further configured to determine, according to the acquired video information, an observation position of the measurement device with respect to the target boundary point, and adjust a measurement posture of the measurement device after the measurement device reaches the observation position.
Fig. 7 illustrates a physical structure diagram of an electronic device, and as shown in fig. 7, the electronic device may include: a processor (processor)710, a communication Interface (Communications Interface)720, a memory (memory)730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. Processor 710 may call logic instructions in memory 730 to perform an endpoint location method comprising:
acquiring first coordinate information of measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment;
acquiring at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and a target boundary point based on the at least two ranging modes;
and determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information.
In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for locating a boundary point provided by the above methods, the method comprising:
acquiring first coordinate information of measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment;
acquiring at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and a target boundary point based on the at least two ranging modes;
and determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the method for locating an address point provided above, the method comprising:
acquiring first coordinate information of measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment;
acquiring at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and a target boundary point based on the at least two ranging modes;
and determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; 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 (10)
1. A method for locating an endpoint, comprising:
acquiring first coordinate information of measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment;
acquiring at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and a target boundary point based on the at least two ranging modes;
and determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information.
2. The method of claim 1, wherein the determining second coordinate information of the target landmark point based on the at least two first distance information, the at least two second distance information, and the first coordinate information comprises:
determining third distance information between the target measuring equipment and each measuring equipment in other measuring equipment according to the obtained at least two pieces of first distance information, and determining fourth distance information between the target measuring equipment and a target boundary point according to the obtained at least two pieces of second distance information;
adjusting the third distance information and the first coordinate information to correct the third distance information and the first coordinate information;
and determining second coordinate information of the target boundary point through distance intersection according to the corrected first coordinate information and the fourth distance information.
3. The method as claimed in claim 1 or 2, wherein the obtaining at least two first distance information of the target measuring device and each of the other measuring devices based on at least two ranging methods, and obtaining at least two second distance information of the target measuring device and the target boundary point based on the at least two ranging methods comprises:
the method comprises the steps that at least two kinds of ranging signals are transmitted and received by each of other measuring equipment, so that at least two pieces of first distance information of the target measuring equipment and each of the other measuring equipment are obtained;
and acquiring at least two pieces of second distance information of the target measuring equipment and the target boundary point by receiving and transmitting at least two kinds of ranging signals with the target boundary point.
4. The method of claim 3, wherein the obtaining the first coordinate information of the measurement device comprises:
identifying the target boundary point by receiving a preset signal sent by the target boundary point, and guiding the measuring equipment to reach the vicinity of the target boundary point according to an identification result;
and acquiring the first coordinate information of the measuring equipment according to the positioning signal by receiving the positioning signal sent by a preset positioning system.
5. The method as claimed in claim 4, wherein before the obtaining the first coordinate information of the measurement device by receiving a positioning signal from a predetermined positioning system, the method further comprises:
and determining the observation position of the measuring equipment to the target boundary point according to the acquired video information, and adjusting the measurement posture of the measuring equipment after the measuring equipment reaches the observation position.
6. An apparatus for locating an endpoint, comprising:
the measuring equipment is used for acquiring first coordinate information of the measuring equipment, wherein the measuring equipment comprises at least two of an unmanned aerial vehicle, a ground robot and handheld equipment; acquiring at least two pieces of first distance information of a target measuring device and each measuring device in other measuring devices based on at least two ranging modes, and acquiring at least two pieces of second distance information of the target measuring device and a target boundary point based on the at least two ranging modes;
and the cloud platform is used for determining second coordinate information of the target boundary point based on the acquired at least two pieces of first distance information, the acquired at least two pieces of second distance information and the acquired first coordinate information.
7. The apparatus of claim 6, wherein the measuring device comprises:
the distance measurement module is used for acquiring at least two pieces of first distance information of the target measurement device and each of other measurement devices by receiving and transmitting at least two kinds of distance measurement signals with each of the other measurement devices; and acquiring at least two pieces of second distance information of the target measuring equipment and the target boundary point by receiving and transmitting at least two kinds of ranging signals with the target boundary point.
