CN115856970A - Anchor point positioning method, device, equipment and computer readable storage medium - Google Patents
Anchor point positioning method, device, equipment and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses an anchor point positioning method, an anchor point positioning device, anchor point positioning equipment and a computer readable storage medium, which are applied to the field of positioning, wherein the method comprises the steps of measuring longitude and latitude values and slant distance values of auxiliary points, projecting the longitude and latitude values into plane coordinates, and obtaining three-dimensional coordinate values of the auxiliary points by taking a sea level as a reference; calculating an anchor point correction value through the three-dimensional coordinate value of the auxiliary point, the slant distance value and the three-dimensional coordinate value of the iteration anchor point; judging whether the anchor point correction value meets the preset precision; if so, determining the three-dimensional coordinate value of the iteration anchor point as the three-dimensional coordinate value of the target anchor point; if not, adding the three-dimensional coordinate value of the iteration anchor point to the anchor point correction value, and recalculating the anchor point correction value until the anchor point correction value meets the preset precision. According to the method, the three-dimensional coordinate value of the iteration anchor point is circularly corrected by calculating the correction value of the anchor point, so that the three-dimensional coordinate value of the target anchor point is obtained, and the problems of the prior art that the original structure of the marine submerged buoy is changed, the procedure is complicated and the cost is huge because measurement equipment needs to be added for measurement are solved.
Description
Technical Field
The invention relates to the field of underwater positioning, in particular to an anchor point positioning method, device and equipment and a computer readable storage medium.
Background
The arrangement mode of the marine submerged buoy is that a whole string of equipment is fixed by throwing anchoring weights, and the anchoring weights are scoured by water flows of different levels in the process of descending in seawater and are influenced by water resistance of structural equipment, so that the final anchor point of the sea bottom is finally uncertain. Currently, for the positioning of submarine anchor points of marine submerged buoy, the longitude and latitude of the anchor when thrown on the sea surface are recorded, and the longitude and latitude are regarded as the possible submarine anchor positions of the submerged buoy, which causes great error of results. In order to obtain an accurate result, a hydrophone device needs to be additionally arranged on an original marine submerged buoy in advance, then an ultra-short baseline device is arranged at the bottom of an operation ship on the sea, and the positioning of the anchor point is realized through the communication and calculation of acoustic signals of the hydrophone and the ultra-short baseline device. However, this installation method requires changing the original marine submerged buoy structure and also requires modifying and installing the bottom structure of the working vessel. In addition, hydrophones and ultra-short baseline equipment are generally expensive to purchase, and purchasing is increasingly difficult.
Disclosure of Invention
The invention aims to provide an anchor point positioning method, an anchor point positioning device, anchor point positioning equipment and a computer readable storage medium. The method calculates the anchor point correction value through the measured three-dimensional coordinate value of the auxiliary point, the slant distance value and the preset three-dimensional coordinate value of the iteration anchor point, and performs cyclic correction on the three-dimensional coordinate value of the iteration anchor point to finally obtain the three-dimensional coordinate value of the target anchor point, thereby avoiding the problems of the prior art that the original structure of the marine submerged buoy is changed, the procedure is complicated and the economic cost is huge because measuring equipment needs to be added for measurement.
In order to achieve the above object, the present invention provides an anchor point positioning method, including:
determining three auxiliary points which are not on the same horizontal line, namely a first auxiliary point, a second auxiliary point and a third auxiliary point, and measuring longitude and latitude values of the three auxiliary points and an inclined distance value from an anchor point;
respectively projecting the longitude and latitude values of the three auxiliary points to obtain corresponding auxiliary point plane coordinate values, and obtaining auxiliary point three-dimensional coordinate values of the three auxiliary points by taking a sea level as a reference plane;
determining the three-dimensional coordinate value of the preset anchor point as the three-dimensional coordinate value of the iteration anchor point;
calculating an anchor point correction value according to the three auxiliary point three-dimensional coordinate values, the three slope distance values and the iteration anchor point three-dimensional coordinate value;
judging whether the anchor point correction value meets the preset precision;
if the anchor point correction value meets the preset precision, determining the three-dimensional coordinate value of the iteration anchor point as the three-dimensional coordinate value of the target anchor point;
and if the anchor point correction value does not meet the preset precision, adding the three-dimensional coordinate value of the iteration anchor point to the anchor point correction value, and restarting to execute the step of calculating the anchor point correction value until the anchor point correction value is judged to meet the preset precision.
