CN114184151B - Single-axis coordinate extrapolation method - Google Patents

Single-axis coordinate extrapolation method Download PDF

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CN114184151B
CN114184151B CN202111538403.8A CN202111538403A CN114184151B CN 114184151 B CN114184151 B CN 114184151B CN 202111538403 A CN202111538403 A CN 202111538403A CN 114184151 B CN114184151 B CN 114184151B
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point
coordinate system
position coordinates
reference point
ecef
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CN114184151A (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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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 single-axis 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 positions of the datum point and the reference point based on the ECEF coordinate system to obtain position coordinates of the datum point and the reference point under the ECEF coordinate system; acquiring coordinate deviation between the reference point and the datum point under the ENU coordinate system according to the position coordinates of the datum point and the reference point under the ECEF coordinate system; acquiring the position coordinates of a 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 datum point under the ENU coordinate system; and obtaining the position coordinates of the point to be marked in the ECEF coordinate system according to the position coordinates of the point to be marked in the ENU coordinate system. According to the position coordinate of the datum point and the position coordinate of the reference point on the single-axis carrier under the ECEF coordinate system, the position coordinate of the point to be calibrated, which is difficult to directly carry out position calibration, on the single-axis carrier under the ECEF coordinate system can be extrapolated, so that the position calibration of the whole single-axis carrier is realized.

Description

Single-axis 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 living of people, accurate position information of each ground object on a single-shaft system (such as a rail) is often used, and therefore, the position of each ground object needs to be calibrated. However, the position coordinates of certain ground objects are difficult to calibrate under the influence of the actual environment, such as mountain holes, rivers, mountains, marshes and the like; in order to meet the application demands of people, a method is urgently needed to acquire the position coordinates of the ground objects which are difficult to position calibration.
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 according to the position coordinates of a datum point and a reference point on the single-axis carrier under an ECEF coordinate system, thereby realizing the position calibration of the whole single-axis carrier.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
a method of uniaxial 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 positions of the datum point and the reference point based on an ECEF coordinate system to obtain position coordinates of the datum point and the reference point in the ECEF coordinate system;
acquiring coordinate deviation between the reference point and the datum point in an ENU (electronic toll collection) coordinate system according to the position coordinates of the datum point and the reference point in an 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 datum point under the ENU coordinate system; and
and acquiring the position coordinates of the point to be marked in the ECEF coordinate system according to the position coordinates of the point to be marked in the ENU coordinate system.
Preferably, the step of obtaining the coordinate deviation between the reference point and the datum point in the ENU coordinate system according to the position coordinates of the datum point and the reference point in the ECEF coordinate system includes:
calculating coordinate deviation between the reference point and the datum point in an ECEF coordinate system according to the position coordinates of the datum point and the reference point in the ECEF coordinate system;
and acquiring the coordinate deviation between the reference point and the datum point in the ENU coordinate system according to the coordinate deviation between the reference point and the datum point in the ECEF coordinate system.
Preferably, the coordinate deviation between the reference point and the datum point in the ECEF coordinate system is calculated by the following formula:
(dx 1 ,dy 1 ,dz 1 )＝(x 1 -x 0 ，y 1 -y 0 ，z 1 -z 0 )
wherein, (dx) 1 ,dy 1 ,dz 1 ) Representing a coordinate deviation between the reference point and the datum point in an ECEF coordinate system; (x) 0 ,y 0 ,z 0 ) Representing the position coordinates of the datum points in an ECEF coordinate system; (x) 1 ,y 1 ,z 1 ) Representing the position coordinates of the reference point in the ECEF coordinate system.
Preferably, the coordinate deviation between the reference point and the datum point in the ENU coordinate system is calculated by adopting the following formula:
wherein (Δe, Δn, Δu) represents a coordinate deviation between the reference point and the reference point in the ENU coordinate system; lambda (lambda) 0 And phi 0 Respectively represent the reference points (x 0 ,y 0 ,z 0 ) Latitude and longitude of (a).
Preferably, the step of obtaining 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 includes:
acquiring coordinate deviation between the point to be marked and the reference point in an ECEF coordinate system according to the position coordinates of the point to be marked in the ENU coordinate system;
and obtaining the position coordinates of the point to be marked according to the coordinate deviation of the point to be marked 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 adopting the following formula:
wherein, (dx) i ,dy i ,dz i ) Representing coordinate deviation between an ith point to be marked and the datum point in an ECEF coordinate system; (i.DELTA.E, i.DELTA.N, i.DELTA.U) represents the position coordinates of the i-th point to be marked in the ENU coordinate system.
