CN114184151A - Uniaxial coordinate extrapolation method - Google Patents

Uniaxial coordinate extrapolation method Download PDF

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CN114184151A
CN114184151A CN202111538403.8A CN202111538403A CN114184151A CN 114184151 A CN114184151 A CN 114184151A CN 202111538403 A CN202111538403 A CN 202111538403A CN 114184151 A CN114184151 A CN 114184151A
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coordinate system
reference point
point
calibrated
coordinate
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CN114184151B (en
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曲家庆
韩林
刘伟鹏
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Shanghai Radio Equipment Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/17—Function evaluation by approximation methods, e.g. inter- or extrapolation, smoothing, least mean square method

Abstract

The invention discloses a uniaxial coordinate extrapolation method, which comprises the following steps: selecting two nodes on the single-axis carrier, wherein one node is a datum point, and the other node is a reference point; calibrating the positions of the reference points and the reference points based on the ECEF coordinate system to obtain the position coordinates of the reference points and the reference points under the ECEF coordinate system; acquiring coordinate deviation between a reference point and a reference point under an ENU coordinate system according to the position coordinates of the reference point and the reference point under the ECEF coordinate system; acquiring the position coordinates of a point to be calibrated on the uniaxial carrier under the ENU coordinate system according to the coordinate deviation between the reference point and the reference point under the ENU coordinate system; and acquiring the position coordinates of the point to be calibrated in the ECEF coordinate system according to the position coordinates of the point to be calibrated in the ENU coordinate system. The method can be used for externally pushing the position coordinates of the point to be calibrated, which is difficult to directly calibrate the position, on the single-axis carrier under the ECEF coordinate system according to the position coordinates of the reference point and the reference point on the single-axis carrier under the ECEF coordinate system, so that the position calibration of the whole single-axis carrier is realized.

Description

Uniaxial coordinate extrapolation method
Technical Field
The invention relates to the technical field of coordinate extrapolation, in particular to a uniaxial coordinate extrapolation method.
Background
In daily production and life of people, accurate position information of various objects on a single-axis system (such as a track) is often used, and therefore position calibration of various objects is needed. However, under the influence of the actual environment, the position coordinates of some ground objects are difficult to calibrate, such as caves, rivers, mountains, swamps and the like; in order to meet the application requirements of people, a method for acquiring the position coordinates of the ground features which are difficult to position and calibrate is urgently needed.
Disclosure of Invention
The invention aims to provide a single-axis coordinate extrapolation method which can extrapolate the position coordinates of a point to be calibrated, which is difficult to directly calibrate the position, on a single-axis carrier, under an ECEF coordinate system according to the position coordinates of a reference point and a reference point on the single-axis carrier under the ECEF coordinate system, so that the position calibration of the whole single-axis carrier is realized.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a method of single axis coordinate extrapolation, comprising:
selecting two nodes on the single-axis carrier, wherein one node is a datum point, and the other node is a reference point;
calibrating the positions of the reference point and the reference point based on an ECEF coordinate system to obtain the position coordinates of the reference point and the reference point in the ECEF coordinate system;
acquiring coordinate deviation between the reference point and the reference point in an ENU coordinate system according to the reference point and the position coordinates of the reference point in the ECEF coordinate system;
acquiring the position coordinates of the point to be calibrated on the single-axis carrier under the ENU coordinate system according to the coordinate deviation between the reference point and the reference point under the ENU coordinate system; and
and acquiring the position coordinates of the point to be calibrated in the ECEF coordinate system according to the position coordinates of the point to be calibrated in the ENU coordinate system.
Preferably, the step of obtaining the coordinate deviation between the reference point and the reference point in the ENU coordinate system according to the reference point and the position coordinates of the reference point in the ECEF coordinate system includes:
calculating the coordinate deviation between the reference point and the reference point in the ECEF coordinate system according to the position coordinates of the reference point and the reference point in the ECEF coordinate system;
and acquiring the coordinate deviation between the reference point and the reference point in the ENU coordinate system according to the coordinate deviation between the reference point and the reference point in the ECEF coordinate system.
