CN114255266A - Cross-frame coordinate conversion method and device - Google Patents

Cross-frame coordinate conversion method and device Download PDF

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Publication number
CN114255266A
CN114255266A CN202010995361.XA CN202010995361A CN114255266A CN 114255266 A CN114255266 A CN 114255266A CN 202010995361 A CN202010995361 A CN 202010995361A CN 114255266 A CN114255266 A CN 114255266A
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frame
parameter
conversion
coordinate
frames
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姜英明
冯彦同
侯晓伟
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Qianxun Spatial Intelligence Inc
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image

Abstract

The application relates to the technical field of satellite navigation, and discloses a cross-frame coordinate conversion method and a device thereof3，D3，R3)，T3＝T1+T2，D3＝D1+D2，R3＝R1+R2，(T1，D1，R1) For the first conversion parameter between the first frame and the second frame (T)2，D2，R2) The second conversion parameter between the second frame and the third frame is inquired. When the conversion parameter between frames is fourteen, at t3The third conversion parameter between the first frame and the third frame under the epoch is
Figure DDA0002692422870000011
Figure DDA0002692422870000012
Figure DDA0002692422870000013
Figure DDA0002692422870000014
Figure DDA0002692422870000015
Figure DDA0002692422870000016
Figure DDA0002692422870000017
Figure DDA0002692422870000018
Figure DDA0002692422870000019
For inquired at t0A first transition parameter between the first frame and the second frame in epoch,
Figure DDA00026924228700000110
is queried at'0A second transition parameter between the second frame and the third frame in the epoch.

Description

Cross-frame coordinate conversion method and device
Technical Field
The present application relates to the field of satellite navigation technologies, and in particular, to a cross-frame coordinate transformation method and apparatus.
Background
In order to represent the position of an object in space, a coordinate system needs to be established in some way. The coordinate reference frame is a concrete implementation of a coordinate system, typically represented by a set of station coordinates and velocities of the core stations. The coordinate reference frame is the reference for surveying and mapping activities, and the high-precision coordinate reference frame is also the necessary prerequisite for carrying out space geodetic research.
The ITRS is a geocentric earth-fixed coordinate system defined by international earth rotation and reference service (IERS), the origin of the coordinate system is at the centroid of the earth, the X-axis points to the intersection of the equator and the original meridian, the Z-axis points to the north pole, the Y-axis is perpendicular to the X-axis and the Z-axis to form a right-hand coordinate system, and an International Terrestrial Reference Frame (ITRF) is a specific implementation of the ITRS. The ITRF is currently the most accurate coordinate frame, and other local coordinate frames are usually defined with reference to ITRFs and given the conversion parameters to an ITRF.
In practice, the coordinate reference frames are often linked by the HELMERT conversion parameters. The process of converting the coordinates of a point from one coordinate system or coordinate frame to another coordinate system or coordinate frame is called coordinate conversion. In practical use, there may not be direct conversion parameters between some frames of reference, especially for some regional coordinate frames of reference, which is not uncommon.
Disclosure of Invention
The present application aims to provide a cross-frame coordinate transformation method and a device thereof, which calculate a formula of a direct transformation parameter by an indirect transition parameter to simplify a transformation process and improve calculation efficiency.
An embodiment of the present application discloses a cross-frame coordinate transformation method, including:
querying conversion parameters between frames;
when the conversion parameter between the first frame and the third frame is not inquired, calculating the conversion parameter between the first frame and the third frame by adopting the following formula,
wherein, when the conversion parameter between the frames is seven parameters, the third conversion parameter between the first frame and the third frame is (T)3,D3,R3) Wherein, T3＝T1+T2，D3＝D1+D2，R3＝R1+R2Wherein (T)1,D1,R1) For a first conversion parameter between the first and second frames in the query, (T)2,D2,R2) The second conversion parameter between the second frame and the third frame is inquired;
wherein when the conversion parameter between the frames is fourteen parameters, at t3A third frame between the first frame and the third frame under epochConversion parameter of
Figure BDA0002692422850000021
Wherein the content of the first and second substances,
Figure BDA0002692422850000022
Figure BDA0002692422850000023
Figure BDA0002692422850000024
wherein the content of the first and second substances,
Figure BDA0002692422850000025
for inquired at t0A first transition parameter between the first frame and a second frame in epoch,
Figure BDA0002692422850000026
is queried at'0A second transition parameter between the second frame and the third frame in epoch;
and storing the conversion parameters of the frames with each other.