Preferably, the position coordinates of the point to be calibrated in the ECEF coordinate system are calculated by the following formula:
(x i ,y i ,z i )＝(x 0 +dx i ，y 0 +dy i ，z 0 +dz i )
wherein, (x) i ,y i ,z i ) And the position coordinates of the ith point to be marked in the ECEF coordinate system are represented.
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 in an ENU (electronic component unit) coordinate system according to the position coordinates of the reference point and the reference point in the ECEF coordinate system, so as to obtain the position coordinates of a point to be calibrated on a single-axis carrier in the ENU coordinate system, further obtain the position coordinates of the point to be calibrated in the ECEF coordinate system, and finally realize the position calibration of the whole single-axis carrier.
The method is based on the characteristic of the fixed direction of the single-axis carrier and combines the characteristic of the fixed interval of the coordinates of the points to be marked, can extrapolate the coordinates of the points to be marked according to the coordinate deviation between the reference points and the datum points under the ENU coordinate system on the basis of the ENU coordinate system, and extrapolates the position coordinates of the points to be marked under the ENU coordinate system.
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 extrapolated 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.
The equivalent position calibration of the point to be calibrated, namely the position coordinate extrapolation, can be calibrated from front to back or from back to front, so that the uniaxial coordinate extrapolation method has better applicability.
According to the invention, when the number of the points to be calibrated is large, the equivalent position calibration can be repeatedly performed for a plurality of times by adopting the single-axis coordinate extrapolation method, so that the accuracy of the equivalent position calibration of the points to be calibrated is improved.
Drawings
FIG. 1 is a flow chart of a method for extrapolating uniaxial coordinates, according to an embodiment of the present invention.
Detailed Description
A method for extrapolating uniaxial coordinates according to the present invention will be described 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 should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that any modifications, changes in the proportions, or adjustments of the sizes of structures, proportions, or otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or essential characteristics thereof.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, the present embodiment provides a method for extrapolating uniaxial coordinates, 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, performing position calibration on the datum point and the reference point based on an ECEF coordinate system to obtain position coordinates of the datum point and the reference point in the ECEF coordinate system; step S130, acquiring coordinate deviation between the reference point and the datum point in an ENU coordinate system according to the position coordinates of the datum point and the reference point in an ECEF coordinate system; step S140, according to the coordinate deviation between the reference point and the datum point in the ENU coordinate system, acquiring the position coordinate of the point to be marked on the single-axis carrier in the ENU coordinate system; and step S150, obtaining the position coordinates of the point to be marked in the ECEF coordinate system according to the position coordinates of the point to be marked in the ENU coordinate system.
Specifically, in this embodiment, in an ECEF (Earth-Centered-Earth-Fixed) coordinate system, the centroid of the Earth is taken as the origin, and the X-axis points to the intersection point of the principal meridian plane and the equator; the Z axis points to the north pole of the earth; the Y-axis and the X-axis together with the Z-axis form a right hand coordinate system. In an ENU (northeast China) coordinate system, for a point P on the earth surface, the origin of the ENU coordinate system is the point P, an ellipsoidal section of the earth is made through the point P, the north direction is taken as the Y axis, the 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 geocentric space rectangular coordinate system points to the direction of the protocol earth pole (CTP) defined by BIH (International time service organization) 1984.0, the X axis points to the intersection point of the zero meridian plane of BIH 1984.0 and the CTP equator, and the Y axis, the Z axis and the X axis are perpendicular 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 directly perform 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 precisely calibrated, so that the position calibration of the whole single-axis track is realized, but the invention is not limited to the method.
With continued reference to fig. 1, the step S130 includes: calculating coordinate deviation between the reference point and the datum point in an ECEF coordinate system according to the position coordinates of the datum point and the reference point in the ECEF coordinate system; and acquiring the coordinate deviation between the reference point and the datum point in the ENU coordinate system according to the coordinate deviation between the reference point and the datum point in the ECEF coordinate system.