Optionally, the calculating an anchor point correction value according to the three auxiliary point three-dimensional coordinate values, the three slope distance values, and the iteration anchor point three-dimensional coordinate value includes:
determining an auxiliary matrix according to the three auxiliary point three-dimensional coordinate values, the three slope distance values and the iteration anchor point three-dimensional coordinate values, inputting the auxiliary matrix and the three slope distance values into a first model, and calculating the anchor point correction value, wherein the expression of the first model is as follows:
in the formula, dx u 、dy u 、dz u Respectively are the corrected values of the three-dimensional coordinate values of the iteration anchor point on the x axis, the y axis and the z axis, A is the auxiliary matrix, dL 1 、dL 2 、dL 3 Are the slant values of the first auxiliary point, the second auxiliary point, and the third auxiliary point, respectively.
Optionally, the determining an auxiliary matrix according to the three auxiliary point three-dimensional coordinate values, the three slant distance values, and the iteration anchor point three-dimensional coordinate value includes:
determining the auxiliary matrix by inputting three of the auxiliary point three-dimensional coordinate values, three of the slope distance values and the anchor point three-dimensional coordinate values into a second model, wherein the second model has the expression:
in the formula, x u 、y u 、z u Is the three-dimensional coordinate value, x, of the iteration anchor point 1 、y 1 、z 1 Is a three-dimensional coordinate value, x, of the first auxiliary point 2 、y 2 、z 2 Is a three-dimensional coordinate value, x, of the second auxiliary point 3 、y 3 、z 3 Is a three-dimensional coordinate value, L, of the third auxiliary point 1 、L 2 、L 3 The slope distance values of the first auxiliary point, the second auxiliary point and the third auxiliary point are respectively.
Optionally, after determining the anchor point three-dimensional coordinate value as the target anchor point three-dimensional coordinate value, the method further includes:
setting a fourth auxiliary point, and recombining three auxiliary points by the fourth auxiliary point and any two auxiliary points of the first auxiliary point, the second auxiliary point and the third auxiliary point;
and solving the three-dimensional coordinate value of the target anchor point again through the three reconstructed auxiliary points, and verifying whether the three-dimensional coordinate value of the target anchor point calculated through the initial three auxiliary points is correct or not.
In order to achieve the above object, the present invention further provides an anchor point positioning device, including:
the auxiliary point module is used for determining three auxiliary points which are not on the same horizontal line, namely a first auxiliary point, a second auxiliary point and a third auxiliary point, and measuring longitude and latitude values of the three auxiliary points and slant distance values of the distance anchor points;
the coordinate module is used for projecting the longitude and latitude values of the three auxiliary points respectively to obtain corresponding auxiliary point plane coordinate values, and obtaining auxiliary point three-dimensional coordinate values of the three auxiliary points by taking a sea level as a reference plane;
the preset module is used for determining the three-dimensional coordinate value of the preset anchor point as the three-dimensional coordinate value of the iteration anchor point;
the calculation module is used for calculating an anchor point correction value according to the three auxiliary point three-dimensional coordinate values, the three slope distance values and the iteration anchor point three-dimensional coordinate value;
the judgment module is used for judging whether the anchor point correction value meets the preset precision;
the determining module is used for determining the three-dimensional coordinate value of the iteration anchor point as the three-dimensional coordinate value of the target anchor point if the anchor point correction value meets the preset precision;
and the loop module is used for adding the three-dimensional coordinate value of the iteration anchor point to the anchor point correction value if the anchor point correction value does not meet the preset precision, and restarting the step of calculating the anchor point correction value until the anchor point correction value is judged to meet the preset precision.