In a preferred example, the method further includes: and acquiring the position coordinate of the first frame and calculating the position coordinate from the first frame to the third frame according to the third conversion parameter.
In a preferred embodiment, the step of querying the transformation parameters between the frameworks further includes: find at t in coordinate frame publish message0First conversion parameter between first frame and second frame in epoch
Figure BDA0002692422850000027
In a preferred embodiment, the step of querying the transformation parameters between the frameworks further includes: find at in coordinate frame publish information'0Second conversion parameter between second frame and third frame under epoch
Figure BDA0002692422850000028
In another embodiment of the present application, a coordinate transformation apparatus for a cross frame is disclosed, comprising:
the parameter query module is used for querying conversion parameters between the frames;
a parameter pre-calculation module, which calculates the conversion parameter between the first frame and the third frame by using the following formula when the conversion parameter between the first frame and the third frame is not inquired by the parameter inquiry module,
wherein, when the conversion parameter between the frames is seven parameters, the third conversion parameter between the first frame and the third frame is (T)3,D3,R3) Wherein, T3＝T1+T2，D3＝D1+D2，R3＝R1+R2Wherein (T)1,D1,R1) (T) a first transformation parameter between the first frame and a second frame queried by the parameter query module2,D2,R2) A second conversion parameter between the second frame and the third frame inquired by the parameter inquiry module;
wherein when the conversion parameter between the frames is fourteen parameters, at t3A third conversion parameter between the first frame and the third frame in epoch is
Figure BDA0002692422850000031
Wherein the content of the first and second substances,
Figure BDA0002692422850000032
Figure BDA0002692422850000033
Figure BDA0002692422850000034
wherein the content of the first and second substances,
Figure BDA0002692422850000035
is that it isAt t, queried by the parameter query module0A first transition parameter between the first frame and a second frame in epoch,
Figure BDA0002692422850000036
at's queried by the parameter query module'0A second transition parameter between the second frame and the third frame in epoch;
and the parameter storage module is used for storing the conversion parameters of the frames.
In a preferred example, the conversion apparatus further includes:
and the coordinate calculation module is used for acquiring the position coordinate of the first frame and calculating the position coordinate from the first frame to the third frame according to the third conversion parameter.
In a preferred embodiment, the parameter query module searches the coordinate frame publishing information for t0First conversion parameter between first frame and second frame in epoch
Figure BDA0002692422850000037
In a preferred embodiment, the parameter query module searches for t 'in the coordinate frame publication information'0Second conversion parameter between second frame and third frame under epoch
Figure BDA0002692422850000038
The present application further discloses a coordinate transformation device across a frame in another embodiment, including:
a memory for storing computer executable instructions; and the number of the first and second groups,
a processor for implementing the steps in the method as described hereinbefore when executing the computer-executable instructions.
The present application also discloses a computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, implement the steps in the method as described above.
According to the cross-frame coordinate conversion method and the device thereof provided by the embodiment of the application, when two coordinate reference frames do not have direct conversion parameters but can be converted through an intermediate transition frame, a formula for calculating the direct conversion parameters through the intermediate transition parameters is deduced, so that the problems of complexity and low efficiency in multi-step transition conversion are solved.
The present specification describes a number of technical features distributed throughout the various technical aspects, and if all possible combinations of technical features (i.e. technical aspects) of the present specification are listed, the description is made excessively long. In order to avoid this problem, the respective technical features disclosed in the above summary of the invention of the present application, the respective technical features disclosed in the following embodiments and examples, and the respective technical features disclosed in the drawings may be freely combined with each other to constitute various new technical solutions (which are considered to have been described in the present specification) unless such a combination of the technical features is technically infeasible. For example, in one example, the feature a + B + C is disclosed, in another example, the feature a + B + D + E is disclosed, and the features C and D are equivalent technical means for the same purpose, and technically only one feature is used, but not simultaneously employed, and the feature E can be technically combined with the feature C, then the solution of a + B + C + D should not be considered as being described because the technology is not feasible, and the solution of a + B + C + E should be considered as being described.