Preferably, the coordinate deviation between the reference point and the reference point in the ECEF coordinate system is calculated by using the following formula:
(dx1,dy1,dz1)＝(x1-x0，y1-y0，z1-z0)
wherein (dx)1,dy1,dz1) Representing a coordinate deviation between the reference point and the reference point in an ECEF coordinate system; (x)0,y0,z0) Representing the position coordinates of the datum points in an ECEF coordinate system; (x)1,y1,z1) Representing the position coordinates of said reference point in the ECEF coordinate system.
Preferably, the coordinate deviation between the reference point and the reference point in the ENU coordinate system is calculated by using the following formula:
Figure BDA0003413227190000021
wherein (Δ E, Δ N, Δ U) represents a coordinate deviation between the reference point and the reference point in the ENU coordinate system; lambda [ alpha ]0And phi0Respectively represents the reference point (x) under the WGS-84 coordinate system0,y0,z0) Latitude and longitude of.
Preferably, the step of obtaining the position coordinate of the point to be calibrated in the ECEF coordinate system according to the position coordinate of the point to be calibrated in the ENU coordinate system includes:
acquiring coordinate deviation between the point to be calibrated and the reference point in an ECEF coordinate system according to the position coordinate of the point to be calibrated in the ENU coordinate system;
and obtaining the position coordinates of the point to be calibrated according to the coordinate deviation of the point to be calibrated and the reference point under the ECEF coordinate system.
Preferably, the coordinate deviation between the point to be calibrated and the reference point in the ECEF coordinate system is calculated by using the following formula:
Figure BDA0003413227190000022
wherein (dx)i,dyi,dzi) Representing the coordinate deviation between the ith point to be calibrated and the datum point under the ECEF coordinate system; and (i.DELTA.E, i.DELTA.N, i.DELTA.U) represents the position coordinate of the ith point to be calibrated in the ENU coordinate system.
Preferably, the position coordinates of the point to be calibrated in the ECEF coordinate system are calculated by using the following formula:
(xi,yi,zi)＝(x0+dxi，y0+dyi，z0+dzi)
wherein (x)i,yi,zi) And the position coordinates of the ith point to be calibrated in the ECEF coordinate system are shown.
Compared with the prior art, the invention has at least one of the following advantages:
the invention provides a single-axis coordinate extrapolation method, which can obtain coordinate deviation between a reference point and a reference point under an ENU coordinate system according to the reference point and the position coordinates of the reference point under the ECEF coordinate system, thereby obtaining the position coordinates of a point to be calibrated on a single-axis carrier under the ENU coordinate system, further obtaining the position coordinates of the point to be calibrated under the ECEF coordinate system, and finally realizing the position calibration of the whole single-axis carrier.
Based on the characteristic of the fixed direction of the uniaxial carrier and the characteristic of the fixed interval of the coordinates of the point to be calibrated, the coordinate extrapolation of the point to be calibrated can be carried out according to the coordinate deviation between the reference point and the reference point under the ENU coordinate system on the basis of the ENU coordinate system, and the position coordinates of the point to be calibrated under the ENU coordinate system can be obtained through extrapolation.
According to the invention, the position coordinates of the point to be calibrated under the ENU coordinate system can be converted into the coordinate deviation of the point to be calibrated under the ECEF coordinate system relative to the reference point, and the position coordinates of the point to be calibrated under the ECEF coordinate system can be pushed out according to the position coordinates of the reference point under the ECEF coordinate system, so that the equivalent position calibration of the point to be calibrated is realized, the position calibration of the whole single-axis track is realized, and the feasibility and the efficiency of the position calibration are improved.
In the invention, the equivalent position calibration of the point to be calibrated, namely the position coordinate extrapolation, can be calibrated from front to back and also from back to front, so that the single-axis coordinate extrapolation method has better applicability.
When the number of the points to be calibrated is large, the method can repeatedly carry out equivalent position calibration for many times by adopting a uniaxial coordinate extrapolation method so as to improve the precision of the equivalent position calibration of the points to be calibrated.
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FIG. 1 is a flow chart of a method for single axis coordinate extrapolation, according to an embodiment of the present invention.