8. The apparatus of claim 7, wherein the measurement device further comprises:
the identification module is used for identifying the target boundary point by receiving a preset signal sent by the target boundary point and guiding the measuring equipment to reach the position near the target boundary point according to an identification result;
and the positioning module is used for receiving a positioning signal sent by a preset positioning system and acquiring the first coordinate information of the measuring equipment according to the positioning signal.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method for location of an interface point as claimed in any one of claims 1 to 5 are performed by the processor when executing the program.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for location of an address point as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110293008.1A CN113093243A (en) | 2021-03-18 | 2021-03-18 | Boundary address point positioning method and device, electronic equipment and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110293008.1A CN113093243A (en) | 2021-03-18 | 2021-03-18 | Boundary address point positioning method and device, electronic equipment and computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113093243A true CN113093243A (en) | 2021-07-09 |
Family
ID=76668670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110293008.1A Pending CN113093243A (en) | 2021-03-18 | 2021-03-18 | Boundary address point positioning method and device, electronic equipment and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113093243A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114462437A (en) * | 2021-12-26 | 2022-05-10 | 江苏集萃未来城市应用技术研究所有限公司 | RFID electronic interface point efficient complete information coding method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100066603A1 (en) * | 2008-09-15 | 2010-03-18 | O'keefe Kyle | System and Methods for Real Time Kinematic Surveying Using GNSS and Ultra Wideband Ranging |
| CN102564417A (en) * | 2011-12-30 | 2012-07-11 | 中国测绘科学研究院 | Non-contact dynamic and active positioning method |
| CN110554418A (en) * | 2019-08-20 | 2019-12-10 | 北京建筑大学 | RTK/UWB combined mapping method and system for satellite signal shielding area |
| CN111524367A (en) * | 2020-07-06 | 2020-08-11 | 江苏中科院智能科学技术应用研究院 | Distance measurement fusion method and system, composite traffic flow monitoring device and monitoring system |
| CN112463908A (en) * | 2020-12-15 | 2021-03-09 | 东南大学 | Cadastral rapid survey system and method based on electronic interface point and unmanned aerial vehicle |
-
2021
- 2021-03-18 CN CN202110293008.1A patent/CN113093243A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100066603A1 (en) * | 2008-09-15 | 2010-03-18 | O'keefe Kyle | System and Methods for Real Time Kinematic Surveying Using GNSS and Ultra Wideband Ranging |
| CN102564417A (en) * | 2011-12-30 | 2012-07-11 | 中国测绘科学研究院 | Non-contact dynamic and active positioning method |
| CN110554418A (en) * | 2019-08-20 | 2019-12-10 | 北京建筑大学 | RTK/UWB combined mapping method and system for satellite signal shielding area |
| CN111524367A (en) * | 2020-07-06 | 2020-08-11 | 江苏中科院智能科学技术应用研究院 | Distance measurement fusion method and system, composite traffic flow monitoring device and monitoring system |
| CN112463908A (en) * | 2020-12-15 | 2021-03-09 | 东南大学 | Cadastral rapid survey system and method based on electronic interface point and unmanned aerial vehicle |
Non-Patent Citations (2)
| Title |
|---|
| 沈克银: "地籍界址点测定的技术方法", 《测绘通报》 * |
| 邢永昌 等: "《地籍测量与管理》", 31 December 1990, 中国矿业大学出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114462437A (en) * | 2021-12-26 | 2022-05-10 | 江苏集萃未来城市应用技术研究所有限公司 | RFID electronic interface point efficient complete information coding method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111559372B (en) | Parking space detection performance evaluation method of parking system and electronic equipment | |
| CN110673182B (en) | GNSS high-precision rapid positioning method and device | |
| EP3491421B1 (en) | Mobile reference station for gnss positioning | |
| US10564287B2 (en) | Positional measurement system, positional measurement method, and mobile robot | |
| WO2016176049A1 (en) | Automotive gnss real time kinematic dead reckoning receiver | |
| EP3326233B1 (en) | Alignment system for point-to-point alignment of spaced apart first and second antennas and related methods | |
| EP2876463A2 (en) | Method for determining location of vehicle | |
| JP6644944B1 (en) | Positioning system, server, information distribution method and program | |
| JP6637214B1 (en) | Positioning system, server, positioning method, program, positioning target device and moving object | |
| CN110493730A (en) | Wireless self-networking communication node localization method and communication node | |
| WO2014200043A1 (en) | Preparation system used in surveying work | |
| WO2020107434A1 (en) | Coordinate calibration method and device for rtk reference station, and storage medium | |
| CN113093243A (en) | Boundary address point positioning method and device, electronic equipment and computer readable storage medium | |
| CN113406566A (en) | Aircraft positioning method and device | |
| CN108196283A (en) | Alignment system and method | |
| AU2022453597B2 (en) | Positioning method, apparatus, electronic device and storage medium | |
| CN111504311A (en) | Multi-sensor fusion real-time positioning navigation device and method | |
| CN115685165A (en) | Method and device for calibrating installation deviation of three-dimensional array ultra-short baseline positioning system | |
| CN109874110B (en) | Automatic weeding method and system and weeding machine | |
| WO2020082349A1 (en) | High-precision unmanned aerial vehicle flight path measurement system and machine-readable storage medium | |
| WO2019162877A1 (en) | System for providing location corrections | |
| CN114527500B (en) | Indoor and outdoor integrated positioning method, equipment, medium and product | |
| CN112731268B (en) | Differential data processing method and positioning tracking system | |
| CN114047527A (en) | Pseudo-range signal transmission method, pseudo-range signal transmission device, storage medium, and electronic device | |
| CN104581850B (en) | Base station switching control method for effectively avoiding ping-pong effect in wireless communication network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210709 |
|
| RJ01 | Rejection of invention patent application after publication |