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FIG. 1 is a schematic flow chart diagram of a cross-frame coordinate transformation method according to a first embodiment of the present application;
FIG. 2 is a process diagram of cross-frame coordinate transformation according to a first embodiment of the present application;
FIG. 3 is a difference of transformed coordinate parameters according to a first embodiment of the present application and a conventional scheme;
FIG. 4 is a difference in the converted speed parameter according to the first embodiment of the present application from the conventional scheme;
fig. 5 is a schematic structural diagram of a cross-frame coordinate conversion apparatus according to a second embodiment of the present application.
Detailed Description
In the following description, numerous technical details are set forth in order to provide a better understanding of the present application. However, it will be understood by those skilled in the art that the technical solutions claimed in the present application may be implemented without these technical details and with various changes and modifications based on the following embodiments.
In conventional solutions, the transition may be made via some "intermediate frame", i.e. the coordinates or velocity are first converted to some intermediate frame with direct conversion parameters, and then converted to the target frame via the conversion parameters of the intermediate frame to the target frame. This causes complexity and inconvenience in practical application, and further, more calculation time and resources will be consumed in the calculation. The application provides a simple and fast conversion method.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
A first embodiment of the present application relates to a method for converting coordinates across frames, the flow of which is shown in fig. 1, the method comprising the steps of:
at step 110, the conversion parameters between the frameworks are queried.
In one embodiment, the step of querying the conversion parameters between the frameworks further comprises: find at t in coordinate frame publish message0First conversion parameter between first frame and second frame in epoch
Figure BDA0002692422850000051
In one embodiment, the step of querying the conversion parameters between the frameworks further comprises: find at in coordinate frame publish information'0Second conversion parameter between second frame and third frame under epoch
Figure BDA0002692422850000052
And step 120, when the conversion parameter between the first frame and the third frame is not queried, calculating the conversion parameter between the first frame and the third frame by adopting the following formula.
Wherein, when the conversion parameter between the frames is seven parameters, the third conversion parameter between the first frame and the third frame is (T)3,D3,R3) Wherein, T3＝T1+T2，D3＝D1+D2，R3＝R1+R2Wherein (T)1,D1,R1) For a first conversion parameter between the first and second frames in the query, (T)2,D2,R2) The second conversion parameter between the second frame and the third frame is inquired.
Wherein when the conversion parameter between the frames is fourteen parameters, at t3A third conversion parameter between the first frame and the third frame in epoch is
Figure BDA0002692422850000061
Wherein the content of the first and second substances,
Figure BDA0002692422850000062
Figure BDA0002692422850000063
Figure BDA0002692422850000064
wherein the content of the first and second substances,
Figure BDA0002692422850000065
for inquired at t0A first transition parameter between the first frame and a second frame in epoch,
Figure BDA0002692422850000066
is queried at'0A second transition parameter between the second frame and the third frame in epoch.
Step 130, storing the mutual conversion parameters of the frames.
Step 140, obtaining the position coordinates of the first frame and calculating the position coordinates from the first frame to the third frame according to the third conversion parameter.
In the application, the conversion parameters among the frames can be calculated in advance by adopting the formula and stored for later use, so that the conversion can be directly carried out when the coordinate conversion is needed.
In order to better understand the technical solutions of the present description, the following description is given with reference to a specific example, in which the listed details are mainly for the sake of understanding, and are not intended to limit the scope of the present application.
For a given two three-dimensional rectangular spatial coordinates, the boolean sa model of coordinate transformation can be written:
X2＝X1+T+DX1+RX1
wherein, X1＝(x1,y1,z1)TIs the coordinate of a point in the coordinate system 1, X2＝(x2,y2,z2)TIs its coordinate in coordinate system 2, T ═ Tx,Ty,Tz)TThree translation parameters, D is a scaling parameter, and
Figure BDA0002692422850000071
referred to as a rotation matrix. From the formula, the 7 parameters of the helert required for the coordinate transformation are: (T)x,Ty,Tz,D,Rx,Ry,Rz)T. For the coordinate transformation with low requirement on the instantaneous coordinate system or precision, the precision requirement can be met by adopting seven parameters generally. For a high-precision coordinate reference frame, the fixed HELMERT seven parameter cannot describe the time-varying characteristic of the frame, so the HELMERT seven parameter is considered to be time-varying, and the seven parameter is expanded into fourteen parameters except the seven parametersIn addition to the parameters, the rate of change of each parameter over time is added:
Figure BDA0002692422850000072
the calculation process of the conversion parameter is described in detail below with reference to fig. 2.
