CN113126024A - Coordinate conversion method, equipment terminal, positioning base station and storage medium - Google Patents
Coordinate conversion method, equipment terminal, positioning base station and storage medium Download PDFInfo
- Publication number
- CN113126024A CN113126024A CN201911417550.2A CN201911417550A CN113126024A CN 113126024 A CN113126024 A CN 113126024A CN 201911417550 A CN201911417550 A CN 201911417550A CN 113126024 A CN113126024 A CN 113126024A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- coordinate conversion
- base station
- coordinates
- positioning point
- 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
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 153
- 238000000034 method Methods 0.000 title claims abstract description 59
- 239000011159 matrix material Substances 0.000 claims abstract description 92
- 230000009466 transformation Effects 0.000 claims abstract description 37
- 239000013598 vector Substances 0.000 claims description 67
- 238000005259 measurement Methods 0.000 claims description 22
- 238000011426 transformation method Methods 0.000 claims description 14
- 238000001914 filtration Methods 0.000 claims description 13
- 238000009499 grossing Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 230000001131 transforming effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 9
- 230000007246 mechanism Effects 0.000 description 12
- 230000004044 response Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009191 jumping Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
Abstract
The application discloses a coordinate conversion method, equipment, an equipment terminal, a positioning base station and a storage medium, wherein the coordinate conversion method at least comprises the following steps: sending a coordinate conversion request aiming at a target positioning point to a positioning base station, wherein the coordinate conversion request is used for triggering the positioning base station to send a coordinate conversion matrix; receiving the coordinate transformation matrix sent by the positioning base station; and converting the coordinates of the target positioning point according to the coordinate conversion matrix. The method and the device can reduce the influence of extreme values on the positioning and navigation accuracy in the coordinate conversion process, and can also reduce the influence of untimely map updating on the positioning and navigation accuracy.
Description
Technical Field
The present application relates to the field of positioning and navigation technologies, and in particular, to a coordinate transformation method, a device terminal, a positioning base station, and a storage medium.
Background
Along with the development of science and technology, intelligent equipment is more and more popular, and people have higher and higher demands on intelligent equipment. Currently, there are several solutions for positioning technology on the market. There are Wifi-based, communication base station-based, and also location services based on short-range communication technologies, such as ZigBee, bluetooth, etc. However, these positioning techniques often employ their own coordinate systems for a variety of reasons. This results in the need to switch coordinates during the positioning and navigation of the device terminal.
At present, most coordinate conversion methods in the prior art adopt a direct conversion method, that is, a coordinate system is directly converted to another coordinate system, the method is easily affected by extreme values, and the method is easy to generate serious jump under the condition that a map is not updated timely, so that the positioning and navigation accuracy corresponding to a positioning device based on the method is not high.
Disclosure of Invention
The application aims to disclose a coordinate conversion method, equipment, an equipment terminal, a positioning base station and a storage medium so as to reduce the influence of extreme values on positioning and navigation accuracy in the coordinate conversion process, and the application can also reduce the influence of untimely map updating on the positioning and navigation accuracy.
A first aspect of the present application discloses a coordinate transformation method, which is applied to a device terminal, and includes:
sending a coordinate conversion request aiming at a target positioning point to a positioning base station, wherein the coordinate conversion request is used for triggering the positioning base station to send a coordinate conversion matrix;
receiving a coordinate transformation matrix sent by a positioning base station;
and transforming the coordinates of the target positioning point according to the coordinate transformation matrix.
According to the method and the device, the coordinate conversion of the target positioning point is completed through the coordinate conversion matrix, and the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be further reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
As an optional implementation, the transforming the coordinates of the target positioning point according to the coordinate transformation matrix includes the sub-steps of:
calculating reference coordinates of the target positioning point in a second coordinate system according to the coordinate transformation matrix;
acquiring a measurement coordinate of the target positioning point in a second coordinate system;
calculating distortion compensation vectors according to the reference coordinates and the measurement coordinates;
and converting the coordinates of the target positioning point according to the distortion compensation vector.
In the optional implementation mode, the distortion compensation vector can be calculated through the reference coordinate and the measured coordinate, and then the distortion compensation vector can convert the coordinate of the target positioning point, so that the distortion caused by the error of the sensor can be reduced, and the positioning and navigation accuracy of the equipment terminal is further improved.