It will be appreciated that in some other embodiments, the coordinate deviation between the reference point and the datum point in the ECEF coordinate system is calculated using the following formula:
(dx 1 ,dy 1 ,dz 1 )＝(x 1 -x 0 ，y 1 -y 0 ，z 1 -z 0 ) (1)
wherein, (dx) 1 ,dy 1 ,dz 1 ) Representing a coordinate deviation between the reference point and the datum point in an ECEF coordinate system; (x) 0 ,y 0 ,z 0 ) Representing the position coordinates of the datum points in an ECEF coordinate system; (x) 1 ,y 1 ,z 1 ) Representing the position coordinates of the reference point in the ECEF coordinate system.
In some embodiments, the coordinate deviation between the reference point and the fiducial point in the ENU coordinate system is calculated using the following formula:
wherein (Δe, Δn, Δu) represents a coordinate deviation between the reference point and the reference point in the ENU coordinate system; lambda (lambda) 0 And phi 0 Respectively represent the reference points (x 0 ,y 0 ,z 0 ) Latitude and longitude (radians).
In this embodiment, the formula (2) is a coordinate conversion formula from the ECEF coordinate system to the ENU coordinate system, and the coordinate deviation of the reference point with respect to the reference point in the ECEF coordinate system can be converted into the coordinate deviation of the reference point with respect to the reference point in the ENU coordinate system by the formula (2).
Specifically, in the step S140, based on the characteristic of the fixed direction of the uniaxial carrier and combined with the characteristic of the fixed interval of the coordinates of the points to be calibrated, the coordinate extrapolation of the points to be calibrated may be performed 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 position coordinates { (Δe, Δn, Δu), (2·Δe,2·Δn,2·Δu), …, (i·Δe, i·Δn, i·Δu), … } of the points to be calibrated in the ENU coordinate system are obtained by extrapolation, but the present invention is not limited thereto.
With continued reference to fig. 1, the step S150 includes: acquiring coordinate deviation between the point to be marked and the reference point in an ECEF coordinate system according to the position coordinates of the point to be marked in the ENU coordinate system; and obtaining the position coordinates of the point to be marked according to the coordinate deviation of the point to be marked and the reference point under the ECEF coordinate system.
It will be appreciated that in some other embodiments, the coordinate deviation between the point to be indexed and the reference point in the ECEF coordinate system is calculated using the following formula:
wherein, (dx) i ,dy i ,dz i ) Representing coordinate deviation between an ith point to be marked and the datum point in an ECEF coordinate system; (i.DELTA.E, i.DELTA.N, i.DELTA.U) represents the position coordinates of the i-th point to be marked in the ENU coordinate system.
In some embodiments, the position coordinates of the point to be marked in the ECEF coordinate system are calculated using the following formula:
(x i ,y i ,z i )＝(x 0 +dx i ，y 0 +dy i ，z 0 +dz i ) (4)
wherein, (x) i ,y i ,z i ) And the position coordinates of the ith point to be marked in the ECEF coordinate system are represented.
Specifically, in this embodiment, the formula (3) is a coordinate conversion formula from an ENU coordinate system to an 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 by the formula (3); and then, according to the position coordinates of the datum points in the ECEF coordinate system, the position coordinates of the points 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 to the method.
In addition, in this embodiment, the equivalent position calibration, that is, the position coordinate extrapolation, of the point to be calibrated may be calibrated from front to back, or from back to front; and when the number of the points to be calibrated is large, the single-axis coordinate extrapolation method can be adopted to repeatedly calibrate the equivalent positions for a plurality of times so as to improve the accuracy of the equivalent position calibration of the points to be calibrated, but the invention is not limited to the method,
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 position coordinates of the reference point and 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. The embodiment is based on the characteristic of the fixed direction of the single-axis carrier and combines the characteristic of the fixed interval of the coordinates of the points to be marked, and can extrapolate the coordinates of the points to be marked according to the coordinate deviation between the reference points and the datum points in the ENU coordinate system on the basis of the ENU coordinate system, and extrapolate the position coordinates of the points to be marked in the ENU coordinate system. The embodiment can also convert the position coordinates of the point to be calibrated under the ENU coordinate system into the coordinate deviation of the point to be calibrated under the ECEF coordinate system relative to the reference point, and extrapolate the position coordinates of the point to be calibrated under the ECEF coordinate system 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 accurate position calibration of the whole single-axis track is realized, and the feasibility and the efficiency of the position calibration are improved.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.