(one) seven parameter case
Coordinate conversion is generally performed using seven parameters, regardless of the frame conversion parameter variability. It is assumed that there are no direct conversion parameters from frame 1 to frame 3, but a transition can be made using frame 2. Let the conversion parameter from frame 1 to frame 2 be T1、D1、R1(ii) a Frame 2 to frame 3 conversion parameter is T2、D2、R2. Typically, the translation parameter T is in millimeters (mm) and the scaling parameter D is in 10-9(ppb), the unit of the rotation matrix R is thousandths of a second (mas). If the coordinates or angles are in meters or radians, respectively, the magnitude of T, D, R is 10, respectively-3、10-9、10-9。
According to the Boolean Sha model, a certain point P under the frame 1 is subjected to coordinate X1The calculation formula for the conversion to frame 2 and then to frame 3 is:
X2＝X1+T1+D1X1+R1X1 (1)
X3＝X2+T2+D2X2+R2X2 (2)
in the formula, X2As the coordinates of point P under frame 2, X3The coordinates of point P under frame 3. By substituting formula (1) for formula (2), it is possible to obtain:
X3＝(X1+T1+D1X1+R1X1)+T2+D2(X1+T1+D1X1+R1X1)+R2(X1+T1+D1X1+R1X1) (3)
by collating equation (3), equation (4) can be derived:
X3＝X1+(T1+T2)+(D1+D2)X1+(R1+R2)X1+D2(T1+D1X1+R1+X1)+R2(T1+D1X1+R1+X1) (4)
in formula (4), D2(T1+D1X1+R1+X1) And R2(T1+D1X1+R1+X1) Both terms are of the order of 10-12m can be ignored under the current measurement precision, so in practical calculation, the above equation (4) can be simplified as:
X3＝X1+(T1+T2)+(D1+D2)X1+(R1+R2)X1 (5)
comparing the transformation formula of the Boolean model, the direct transformation parameter T from the frame 1 to the frame 3 can be known3、D3、R3Can be calculated by the following formula (6):
Figure BDA0002692422850000081
twenty-four parameter case
The transformation parameters between the ITRF reference frames given by ITRF are also time-varying, so that the transformation parameters are generally 14, including a given epoch t0The following seven parameters and their respective rates of change:
Figure BDA0002692422850000082
the unit of the change rate is the same as each conversion parameter, and the order of magnitude is respectively as follows: (10-3,10-9,10-9,10-3,10-9,10-9)。
Let P point under frame of reference 1 t1Coordinate of epoch
Figure BDA0002692422850000083
T converted to reference frame 22Coordinate of epoch
Figure BDA0002692422850000084
At t0The 14 transformation parameters of the two frames under the epoch are
Figure BDA0002692422850000085
The transformation equations for coordinates and velocity are:
Figure BDA0002692422850000086
Figure BDA0002692422850000087
in the formulas (7) and (8),
Figure BDA0002692422850000088
the speed of point P under frame 1 and frame 2, respectively. Correspondingly, suppose the conversion parameter epoch of reference frame 2 to reference frame 3 is t'0Conversion parameter is
Figure BDA0002692422850000089
T under the frame 22Coordinate and velocity of epoch to t under frame 33The coordinate and velocity conversion formula of the epoch is:
Figure BDA00026924228500000810
Figure BDA00026924228500000811
in the formulas (9) and (10),
Figure BDA0002692422850000091
respectively the coordinates and the speed of the point P under the frame of reference 3.Substituting the formula (8) into the formula (10) to obtain a conversion formula of the speed:
Figure BDA0002692422850000092
in accordance with the formula (11), there can be obtained:
Figure BDA0002692422850000093
the latter two terms are both of the order of 10-12m/yr, which is negligible in the calculation, so the conversion equation for speed (12) can be simplified to write:
Figure BDA0002692422850000094
similarly, the coordinate conversion formula can be obtained by substituting the formulas (7) and (8) into the formula (9):
Figure BDA0002692422850000095