As an alternative embodiment, the calculation of the distortion compensation vector from the reference and measured coordinates comprises the sub-steps of:
normalizing the vectors of the reference coordinates and the measurement coordinates and generating weights;
and calculating a distortion compensation vector according to the weight.
In the optional embodiment, the weights can be generated by normalizing the vectors of the calculated reference coordinates and the measured coordinates, and then the distortion compensation vector can be calculated according to the weights, so that the calculation accuracy of the distortion compensation vector can be improved, the conversion accuracy of the target positioning point can be improved, and the positioning and navigation accuracy of the equipment terminal can be further improved.
As an alternative embodiment, the transformation of the coordinates of the target location point according to the distortion compensation vector comprises the sub-steps of:
and filtering and smoothing the measured coordinates according to the distortion compensation vector, and generating coordinates after the target positioning point is converted.
In this optional embodiment, by filtering and smoothing the measurement coordinates according to the distortion compensation vector, the accuracy of positioning and navigating the device terminal by jumping can be further reduced.
In some optional embodiments, after filtering and smoothing the measurement coordinates according to the distortion compensation vector, and generating the transformed coordinates of the target positioning point, the method further includes:
and when the target positioning point is detected to be replaced, judging whether the distortion compensation vector is established, if so, triggering to execute filtering and smoothing processing on the measured coordinate according to the distortion compensation vector, and generating the coordinate after the target positioning point is converted.
In this optional embodiment, when the target positioning point is updated, the distortion compensation vector used in the previous target positioning point conversion process may be used, and on this occasion, the calculation process of the distortion compensation vector may be omitted, so that the computation load of the device terminal may be further reduced, and the coordinate conversion efficiency of the device terminal may be further improved, thereby further improving the accuracy of positioning and navigation of the device terminal.
The second aspect of the present application further provides a coordinate transformation method, where the method is applied to a positioning base station, and the method includes:
receiving a coordinate conversion request aiming at a target positioning point, which is sent by a device terminal;
reading and calculating a coordinate transformation matrix according to the coordinate transformation;
and sending the coordinate conversion matrix to the equipment terminal so that the equipment terminal completes the coordinate switching of the target positioning point according to the coordinate conversion matrix.
According to the method and the device, the coordinate conversion of the target positioning point is completed through the coordinate conversion matrix, and the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be further reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
As an alternative embodiment, before computing the coordinate transformation matrix from the coordinate transformation reads, the method further comprises:
randomly reading coordinate data of a plurality of reference points;
and calculating a coordinate transformation matrix according to the coordinate data of the plurality of reference points.
In the optional embodiment, by randomly reading the coordinate data of the plurality of reference points, the constant error caused by the fixed reference points in the operation can be reduced and the operation efficiency can be improved, and on the other hand, by randomly reading the coordinate data of the plurality of reference points, the conversion error caused by the linearization of the reference points can be reduced.
A third aspect of the present application provides an apparatus terminal, including:
the system comprises a first sending module, a second sending module and a positioning base station, wherein the first sending module is used for sending a coordinate conversion request aiming at a target positioning point to the positioning base station, and the coordinate conversion request is used for triggering the positioning base station to send a coordinate conversion matrix;
the first receiving module is used for receiving the coordinate transformation matrix sent by the positioning base station;
and the conversion module is used for converting the coordinates of the target positioning point according to the coordinate conversion matrix.
According to the method and the device, the coordinate conversion of the target positioning point is completed through the coordinate conversion matrix, and the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be further reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
A fourth aspect of the present application provides a positioning base station, including:
the second receiving module is used for receiving a coordinate conversion request aiming at a target positioning point, which is sent by the equipment terminal;
the reading module is used for reading and calculating a coordinate conversion matrix according to the coordinate conversion;
and the second sending module is used for sending the coordinate conversion matrix to the equipment terminal so that the equipment terminal completes the coordinate switching of the target positioning point according to the coordinate conversion matrix.
According to the method and the device, the coordinate conversion of the target positioning point is completed through the coordinate conversion matrix, and the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be further reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
A fifth aspect of the present application discloses a coordinate conversion apparatus, including:
a processor; and
a memory configured to store machine readable instructions which, when executed by the processor, cause the processor to perform a coordinate transformation method as in the first and second aspects of the present application.