Detailed Description
The following describes a method for uniaxial coordinate extrapolation proposed by the present invention in further detail with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
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.
As shown in fig. 1, the present embodiment provides a method for single-axis coordinate extrapolation, including: step S110, selecting two nodes on a single-axis carrier, wherein one node is a datum point, and the other node is a reference point; step S120, calibrating the positions of the reference point and the reference point based on an ECEF coordinate system to obtain the position coordinates of the reference point and the reference point in the ECEF coordinate system; step S130, acquiring coordinate deviation between the reference point and the reference point in an ENU coordinate system according to the reference point in the ECEF coordinate system and the position coordinates of the reference point; step S140, acquiring position coordinates of a point to be calibrated on the single-axis carrier under the ENU coordinate system according to coordinate deviation between the reference point and the reference point under the ENU coordinate system; and step S150, acquiring the position coordinates of the point to be calibrated in the ECEF coordinate system according to the position coordinates of the point to be calibrated in the ENU coordinate system.
Specifically, in the present embodiment, in an ECEF (Earth-Centered-Earth-Fixed) coordinate system, the center of mass of the Earth is used as the origin, and the X axis points to the intersection point of the meridian plane and the equator of the junior; the Z axis points to the Earth's North Pole; the Y-axis and the X-axis together with the Z-axis form a right-hand coordinate system. In an ENU (northeast China sky) coordinate system, for a point P on the earth surface, the origin of the ENU coordinate system is the point P, an ellipsoid tangent plane of the earth is made through the point P, the true north direction is taken as the Y axis, the true east direction is taken as the X axis, and the Z axis points to the normal direction. In the WGS-84 Coordinate System (World Geodetic System-1984 Coordinate System), the origin of coordinates is the earth centroid, the Z-axis of the rectangular Coordinate System of the earth centroid space points to the protocol earth polar (CTP) direction defined by BIH (international time service organization) 1984.0, the X-axis points to the intersection point of the meridian plane of BIH 1984.0 and the equator of CTP, and the Y-axis is perpendicular to the Z-axis and the X-axis to form a right-hand Coordinate System, which is called the World Geodetic Coordinate System in 1984.
Specifically, in this embodiment, the uniaxial carrier may be a uniaxial track; the datum point and the reference point can be directly subjected to position calibration, and the point to be calibrated is difficult to be directly subjected to position calibration; and the position coordinates of the point to be calibrated are obtained by adopting the single-axis coordinate extrapolation method according to the position coordinates of the reference point and the reference point which are accurately calibrated, so that the position calibration of the whole single-axis track is realized, but the invention is not limited thereto.
With continued reference to fig. 1, the step S130 includes: calculating the coordinate deviation between the reference point and the reference point in the ECEF coordinate system according to the position coordinates of the reference point and the reference point in the ECEF coordinate system; and acquiring the coordinate deviation between the reference point and the reference point in the ENU coordinate system according to the coordinate deviation between the reference point and the reference point in the ECEF coordinate system.
It will be appreciated that in some other embodiments, the coordinate deviation between the reference point and the fiducial point in the ECEF coordinate system is calculated using the following equation:
(dx1,dy1,dz1)＝(x1-x0，y1-y0，z1-z0) (1)
wherein (dx)1,dy1,dz1) Representing a coordinate deviation between the reference point and the reference point in an ECEF coordinate system; (x)0,y0,z0) Representing the position coordinates of the datum points in an ECEF coordinate system; (x)1,y1,z1) Representing the position coordinates of said reference point in the ECEF coordinate system.
In some embodiments, the coordinate deviation between the reference point and the reference point in the ENU coordinate system is calculated using the following formula:
Figure BDA0003413227190000051
wherein (Δ E, Δ N, Δ U) represents a coordinate deviation between the reference point and the reference point in the ENU coordinate system; lambda [ alpha ]0And phi0Respectively represents the reference point (x) under the WGS-84 coordinate system0,y0,z0) Latitude and longitude (radians).
In this embodiment, formula (2) is a coordinate transformation formula from the ECEF coordinate system to the ENU coordinate system, and the coordinate deviation of the reference point in the ECEF coordinate system with respect to the reference point can be transformed into the coordinate deviation of the reference point in the ENU coordinate system with respect to the reference point by formula (2).