Optionally, the calculation module includes:
a first model unit, configured to determine an auxiliary matrix according to three auxiliary point three-dimensional coordinate values, three slope values, and the iteration anchor point three-dimensional coordinate value, and input the auxiliary matrix and the three slope values into a first model to calculate the anchor point correction value, where an expression of the first model is:
in the formula, dx u 、dy u 、dz u Are respectively provided withThe corrected values of the three-dimensional coordinate values of the iteration anchor points on the x axis, the y axis and the z axis are obtained, A is the auxiliary matrix, dL 1 、dL 2 、dL 3 Are the pitch values of the first auxiliary point, the second auxiliary point, and the third auxiliary point, respectively.
Optionally, the first model unit includes:
a second model subunit, configured to determine the auxiliary matrix by inputting three auxiliary point three-dimensional coordinate values, three slant range values, and the iteration anchor point three-dimensional coordinate value into a second model, where an expression of the second model is:
in the formula, x u 、y u 、z u Is the three-dimensional coordinate value, x, of the iteration anchor point 1 、y 1 、z 1 Is a three-dimensional coordinate value, x, of the first auxiliary point 2 、y 2 、z 2 Is a three-dimensional coordinate value, x, of the second auxiliary point 3 、y 3 、z 3 Is a three-dimensional coordinate value, L, of the third auxiliary point 1 、L 2 、L 3 The slope distance values of the first auxiliary point, the second auxiliary point and the third auxiliary point are respectively.
Optionally, the method further includes:
the recombination module is used for setting a fourth auxiliary point, and recombining three auxiliary points through the fourth auxiliary point and any two of the first auxiliary point, the second auxiliary point and the third auxiliary point;
and the verification module is used for solving the three-dimensional coordinate value of the target anchor point again through the three reconstructed auxiliary points and verifying whether the three-dimensional coordinate value of the target anchor point calculated through the initial three auxiliary points is correct or not.
To achieve the above object, the present invention further provides an anchor point positioning device, including:
a memory for storing a computer program;
a processor for implementing any one of the above mentioned anchor point positioning methods when executing the computer program.
To achieve the above object, the present invention further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the method for positioning an anchor point according to any one of the above-mentioned methods is implemented.
Therefore, the method calculates the anchor point correction value by using the three-dimensional coordinate value and the slant range value of the measured auxiliary point and the preset three-dimensional coordinate value of the iteration anchor point, performs cyclic correction on the three-dimensional coordinate value of the iteration anchor point, and finally obtains the three-dimensional coordinate value of the target anchor point, thereby avoiding the problems of the prior art that the original structure of the marine submerged buoy is changed, the procedure is complicated and the economic cost is huge because measuring equipment needs to be added.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an anchor point positioning method according to an embodiment of the present invention;
fig. 2 is a diagram of an embodiment of an anchor point positioning method according to the present invention;
fig. 3 is a block diagram of an anchor point positioning device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With reference to fig. 1, fig. 1 is a flowchart of an anchor point positioning method according to an embodiment of the present invention, where the method may include:
s101: determining three auxiliary points which are not on the same horizontal line, wherein the three auxiliary points are respectively a first auxiliary point, a second auxiliary point and a third auxiliary point, and measuring longitude and latitude values of the three auxiliary points and slant distance values of the distance anchor points.
The ocean submerged buoy is a device which is thrown below the sea surface and can be used for carrying out long-term, fixed-point and continuous observation on the underwater environmental factors of the ocean, and aiming at the scientific research needs of a specific sea area, the bottom of the ocean submerged buoy is provided with a heavy block for anchoring, and instruments and equipment are tied from bottom to top according to the needs for carrying out data acquisition. After the marine submerged buoy is launched, the final stable position of the marine submerged buoy is uncertain under the influence of various acting forces in the sea, but the position is generally not far away from a launching point. Furthermore, the present embodiment also does not limit the measuring manner of the longitude and latitude value and the slant angle value, and generally the longitude and latitude value of the auxiliary point can be measured through satellite navigation equipment, such as GPS (Global Positioning System) equipment and beidou navigation equipment; the value of the slope distance between the auxiliary point and the anchor point can be measured generally by an acoustic release, which is a highly reliable and compact acoustic release instrument that can range the target underwater by acoustic signals.