Claims (3)

1. A method of uniaxial 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 positions of the datum point and the reference point based on an ECEF coordinate system to obtain position coordinates of the datum point and the reference point in the ECEF coordinate system;
acquiring coordinate deviation between the reference point and the datum point in an ENU (electronic toll collection) coordinate system according to the position coordinates of the datum point and the reference point in an 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 datum point under the ENU coordinate system; and
acquiring the position coordinates of the point to be marked in the ECEF coordinate system according to the position coordinates of the point to be marked in the ENU coordinate system;
the step of obtaining the coordinate deviation between the reference point and the datum point in the ENU coordinate system according to the position coordinates of the datum point and the reference point in the ECEF coordinate system comprises the following steps:
calculating coordinate deviation between the reference point and the datum point in an ECEF coordinate system according to the position coordinates of the datum point and the reference point in the ECEF coordinate system;
acquiring the coordinate deviation between the reference point and the datum point in an ENU coordinate system according to the coordinate deviation between the reference point and the datum point in an ECEF coordinate system;
the coordinate deviation between the reference point and the datum point in the ENU coordinate system is calculated by adopting the following formula:
wherein (Δe, Δn, Δu) represents a coordinate deviation between the reference point and the reference point in the ENU coordinate system; lambda (lambda) 0 And phi 0 Respectively represent the reference points (x 0 ,y 0 ,z 0 ) Latitude and longitude of (a); (dx) 1 ,dy 1 ,dz 1 ) Representing a coordinate deviation between the reference point and the datum point in an ECEF coordinate system;
the step of obtaining the position coordinates of the point to be marked on the single-axis carrier in the ENU coordinate system according to the coordinate deviation between the reference point and the datum point in the ENU coordinate system comprises the following steps: based on the characteristic of the fixed direction of the single-axis carrier and combined with the characteristic of the fixed interval of the coordinates of the points to be marked, carrying out coordinate extrapolation of the points to be marked according to the coordinate deviation between the reference points and the datum points under an ENU coordinate system on the basis of the ENU coordinate system, and obtaining position coordinates of a plurality of points to be marked under the ENU coordinate system by extrapolation, wherein the position coordinates are { (delta E, delta N, delta U), (2.delta E, 2.delta N, 2.delta U), …, (i.delta E, i.delta N, i.delta U) and …;
the step of obtaining the position coordinates of the point to be marked in the ECEF coordinate system according to the position coordinates of the point to be marked in the ENU coordinate system comprises the following steps:
acquiring coordinate deviation between the point to be marked and the reference point in an ECEF coordinate system according to the position coordinates of the point to be marked in the ENU coordinate system;
obtaining the position coordinates of the point to be marked in the ECEF coordinate system according to the coordinate deviation of the point to be marked and the reference point in the ECEF coordinate system;
the coordinate deviation between the point to be marked and the reference point in the ECEF coordinate system is calculated by adopting the following formula:
wherein, (dx) i ,dy i ,dz i ) Representing coordinate deviation between an ith point to be marked and the datum point in an ECEF coordinate system; (i.DELTA.E, i.DELTA.N, i.DELTA.U) represents the position coordinates of the i-th point to be marked in the ENU coordinate system.
2. The method of uniaxial coordinate extrapolation as set forth in claim 1 wherein the coordinate deviation between the reference point and the fiducial point in the ECEF coordinate system is calculated using the formula:
(dx 1 ,dy 1 ,dz 1 )＝(x 1 -x 0 ，y 1 -y 0 ，z 1 -z 0 )
wherein, (dx) 1 ,dy 1 ,dz 1 ) Representing a coordinate deviation between the reference point and the datum point in an ECEF coordinate system; (x) 0 ,y 0 ,z 0 ) Representing the position coordinates of the datum points in an ECEF coordinate system; (x) 1 ,y 1 ,z 1 ) Representing the position coordinates of the reference point in the ECEF coordinate system.
3. The method of extrapolation of claim 1 wherein the position coordinates of the point to be calibrated in the ECEF coordinate system are calculated using the following formula:
(x i ,y i ,z i )＝(x 0 +dx i ，y 0 +dy i ，z 0 +dz i )
wherein, (x) i ,y i ,z i ) And the position coordinates of the ith point to be marked in the ECEF coordinate system are represented.
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