Specifically, in step S140, based on the characteristic of the fixed direction of the uniaxial carrier and the characteristic of the fixed interval of the coordinates of the point to be calibrated, the coordinates of the point to be calibrated may be extrapolated according to the coordinate deviation between the reference point and the reference point in the ENU coordinate system based on the ENU coordinate system, and the extrapolation result in position coordinates { (Δ E, Δ N, Δ U), (2 · Δ E,2 · Δ N,2 · Δ U), …, (i · Δ E, i · Δ N, i · Δ U), … } of several points to be calibrated in the ENU coordinate system, but the invention is not limited thereto.
With continued reference to fig. 1, the step S150 includes: acquiring coordinate deviation between the point to be calibrated and the reference point in an ECEF coordinate system according to the position coordinate of the point to be calibrated in the ENU coordinate system; and obtaining the position coordinates of the point to be calibrated according to the coordinate deviation of the point to be calibrated and the reference point under the ECEF coordinate system.
It will be appreciated that in some other embodiments, the coordinate deviation between the to-be-calibrated point and the reference point in the ECEF coordinate system is calculated by using the following formula:
Figure BDA0003413227190000061
wherein (dx)i,dyi,dzi) Representing the coordinate deviation between the ith point to be calibrated and the datum point under the ECEF coordinate system; and (i.DELTA.E, i.DELTA.N, i.DELTA.U) represents the position coordinate of the ith point to be calibrated in the ENU coordinate system.
In some embodiments, the position coordinates of the point to be calibrated in the ECEF coordinate system are calculated by using the following formula:
(xi,yi,zi)＝(x0+dxi，y0+dyi，z0+dzi) (4)
wherein (x)i,yi,zi) And the position coordinates of the ith point to be calibrated in the ECEF coordinate system are shown.
Specifically, in this embodiment, the formula (3) is a coordinate conversion formula from the ENU coordinate system to the ECEF coordinate system, and the position coordinate of the point to be calibrated in the ENU coordinate system can be converted into the coordinate deviation of the point to be calibrated relative to the reference point in the ECEF coordinate system through the formula (3); and then, according to the position coordinates of the reference point in the ECEF coordinate system, the position coordinates of the point to be calibrated in the ECEF coordinate system can be extrapolated, so that equivalent position calibration of a plurality of points to be calibrated is realized, further, the position calibration of the whole single-axis track is realized, and the feasibility and the efficiency of the position calibration are improved, but the invention is not limited thereto.
In addition, in this embodiment, the equivalent position calibration of the point to be calibrated, i.e. the extrapolation of the position coordinates, may be performed by calibrating from front to back, or calibrating from back to front; and when the number of the points to be calibrated is large, the uniaxial coordinate extrapolation method can be adopted to repeatedly calibrate the equivalent positions for many times so as to improve the calibration precision of the equivalent positions of the points to be calibrated, but the invention is not limited to this,
in summary, the embodiment provides a single-axis coordinate extrapolation method, which can obtain the coordinate deviation between the reference point and the reference point in the ENU coordinate system according to the reference point and the position coordinates of the reference point in the ECEF coordinate system, thereby obtaining the position coordinates of the point to be calibrated on the single-axis carrier in the ENU coordinate system, further obtaining the position coordinates of the point to be calibrated in the ECEF coordinate system, and finally realizing the position calibration of the whole single-axis carrier. Based on the characteristic of the fixed direction of the uniaxial carrier and the characteristic of the fixed interval of the coordinates of the point to be calibrated, the embodiment can extrapolate the coordinates of the point to be calibrated according to the coordinate deviation between the reference point and the reference point in the ENU coordinate system on the basis of the ENU coordinate system, and extrapolate to obtain the position coordinates of the point to be calibrated in the ENU coordinate system. The embodiment can also convert the position coordinates of the point to be calibrated in the ENU coordinate system into the coordinate deviation of the point to be calibrated in the ECEF coordinate system relative to the reference point, and can externally push out the position coordinates of the point to be calibrated in the ECEF coordinate system according to the position coordinates of the reference point in the ECEF coordinate system, so that the equivalent position calibration of the point to be calibrated is realized, the accurate position calibration of the whole single-axis track is realized, and the feasibility and the efficiency of position calibration are improved.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims (7)

1. A method of single axis coordinate extrapolation, comprising:
selecting two nodes on the single-axis carrier, wherein one node is a datum point, and the other node is a reference point;
calibrating the positions of the reference point and the reference point based on an ECEF coordinate system to obtain the position coordinates of the reference point and the reference point in the ECEF coordinate system;
acquiring coordinate deviation between the reference point and the reference point in an ENU coordinate system according to the reference point and the position coordinates of the reference point in the ECEF coordinate system;
acquiring the position coordinates of the point to be calibrated on the single-axis carrier under the ENU coordinate system according to the coordinate deviation between the reference point and the reference point under the ENU coordinate system; and
and acquiring the position coordinates of the point to be calibrated in the ECEF coordinate system according to the position coordinates of the point to be calibrated in the ENU coordinate system.