by working up equation (14) and ignoring the minor amount, one can obtain:
Figure BDA0002692422850000101
by contrast, equation (7) can also be written as:
Figure BDA0002692422850000102
here, the
Figure BDA0002692422850000103
Is t2The transfer parameters from frame 1 to frame 2 are timed. By comparing the formula (15) and the formula (16), it can be seen that the frames 1 to 3 are at t3The conversion parameters of the epoch are:
Figure BDA0002692422850000104
further, as can be seen from the equation (8), the velocity of the frame 2 at the calculation point P is calculated
Figure BDA0002692422850000105
The coordinates of this point under the frame 1 are needed
Figure BDA0002692422850000106
And velocity
Figure BDA0002692422850000107
But sometimes we do not know the coordinates of the point P under the frame 1, e.g. the velocity of the point P under the frame 1 is actually interpolated from its approximate coordinates from the velocity field model. In this case, the coordinates of the point P under the other frame 4 (not shown in the figure) can be used
Figure BDA0002692422850000108
Instead of:
Figure BDA0002692422850000109
where δ X is the difference in coordinate values of point P under frame 1 and frame 4. If the frame 4 is also the geocentric earth-fixed coordinate system, the value of δ X generally does not exceed the meter level, at this time
Figure BDA00026924228500001010
And
Figure BDA00026924228500001011
all of the order of 10-9Meters per second may also be ignored in the calculation.
The following description takes a specific example as an example:
741 coordinate and speed records of the sites in the frames ETRF2014 and ETRF2000, respectively, are given on the EUREF website, but no conversion parameters between them are given. When coordinate conversion is performed between the two frames, the ETRF2014 can be converted to the ITRF2014 and then converted to the ETRF2000 through the ITRF2014 by applying the conventional method. The conversion parameters for ETRF2014 to ITRF2014 under the 2010.0 epoch published by EUREF are shown in Table 1:
TABLE 1 ETRF2014 to ITRF2014 transition parameters
Figure BDA0002692422850000111
2010.0 epoch, the ITRF2014 to ETRF2000 transition parameters are shown in Table 2:
TABLE 2 ITRF2014 to ETRF2000 transition parameters
Figure BDA0002692422850000112
The direct conversion parameters for ETRF2014 to ETRF2000 at 2010.0 epochs, as calculated by the algorithm of the present invention, are as follows:
TABLE 3 ETRF2014 to ETRF2000 transition parameters
Figure BDA0002692422850000113
The coordinate differences of 741 coordinates under the frame 3 are calculated by using a conventional method and the algorithm of the present invention as shown in fig. 3 and 4. Fig. 3 shows the difference in coordinates of the conventional method and the algorithm of the present invention, and fig. 3 shows the difference in rate of the conventional method and the algorithm of the present invention. As can be seen from the present example, the difference between the coordinate transformation of the algorithm of the present patent and the coordinate transformation of the conventional algorithm is 10-8m magnitude, the speed difference is 10-9The m/yr magnitude can be considered equivalent under the current measurement precision level, but the conversion method can simplify the calculation steps, and the conversion parameters among all reference frames can be calculated in advance and then stored, so that the program implementation is facilitated, and the calculation resources can be saved.
In a second embodiment of the present application, a cross-frame coordinate conversion apparatus is disclosed, and fig. 5 shows a block diagram of the cross-frame coordinate conversion apparatus, which includes: the device comprises a parameter query module, a parameter pre-calculation module, a parameter storage module and a coordinate calculation module.