The coordinate conversion equipment can complete the coordinate conversion of the target positioning point through the coordinate conversion matrix by executing the coordinate conversion method, and further can reduce the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
A sixth aspect of the present application discloses a computer storage medium storing a computer program for execution by a processor of a coordinate transformation method according to the first and second aspects of the present application.
The computer storage medium can complete coordinate conversion of the target positioning point through the coordinate conversion matrix by executing the coordinate conversion method, so that the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a coordinate transformation method disclosed in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a sub-step of step 103;
fig. 3 is a schematic flowchart of a coordinate transformation method disclosed in the second embodiment of the present application;
fig. 4 is a schematic flowchart of a coordinate transformation method disclosed in the third embodiment of the present application;
fig. 5 is a schematic structural diagram of an apparatus terminal disclosed in the fourth embodiment of the present application;
fig. 6 is a schematic structural diagram of a positioning base station according to the fifth embodiment of the present application;
fig. 7 is a schematic structural diagram of a positioning conversion apparatus disclosed in the sixth embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a coordinate transformation method disclosed in an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
101. sending a coordinate conversion request aiming at a target positioning point to a positioning base station, wherein the coordinate conversion request is used for triggering the positioning base station to send a coordinate conversion matrix;
102. receiving a coordinate transformation matrix sent by a positioning base station;
103. and transforming the coordinates of the target positioning point according to the coordinate transformation matrix.
According to the method and the device, the coordinate conversion of the target positioning point is completed through the coordinate conversion matrix, and the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be further reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
As an alternative embodiment, please refer to fig. 2, in which fig. 2 is a flow chart of a sub-step of step 103. As shown in fig. 2, step 103, converting coordinates of the target positioning point according to the coordinate conversion matrix, includes the sub-steps of:
1031. calculating reference coordinates of the target positioning point in a second coordinate system according to the coordinate transformation matrix;
1032. acquiring a measurement coordinate of the target positioning point in a second coordinate system;
1033. calculating distortion compensation vectors according to the reference coordinates and the measurement coordinates;
1034. and converting the coordinates of the target positioning point according to the distortion compensation vector.
In the optional implementation mode, the distortion compensation vector can be calculated through the reference coordinate and the measured coordinate, and then the distortion compensation vector can convert the coordinate of the target positioning point, so that the distortion caused by the error of the sensor can be reduced, and the positioning and navigation accuracy of the equipment terminal is further improved.
As an alternative embodiment, step 1033, the specific implementation of calculating the distortion compensation vector according to the reference coordinate and the measurement coordinate is as follows:
normalizing the vectors of the reference coordinates and the measurement coordinates and generating weights;
and calculating a distortion compensation vector according to the weight.
In the optional embodiment, the weights can be generated by normalizing the vectors of the calculated reference coordinates and the measured coordinates, and then the distortion compensation vector can be calculated according to the weights, so that the calculation accuracy of the distortion compensation vector can be improved, the conversion accuracy of the target positioning point can be improved, and the positioning and navigation accuracy of the equipment terminal can be further improved.
Illustratively, assume that the vector of reference coordinates is v1＝(a1,a2,…an) Vector of measured coordinates is v2＝(b1,b2,…bn) Then the weight is:
wherein, aiIs v is1A certain element of (b)iIs v is2"weight" is a weight.
In the optional embodiment, the weight is calculated by the sum of squares of the 2-norm sum of squares of the vector difference and the difference of the vector difference in each direction, so that the influence caused by the extreme value in the coordinate can be avoided, and the accuracy and the reliability of the positioning and navigation of the positioning system can be further improved by the optional embodiment.
As an optional implementation manner, in step 1034, a specific implementation manner of converting coordinates of the target positioning point according to the distortion compensation vector is as follows:
and filtering and smoothing the measured coordinates according to the distortion compensation vector, and generating coordinates after the target positioning point is converted.
In this optional embodiment, by filtering and smoothing the measurement coordinates according to the distortion compensation vector, the accuracy of positioning and navigating the device terminal by jumping can be further reduced.