S102: and respectively projecting the longitude and latitude values of the three auxiliary points to obtain corresponding auxiliary point plane coordinate values, and obtaining the auxiliary point three-dimensional coordinate values of the three auxiliary points by taking the sea level as a reference plane.
The location information of any object on the earth can be identified by longitude and latitude, but the longitude and latitude values are not directly evaluated like plane coordinate values, in this embodiment, the longitude and latitude values of the auxiliary point need to be transformed into the plane coordinate values by projection, the embodiment does not limit the way of projection transformation, and generally, transformation can be performed by using, for example, gaussian gram projection and mercard off-projection. Further, since the converted longitude and latitude values are two-dimensional plane coordinate values, and the anchor point needs to be measured in terms of positioning, the auxiliary point lacks a depth dimension compared with an underwater anchor point, in this embodiment, the sea level can be used as a reference plane, i.e., an XY-axis plane, i.e., a depth value of the auxiliary point, i.e., a Z-axis coordinate value, as zero, so as to obtain the three-dimensional coordinate values of the auxiliary point.
S103: and determining the three-dimensional coordinate value of the preset anchor point as the three-dimensional coordinate value of the iteration anchor point.
S104: and calculating an anchor point correction value according to the three-dimensional coordinate values of the three auxiliary points, the three slope distance values and the three-dimensional coordinate value of the iteration anchor point.
The correction value is a value obtained by adding an algebraic method to an uncorrected measurement result to compensate for an error of the uncorrected measurement result, and the calculation method of the anchor point correction value is not limited in this embodiment, and the anchor point correction value can be calculated generally by three auxiliary point three-dimensional coordinate values, three slope distance values and an iteration anchor point three-dimensional coordinate value, and the three auxiliary point three-dimensional coordinate values are first set to be (x) respectively 1, y 1, z 1 ）、（x 2, y 2, z 2 ）、（x 3, y 3, z 3 ) I.e. (x) i ,y i .z i ) I is 1, 2 and 3, and an anchor three-dimensional coordinate value (x) is preset u, y u, z u ），L 1 、L 2 、L 3 The slope distance values of the first auxiliary point, the second auxiliary point and the third auxiliary point are respectively, and the calculation formula of the slope distance at this time is as follows:
linearizing, i.e. setting, the non-linear equation of the slope
The following formula is obtained:
further, it can be deduced that:
the linearized distance error equation can then be found as:
from the distance error equation, a mathematical expression for calculating the second model of the auxiliary matrix a can be obtained:
multiplying the left side and the right side of the distance error equation by the transposed matrix of the matrix A respectively to obtain a mathematical expression of a first model for calculating the anchor point correction value:
the above steps are the derivation process of the mathematical expressions of the first model and the second model, dx u 、dy u 、dz u Respectively the correction values of the three-dimensional coordinate values of the iteration anchor points on the x axis, the y axis and the z axis, dL 1 、dL 2 、dL 3 The values of (a) are the slant distance values of the first auxiliary point, the second auxiliary point and the third auxiliary point respectively.
After the first model and the second model are obtained, three-dimensional coordinate values of the auxiliary points, three slope values and three-dimensional coordinate values of the iteration anchor point can be input into the second model to determine an auxiliary matrix A, and then the auxiliary matrix A and the three slope values are input into the first model to calculate an anchor point correction value dx u 、dy u 、dz u . Further, since the true three-dimensional coordinate values of the anchor points are uncertain before the calculation, the present embodiment mayThe method includes the steps of performing auxiliary calculation by using a three-dimensional coordinate value of a preset anchor point, determining the preset anchor point three-dimensional coordinate value as an iteration anchor point three-dimensional coordinate value, performing cyclic integral correction on the iteration anchor point three-dimensional coordinate value until the anchor point correction value obtained through calculation is judged to meet preset accuracy, and determining the corrected iteration anchor point three-dimensional coordinate value as a target anchor point three-dimensional coordinate value.
S105: and judging whether the anchor point correction value meets the preset precision.