The parameter query module is used for querying conversion parameters between the frames;
when the conversion parameter between the first frame and the third frame is not inquired by the parameter inquiry module, the parameter pre-calculation module calculates the conversion parameter between the first frame and the third frame by adopting the following formula,
wherein, when the conversion parameter between the frames is seven parameters, the third conversion parameter between the first frame and the third frame is (T)3,D3,R3) Wherein, T3＝T1+T2，D3＝D1+D2，R3＝R1+R2Wherein (T)1,D1,R1) (T) a first transformation parameter between the first frame and a second frame queried by the parameter query module2,D2,R2) A second conversion parameter between the second frame and the third frame inquired by the parameter inquiry module;
wherein when the conversion parameter between the frames is fourteen parameters, at t3A third conversion parameter between the first frame and the third frame in epoch is
Figure BDA0002692422850000121
Wherein the content of the first and second substances,
Figure BDA0002692422850000122
Figure BDA0002692422850000123
Figure BDA0002692422850000124
wherein the content of the first and second substances,
Figure BDA0002692422850000125
querying module for the parameterFound at t0A first transition parameter between the first frame and a second frame in epoch,
Figure BDA0002692422850000126
at's queried by the parameter query module'0A second transition parameter between the second frame and the third frame in epoch;
the parameter storage module is used for storing the conversion parameters of the frames.
And the coordinate calculation module is used for acquiring the position coordinate of the first frame and calculating the position coordinate from the first frame to the third frame according to the third conversion parameter.
In a preferred embodiment, the parameter query module searches the coordinate frame publishing information for t0First conversion parameter between first frame and second frame in epoch
Figure BDA0002692422850000131
In a preferred embodiment, the parameter query module searches for t 'in the coordinate frame publication information'0Second conversion parameter between second frame and third frame under epoch
Figure BDA0002692422850000132
Conversion parameters which can be inquired by the parameter inquiry module and conversion parameters which cannot be inquired (obtained by calculation of the parameter pre-calculation module) are stored in the parameter storage module, so that the conversion parameters among the frames are stored, and the subsequent use is facilitated.
The first embodiment is a method embodiment corresponding to the present embodiment, and the technical details in the first embodiment may be applied to the present embodiment, and the technical details in the present embodiment may also be applied to the first embodiment.
It should be noted that, as will be understood by those skilled in the art, the implementation functions of the modules shown in the above embodiments of the cross-frame coordinate transformation apparatus can be understood by referring to the related description of the satellite image road print identification method. The functions of the respective modules shown in the above embodiments of the cross-frame coordinate conversion apparatus may be implemented by a program (executable instructions) running on a processor, or may be implemented by specific logic circuits. The above-mentioned cross-frame coordinate transformation apparatus of the embodiment of the present application may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as an independent product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Accordingly, the present application also provides a computer storage medium, in which computer executable instructions are stored, and when executed by a processor, the computer executable instructions implement the method embodiments of the present application.
In addition, the embodiment of the application also provides a cross-frame coordinate conversion device, which comprises a memory for storing computer executable instructions and a processor; the processor is configured to implement the steps of the method embodiments described above when executing the computer-executable instructions in the memory. The Processor may be a Central Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. The aforementioned memory may be a read-only memory (ROM), a Random Access Memory (RAM), a Flash memory (Flash), a hard disk, or a solid state disk. The steps of the method disclosed in the embodiments of the present invention may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
It is noted that, in the present patent application, 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. 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, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element. In the present patent application, if it is mentioned that a certain action is executed according to a certain element, it means that the action is executed according to at least the element, and two cases are included: performing the action based only on the element, and performing the action based on the element and other elements. The expression of a plurality of, a plurality of and the like includes 2, 2 and more than 2, more than 2 and more than 2.
All documents mentioned in this application are to be considered as being incorporated in their entirety into the disclosure of this application so as to be subject to modification as necessary. Further, it is understood that various changes or modifications may be made to the present application by those skilled in the art after reading the above disclosure of the present application, and such equivalents are also within the scope of the present application as claimed.