Example two
Referring to fig. 3, fig. 3 is a schematic flow chart of a coordinate transformation method disclosed in the embodiment of the present application. As shown in fig. 3, the method comprises the steps of:
201. sending a coordinate conversion request aiming at a target positioning point to a positioning base station, wherein the coordinate conversion request is used for triggering the positioning base station to send a coordinate conversion matrix;
202. receiving a coordinate transformation matrix sent by a positioning base station;
203. converting the coordinates of the target positioning point according to the coordinate conversion matrix;
204. and when the target positioning point is detected to be replaced, judging whether the distortion compensation vector is established, if so, triggering to execute filtering and smoothing processing on the measured coordinate according to the distortion compensation vector, and generating the coordinate after the target positioning point is converted.
In this embodiment, when the target positioning point is updated, the distortion compensation vector used in the previous target positioning point conversion process can be used, and on this occasion, the calculation process of the distortion compensation vector can be omitted, so that the computation load of the device terminal can be further reduced, and the coordinate conversion efficiency of the device terminal can be further improved, thereby further improving the accuracy of positioning and navigation of the device terminal.
EXAMPLE III
Referring to fig. 4, fig. 4 is a schematic flowchart of a coordinate transformation method disclosed in an embodiment of the present application, where the method is applied to a positioning base station. As shown in fig. 4, the method includes the steps of:
301. receiving a coordinate conversion request aiming at a target positioning point, which is sent by a device terminal;
302. reading and calculating a coordinate transformation matrix according to the coordinate transformation;
303. and sending the coordinate conversion matrix to the equipment terminal so that the equipment terminal completes the coordinate switching of the target positioning point according to the coordinate conversion matrix.
According to the method and the device, the coordinate conversion of the target positioning point is completed through the coordinate conversion matrix, and the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be further reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
As an alternative embodiment, before computing the coordinate transformation matrix from the coordinate transformation reads, the method further comprises:
randomly reading coordinate data of a plurality of reference points;
and calculating a coordinate transformation matrix according to the coordinate data of the plurality of reference points.
In the optional embodiment, by randomly reading the coordinate data of the plurality of reference points, the constant error caused by the fixed reference points in the operation can be reduced and the operation efficiency can be improved, and on the other hand, by randomly reading the coordinate data of the plurality of reference points, the conversion error caused by the linearization of the reference points can be reduced.
Example four
Referring to fig. 5, fig. 5 is a schematic structural diagram of an apparatus terminal disclosed in the embodiment of the present application. As shown in fig. 5, the device terminal includes:
a first sending module 401, configured to send a coordinate conversion request for a target positioning point to a positioning base station, where the coordinate conversion request is used to trigger the positioning base station to send a coordinate conversion matrix;
a first receiving module 402, configured to receive a coordinate transformation matrix sent by a positioning base station;
and a converting module 403, configured to convert coordinates of the target positioning point according to the coordinate conversion matrix.
According to the method and the device, the coordinate conversion of the target positioning point is completed through the coordinate conversion matrix, and the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be further reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
In some optional embodiments, the conversion module 403 includes a first computation submodule, an obtaining submodule, a second computation submodule, and a conversion submodule, where:
the first calculation submodule 4031 is used for calculating the reference coordinates of the target positioning point in the second coordinate system according to the coordinate transformation matrix;
the obtaining submodule 4032 is used for obtaining the measurement coordinates of the target positioning point in the second coordinate system;
a second calculation submodule 4033 for calculating a distortion compensation vector from the reference coordinates and the measurement coordinates;
and the converting submodule 4034 is used for converting the coordinates of the target positioning point according to the distortion compensation vector.
In the optional implementation mode, the distortion compensation vector can be calculated through the reference coordinate and the measured coordinate, and then the distortion compensation vector can convert the coordinate of the target positioning point, so that the distortion caused by the error of the sensor can be reduced, and the positioning and navigation accuracy of the equipment terminal is further improved.
As an alternative implementation, the second calculation sub-module 4033 performs the specific implementation of calculating the distortion compensation vector according to the reference coordinate and the measurement coordinate as follows:
normalizing the vectors of the reference coordinates and the measurement coordinates and generating weights;
and calculating a distortion compensation vector according to the weight.