In this embodiment, after the calculation of the anchor point correction value is completed, the anchor point correction value needs to be verified to determine whether the anchor point correction value meets the preset precision, the determination method is not limited in this embodiment, the sum of squares of errors of the anchor point can be generally calculated through the correction value, and then it is determined whether the sum of squares of errors meets the preset precision, where the calculation of the sum of squares of errors may be
Judging the sum dV of the squared errors after solution 2 Whether the preset precision is met or not is further determined, the setting value of the preset precision is not limited in this embodiment, and the setting value can be set by the user, and generally can be selected to be 1.
S106: and if the anchor point correction value meets the preset precision, determining the three-dimensional coordinate value of the iteration anchor point as the three-dimensional coordinate value of the target anchor point.
In this embodiment, if it is determined that the anchor point correction value obtained by calculation satisfies the preset precision, it may be determined that the three-dimensional coordinate value of the iterative anchor point is in accordance with the real three-dimensional coordinate value of the target anchor point within the range of the preset precision, and the three-dimensional coordinate value of the anchor point may be directly determined as the three-dimensional coordinate value of the target anchor point without further correction of the three-dimensional coordinate value of the anchor point.
S107: and if the anchor point correction value does not meet the preset precision, adding the three-dimensional coordinate value of the iteration anchor point to the anchor point correction value, and restarting to execute the step of calculating the anchor point correction value until the anchor point correction value is judged to meet the preset precision.
In this embodiment, if it is determined that the calculated anchor point correction value does not satisfy the preset accuracy, the three-dimensional coordinate value of the iterative anchor point does not satisfy the condition for determining the three-dimensional coordinate value of the target anchor point, and further correction of the three-dimensional coordinate value of the iterative anchor point is required. And circularly correcting the three-dimensional coordinate value of the preset anchor point to obtain the final three-dimensional coordinate value of the target anchor point.
The three-dimensional coordinate value of the target anchor point finally determined in the embodiment can be regarded as the real coordinate value of the anchor point, the longitude and latitude value of the anchor point can be back-projected through the XY plane coordinate value in the three-dimensional coordinate, the coordinate value of the Z axis can be regarded as the underwater depth of the anchor point, and therefore the anchor point is located, wherein the back-projection mode needs to correspond to a projection mode, for example, the auxiliary point obtains the plane coordinate value through ink card off-projection, and the corresponding back-projection needs to adopt an ink card off-back projection mode.
Further, the number of the auxiliary points to be selected is not limited in this embodiment, for example, three auxiliary points may be selected to assist in calculating the three-dimensional coordinate value of the target anchor point in this embodiment, or a plurality of auxiliary points may be selected, any three auxiliary points in the plurality of auxiliary points are arranged and combined for a plurality of times to assist in calculating the three-dimensional coordinate values of the plurality of target anchor points, and then the three-dimensional coordinate values of the plurality of target anchor points are averaged to obtain the final three-dimensional coordinate value of the target anchor point.
Further, in the corresponding embodiment, a fourth auxiliary point may be set to perform verification of the three-dimensional coordinate value of the target anchor point through auxiliary calculation of the initial three auxiliary points, and a new three-dimensional coordinate value of the target anchor point is obtained through auxiliary calculation by recombining the fourth auxiliary point and any two auxiliary points of the three initial auxiliary points.
In the embodiment, the anchor point correction value is calculated by using the three-dimensional coordinate value and the slant range value of the measured auxiliary point and the preset three-dimensional coordinate value of the iteration anchor point, and the three-dimensional coordinate value of the target anchor point is finally obtained by circularly correcting the three-dimensional coordinate value of the iteration anchor point, so that the problems of original structural change, complicated procedure and huge economic cost of the marine submerged buoy caused by the fact that measuring equipment needs to be added in the prior art for measurement are solved.
With reference to fig. 2, fig. 2 is a diagram of an embodiment of an anchor point positioning method according to an embodiment of the present invention, where three auxiliary points are points that are not on the same horizontal line, a projection manner may be an ink card off-projection, and a preset precision may be 1, and the embodiment may include:
1. three auxiliary points are determined, and the warp and weft values and the slant range values of the three auxiliary points are measured.