Claims (10)

1. A method of cross-frame coordinate transformation, comprising:
querying conversion parameters between frames;
when the conversion parameter between the first frame and the third frame is not inquired, calculating the conversion parameter between the first frame and the third frame by adopting the following formula,
wherein, when the conversion parameter between the frames is seven parameters, the third conversion parameter between the first frame and the third frame is (T)3，D3，R3) Wherein, T3＝T1+T2，D3＝D1+D2，R3＝R1+R2Wherein (T)1，D1，R1) For a first conversion parameter between the first and second frames in the query, (T)2，D2，R2) The second conversion parameter between the second frame and the third frame is inquired;
wherein when the conversion parameter between the frames is fourteen parameters, at t3A third conversion parameter between the first frame and the third frame in epoch is
Figure FDA0002692422840000011
Wherein the content of the first and second substances,
Figure FDA0002692422840000012
Figure FDA0002692422840000013
Figure FDA0002692422840000014
wherein the content of the first and second substances,
Figure FDA0002692422840000015
for inquired at t0A first transition parameter between the first frame and a second frame in epoch,
Figure FDA0002692422840000016
is queried at'0A second transition parameter between the second frame and the third frame in epoch;
and storing the conversion parameters of the frames with each other.
2. The cross-frame coordinate conversion method according to claim 1, further comprising: and acquiring the position coordinate of the first frame and calculating the position coordinate from the first frame to the third frame according to the third conversion parameter.
3. The method of claim 1, wherein the step of querying the transformation parameters between frames further comprises: find at t in coordinate frame publish message0First conversion parameter between first frame and second frame in epoch
Figure FDA0002692422840000017
4. The method of claim 1, wherein the step of querying the transformation parameters between frames further comprises: find at in coordinate frame publish information'0Second conversion parameter between second frame and third frame under epoch
Figure FDA0002692422840000021
5. A coordinate conversion apparatus across a frame, comprising:
the parameter query module is used for querying conversion parameters between the frames;
a parameter pre-calculation module, which calculates the conversion parameter between the first frame and the third frame by using the following formula when the conversion parameter between the first frame and the third frame is not inquired by the parameter inquiry module,
wherein, when the conversion parameter between the frames is seven parametersIn times, the third conversion parameter between the first frame and the third frame is (T)3，D3，R3) Wherein, T3＝T1+T2，D3＝D1+D2，R3＝R1+R2Wherein (T)1，D1，R1) (T) a first transformation parameter between the first frame and a second frame queried by the parameter query module2，D2，R2) A second conversion parameter between the second frame and the third frame inquired by the parameter inquiry module;
wherein when the conversion parameter between the frames is fourteen parameters, at t3A third conversion parameter between the first frame and the third frame in epoch is
Figure FDA0002692422840000022
Wherein the content of the first and second substances,
Figure FDA0002692422840000023
Figure FDA0002692422840000024
Figure FDA0002692422840000025
wherein the content of the first and second substances,
Figure FDA0002692422840000026
at t for the parameter query module0A first transition parameter between the first frame and a second frame in epoch,
Figure FDA0002692422840000027
at's queried by the parameter query module'0A second transition parameter between the second frame and the third frame in epoch;
and the parameter storage module is used for storing the conversion parameters of the frames.
6. The cross-frame coordinate conversion apparatus according to claim 1, further comprising:
and the coordinate calculation module is used for acquiring the position coordinate of the first frame and calculating the position coordinate from the first frame to the third frame according to the third conversion parameter.
7. The method of claim 1, wherein the parameter query module searches for a coordinate frame publication at t0First conversion parameter between first frame and second frame in epoch
Figure FDA0002692422840000031
8. The method of claim 1, wherein the parameter query module looks up t 'in a coordinate frame publication message'0Second conversion parameter between second frame and third frame under epoch
Figure FDA0002692422840000032
9. A coordinate conversion apparatus across a frame, comprising:
a memory for storing computer executable instructions; and
a processor, coupled with the memory, for implementing the steps in the method of any of claims 1-4 when executing the computer-executable instructions.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the steps of the method of any one of claims 1 to 4.
CN202010995361.XA 2020-09-21 2020-09-21 Cross-frame coordinate conversion method and device Pending CN114255266A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116859421A (en) * 2023-06-27 2023-10-10 国汽大有时空科技(安庆)有限公司 Positioning service method and device for multiple reference frames

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116859421A (en) * 2023-06-27 2023-10-10 国汽大有时空科技(安庆)有限公司 Positioning service method and device for multiple reference frames
CN116859421B (en) * 2023-06-27 2024-03-15 国汽大有时空科技(安庆)有限公司 Positioning service method and device for multiple reference frames

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