In the optional embodiment, the weights can be generated by normalizing the vectors of the calculated reference coordinates and the measured coordinates, and then the distortion compensation vector can be calculated according to the weights, so that the calculation accuracy of the distortion compensation vector can be improved, the conversion accuracy of the target positioning point can be improved, and the positioning and navigation accuracy of the equipment terminal can be further improved.
Illustratively, assume that the vector of reference coordinates is v1＝(a1,a2,…an) Vector of measured coordinates is v2＝(b1,b2,…bn) Then the weight is:
wherein, aiIs v is1A certain element of (b)iIs v is2"weight" is a weight.
In the optional embodiment, the weight is calculated by the sum of squares of the 2-norm sum of squares of the vector difference and the difference of the vector difference in each direction, so that the influence caused by the extreme value in the coordinate can be avoided, and the accuracy and the reliability of the positioning and navigation of the positioning system can be further improved by the optional embodiment.
As an alternative implementation, the specific implementation manner of the converting submodule 4034 executing the coordinate conversion of the target positioning point according to the distortion compensation vector is as follows:
and filtering and smoothing the measured coordinates according to the distortion compensation vector, and generating coordinates after the target positioning point is converted.
In this optional embodiment, by filtering and smoothing the measurement coordinates according to the distortion compensation vector, the accuracy of positioning and navigating the device terminal by jumping can be further reduced.
In some optional embodiments, the device terminal further includes a detecting module 404 and a determining module 405, where:
a detection module 404, configured to detect whether a target anchor point is replaced;
and the determining module 405 is configured to, when the detecting module 404 detects that the target locating point is replaced, trigger the converting submodule 4034 to perform filtering and smoothing processing on the measured coordinate according to the distortion compensation vector, and generate a coordinate after the target locating point is converted.
EXAMPLE five
Referring to fig. 6, fig. 6 is a schematic structural diagram of a positioning base station according to an embodiment of the present disclosure. As shown in fig. 6, the positioning base station includes:
a second receiving module 501, configured to receive a coordinate transformation request for a target locating point, where the coordinate transformation request is sent by a device terminal;
a reading module 502, configured to read and calculate a coordinate transformation matrix according to coordinate transformation;
a second sending module 503, configured to send the coordinate transformation matrix to the device terminal, so that the device terminal completes coordinate switching of the target positioning point according to the coordinate transformation matrix.
According to the method and the device, the coordinate conversion of the target positioning point is completed through the coordinate conversion matrix, and the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be further reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
As an optional implementation manner, the reading module 502 is further configured to randomly read coordinate data of a plurality of reference points, and the positioning base station further includes a calculating module 504, where the calculating module 504 is configured to calculate a coordinate transformation matrix according to the coordinate data of the plurality of reference points.
EXAMPLE six
Referring to fig. 7, fig. 7 is a schematic structural diagram of a positioning conversion apparatus disclosed in the embodiment of the present application.
As shown in fig. 7, the apparatus includes:
a processor 602; and
the memory 601 is configured to store machine readable instructions, which when executed by the processor 602, cause the processor 602 to perform a coordinate transformation method according to embodiments one to three of the present application.
The coordinate conversion equipment can complete the coordinate conversion of the target positioning point through the coordinate conversion matrix by executing the coordinate conversion method, and further can reduce the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
EXAMPLE seven
The embodiment of the application discloses a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and the computer program is executed by a processor to execute a coordinate conversion method according to the first to third embodiments of the application.
The computer storage medium can complete coordinate conversion of the target positioning point through the coordinate conversion matrix by executing the coordinate conversion method, so that the accuracy of positioning and navigating the equipment terminal according to the target positioning point by the extreme value can be reduced. On the other hand, the positioning base station and the equipment terminal form a response mechanism, and then the coordinate conversion matrix is calculated by the positioning base station and is sent to the equipment terminal, so that the equipment terminal can save operation resources, and the equipment terminal can quickly update a map while quickly realizing the coordinate conversion of a target positioning point after receiving the coordinate conversion matrix, thereby reducing the influence of untimely map updating on the positioning and navigation accuracy of the equipment terminal.