2. The method of single-axis coordinate extrapolation of claim 1, wherein the step of obtaining the coordinate deviation between the reference point and the fiducial point in the ENU coordinate system from the position coordinates of the fiducial point and the reference point in the ECEF coordinate system comprises:
calculating the coordinate deviation between the reference point and the reference point in the ECEF coordinate system according to the position coordinates of the reference point and the reference point in the ECEF coordinate system;
and acquiring the coordinate deviation between the reference point and the reference point in the ENU coordinate system according to the coordinate deviation between the reference point and the reference point in the ECEF coordinate system.
3. The method of uniaxial coordinate extrapolation of claim 2, wherein the coordinate deviation between the reference point and the fiducial point in the ECEF coordinate system is calculated using the following equation:
(dx1,dy1,dz1)＝(x1-x0，y1-y0，z1-z0)
wherein (dx)1,dy1,dz1) Representing a coordinate deviation between the reference point and the reference point in an ECEF coordinate system; (x)0,y0,z0) Representing the position coordinates of the datum points in an ECEF coordinate system; (x)1,y1,z1) Representing the position coordinates of said reference point in the ECEF coordinate system.
4. The method of uniaxial coordinate extrapolation of claim 3, wherein the coordinate deviation between the reference point and the reference point in the ENU coordinate system is calculated using the following formula:
Figure FDA0003413227180000011
wherein (Δ E, Δ N, Δ U) represents a coordinate deviation between the reference point and the reference point in the ENU coordinate system; lambda [ alpha ]0And phi0Respectively represents the reference point (x) under the WGS-84 coordinate system0,y0,z0) Latitude and longitude of.
5. The method of single-axis coordinate extrapolation according to claim 4, wherein the step of obtaining the position coordinates of the point to be calibrated in the ECEF coordinate system from the position coordinates of the point to be calibrated in the ENU coordinate system comprises:
acquiring coordinate deviation between the point to be calibrated and the reference point in an ECEF coordinate system according to the position coordinate of the point to be calibrated in the ENU coordinate system;
and obtaining the position coordinates of the point to be calibrated according to the coordinate deviation of the point to be calibrated and the reference point under the ECEF coordinate system.
6. The method for single-axis coordinate extrapolation of claim 5, wherein the coordinate deviation between the point to be calibrated and the reference point in the ECEF coordinate system is calculated by the following formula:
Figure FDA0003413227180000021
wherein (dx)i,dyi,dzi) Representing the coordinate deviation between the ith point to be calibrated and the datum point under the ECEF coordinate system; and (i.DELTA.E, i.DELTA.N, i.DELTA.U) represents the position coordinate of the ith point to be calibrated in the ENU coordinate system.
7. The method for single-axis coordinate extrapolation of claim 6, wherein the position coordinates of the point to be calibrated in the ECEF coordinate system are calculated using the following formula:
(xi,yi,zi)＝(x0+dxi，y0+dyi，z0+dzi)
wherein (x)i,yi,zi) And the position coordinates of the ith point to be calibrated in the ECEF coordinate system are shown.
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