In the embodiments disclosed in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a positioning base station, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application. 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.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (11)
1. A coordinate conversion method is applied to a device terminal, and comprises the following steps:
sending a coordinate conversion request aiming at a target positioning point to a positioning base station, wherein the coordinate conversion request is used for triggering the positioning base station to send a coordinate conversion matrix;
receiving the coordinate transformation matrix sent by the positioning base station;
and converting the coordinates of the target positioning point according to the coordinate conversion matrix.
2. The coordinate transformation method of claim 1, wherein transforming the coordinates of the target anchor point according to the coordinate transformation matrix comprises:
calculating the reference coordinate of the target positioning point in a second coordinate system according to the coordinate transformation matrix;
acquiring the measurement coordinates of the target positioning point in the second coordinate system;
calculating a distortion compensation vector according to the reference coordinates and the measurement coordinates;
and converting the coordinates of the target positioning point according to the distortion compensation vector.
3. The coordinate conversion method according to claim 1, wherein calculating a distortion compensation vector based on the reference coordinates and the measurement coordinates comprises:
normalizing the vectors of the reference coordinates and the measurement coordinates and generating weights;
calculating the distortion compensation vector according to the weight.
4. The coordinate conversion method according to claim 2, wherein converting the coordinates of the target positioning point based on the distortion compensation vector comprises:
and filtering and smoothing the measurement coordinates according to the distortion compensation vector, and generating coordinates after the target positioning point is converted.
5. The coordinate conversion method according to claim 4, wherein after filtering and smoothing the measurement coordinates according to a distortion compensation vector and generating the converted coordinates of the target positioning point, the method further comprises:
and when the target positioning point is detected to be replaced, judging whether the distortion compensation vector is established, if so, triggering execution of filtering and smoothing processing on the measurement coordinate according to the distortion compensation vector, and generating the coordinate after the target positioning point is converted.
6. A coordinate transformation method, applied to positioning a base station, the method comprising:
receiving a coordinate conversion request aiming at a target positioning point, which is sent by a device terminal;
reading and calculating a coordinate transformation matrix according to the coordinate transformation;
and sending the coordinate conversion matrix to the equipment terminal so that the equipment terminal completes the coordinate switching of the target positioning point according to the coordinate conversion matrix.
7. The coordinate conversion method according to claim 6, wherein before calculating the coordinate conversion matrix from the coordinate conversion reading, the method further comprises:
randomly reading coordinate data of a plurality of reference points;
and calculating the coordinate transformation matrix according to the coordinate data of the reference points.
8. A device terminal, characterized in that the device terminal comprises:
the system comprises a first sending module, a second sending module and a positioning base station, wherein the first sending module is used for sending a coordinate conversion request aiming at a target positioning point to the positioning base station, and the coordinate conversion request is used for triggering the positioning base station to send a coordinate conversion matrix;
the first receiving module is used for receiving the coordinate transformation matrix sent by the positioning base station;
and the conversion module is used for converting the coordinates of the target positioning point according to the coordinate conversion matrix.
9. A positioning base station, comprising:
the second receiving module is used for receiving a coordinate conversion request aiming at a target positioning point, which is sent by the equipment terminal;
the reading module is used for reading and calculating a coordinate conversion matrix according to the coordinate conversion;
and the second sending module is used for sending the coordinate conversion matrix to the equipment terminal so that the equipment terminal completes the coordinate switching of the target positioning point according to the coordinate conversion matrix.
10. A coordinate conversion apparatus, characterized in that the apparatus comprises:
a processor; and
a memory configured to store machine-readable instructions that, when executed by the processor, cause the processor to perform the coordinate conversion method of claims 1-7.
11. A computer storage medium, characterized in that the computer storage medium stores a computer program which is executed by a processor to perform the coordinate conversion method according to claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417550.2A CN113126024A (en) | 2019-12-31 | 2019-12-31 | Coordinate conversion method, equipment terminal, positioning base station and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911417550.2A CN113126024A (en) | 2019-12-31 | 2019-12-31 | Coordinate conversion method, equipment terminal, positioning base station and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113126024A true CN113126024A (en) | 2021-07-16 |
Family
ID=76769073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911417550.2A Pending CN113126024A (en) | 2019-12-31 | 2019-12-31 | Coordinate conversion method, equipment terminal, positioning base station and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113126024A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108596826A (en) * | 2017-12-29 | 2018-09-28 | 广东工业大学 | Based on spherical surface camera lens image-pickup method, system, device and readable storage medium storing program for executing |
| CN108882156A (en) * | 2018-07-26 | 2018-11-23 | 上海乐相科技有限公司 | A kind of method and device for calibrating locating base station coordinate system |
| CN109443207A (en) * | 2018-11-19 | 2019-03-08 | 华中科技大学 | A kind of light pen robot in-situ measurement system and method |
| CN109922426A (en) * | 2019-02-20 | 2019-06-21 | 清华珠三角研究院 | Planar base station positioning method and device |
| CN109946701A (en) * | 2019-03-26 | 2019-06-28 | 新石器慧通（北京）科技有限公司 | A kind of cloud coordinate transformation method and device |
-
2019
- 2019-12-31 CN CN201911417550.2A patent/CN113126024A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108596826A (en) * | 2017-12-29 | 2018-09-28 | 广东工业大学 | Based on spherical surface camera lens image-pickup method, system, device and readable storage medium storing program for executing |
| CN108882156A (en) * | 2018-07-26 | 2018-11-23 | 上海乐相科技有限公司 | A kind of method and device for calibrating locating base station coordinate system |
| CN109443207A (en) * | 2018-11-19 | 2019-03-08 | 华中科技大学 | A kind of light pen robot in-situ measurement system and method |
| CN109922426A (en) * | 2019-02-20 | 2019-06-21 | 清华珠三角研究院 | Planar base station positioning method and device |
| CN109946701A (en) * | 2019-03-26 | 2019-06-28 | 新石器慧通（北京）科技有限公司 | A kind of cloud coordinate transformation method and device |
Non-Patent Citations (1)
| Title |
|---|
| 魏稳: "长江河口边滩多时间尺度动力地貌过程", 中国博士学位论文全文数据库基础科学辑, pages 45 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1555600A2 (en) | Information processing apparatus and control method therefor | |
| JP6807268B2 (en) | Image recognition engine linkage device and program | |
| US20160273920A1 (en) | Direction estimating device, direction estimating system, and method of estimating direction | |
| US9936477B2 (en) | Method for detecting location of mobile computing device and mobile computing device performing the same | |
| CN111226240B (en) | Transport operation control device, transport operation control method, and recording medium having transport operation control program stored therein | |
| CN113126024A (en) | Coordinate conversion method, equipment terminal, positioning base station and storage medium | |
| CN110334174B (en) | POS data deviation rectifying method and system | |
| JP2023527526A (en) | Positioning method, device, mobile terminal, storage medium | |
| CN110161114B (en) | Reinforced concrete detection method, device and system based on support vector machine | |
| KR101275748B1 (en) | System for user rajectory prediction based on learned trajectory model and GPS log and method thereof | |
| CN114786127B (en) | Bluetooth AOA positioning method and device | |
| CN110972071A (en) | Multi-mode positioning method, positioning server, terminal and storage medium | |
| US7456788B2 (en) | Method and apparatus for reducing geolocation ambiguity in signal tracking | |
| CN111405463B (en) | Information acquisition method and device, electronic equipment and storage medium | |
| WO2018131168A1 (en) | Positioning assistance device, positioning system, positioning assistance method, and computer-readable recording medium | |
| KR20140079242A (en) | Cell phone location tracing and tracing method | |
| CN113124853A (en) | Positioning translation method and device, navigation method, device, equipment and storage medium | |
| JP4210763B2 (en) | Method and apparatus for continuous positioning of moving body using both wireless LAN positioning and GPS positioning, and continuous positioning program for moving body | |
| KR20180046818A (en) | Method and apparatus for Fingerprinting Positioning | |
| CN112305520B (en) | Correction method and device for detection position of reflection column of single laser radar | |
| KR102260332B1 (en) | Adjusting method of spot for detecting position, apparatus using the same and memory media recoding program to oerrate the method | |
| CN111103801B (en) | Mobile robot repositioning method based on genetic algorithm and mobile robot | |
| CN113556685B (en) | Trolley positioning method and device and electronic equipment | |
| CN111148214B (en) | Positioning method and system of mobile equipment and related equipment | |
| CN110569892B (en) | Ubiquitous positioning signal static positioning method and system |
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 |