2. And projecting the longitude and latitude values of the auxiliary points into plane coordinate values.
3. And acquiring three-dimensional coordinate values of the auxiliary points by taking the sea level as a reference.
4. And determining the three-dimensional coordinate value of the preset anchor point as the three-dimensional coordinate value of the iteration anchor point.
5. And calculating the anchor point correction value according to the three auxiliary point three-dimensional coordinate values, the three slope distance values and the iteration anchor point three-dimensional coordinate value.
6. And judging whether the anchor point correction value meets the preset precision.
7. And if the anchor point correction value meets the preset precision, determining the three-dimensional coordinate value of the iteration anchor point as the three-dimensional coordinate value of the target anchor point.
8. And adding the three-dimensional coordinate value of the iteration anchor point to the anchor point correction value when the anchor point correction value does not meet the preset precision, and restarting the step of calculating the anchor point correction value until the anchor point correction value is judged to meet the preset precision.
With reference to fig. 3, fig. 3 is a block diagram of an anchor point locating device according to an embodiment of the present invention, where the anchor point locating device may include:
the auxiliary point module 100 is configured to determine three auxiliary points that are not on the same horizontal line, namely a first auxiliary point, a second auxiliary point, and a third auxiliary point, and measure longitude and latitude values of the three auxiliary points and an oblique distance value from an anchor point;
the coordinate module 200 is configured to respectively project the longitude and latitude values of the three auxiliary points to obtain corresponding auxiliary point plane coordinate values, and obtain auxiliary point three-dimensional coordinate values of the three auxiliary points by using the sea level as a reference plane;
the preset module 300 is configured to determine the three-dimensional coordinate value of the preset anchor point as the three-dimensional coordinate value of the iteration anchor point;
a calculation module 400, configured to calculate an anchor point correction value according to the three auxiliary point three-dimensional coordinate values, the three slope values, and the iterative anchor point three-dimensional coordinate value;
the judgment module 500 is used for judging whether the anchor point correction value meets the preset precision;
a determining module 600, configured to determine the three-dimensional coordinate value of the iterative anchor point as the three-dimensional coordinate value of the target anchor point if the anchor point correction value meets the preset precision;
and the loop module 700 is configured to add the three-dimensional coordinate value of the iterative anchor point to the anchor point correction value if the anchor point correction value does not meet the preset precision, and restart the step of calculating the anchor point correction value until it is determined that the anchor point correction value meets the preset precision.
Based on the embodiment, the anchor point correction value is calculated by using the three-dimensional coordinate value and the slant range value of the measured auxiliary point and the preset three-dimensional coordinate value of the iteration anchor point, and the three-dimensional coordinate value of the target anchor point is finally obtained by circularly correcting the three-dimensional coordinate value of the iteration anchor point, so that the problems of original structure change, complicated procedure and huge economic cost of the marine subsurface buoy caused by the fact that measuring equipment needs to be added in the prior art for measurement are solved.
Based on the above embodiments, the calculation module 400 may include:
the first model unit is used for determining an auxiliary matrix according to the three-dimensional coordinate values of the three auxiliary points, the three slope values and the three-dimensional coordinate values of the iteration anchor point, and inputting the auxiliary matrix and the three slope values into the first model to calculate the anchor point correction value, wherein the expression of the first model is as follows:
in the formula, dx u 、dy u 、dz u Respectively are the corrected values of the three-dimensional coordinate values of the iteration anchor point on the x axis, the y axis and the z axis, A is the auxiliary matrix, dL 1 、dL 2 、dL 3 Are the pitch values of the first auxiliary point, the second auxiliary point, and the third auxiliary point, respectively.
Based on the above embodiments, the first model unit may include:
a second model subunit, configured to determine an auxiliary matrix by inputting the three auxiliary point three-dimensional coordinate values, the three slope distance values, and the iteration anchor point three-dimensional coordinate values into a second model, where an expression of the second model is:
in the formula, x u 、y u 、z u Is the three-dimensional coordinate value, x, of the iteration anchor point 1 、y 1 、z 1 Is a three-dimensional coordinate value, x, of the first auxiliary point 2 、y 2 、z 2 Is a three-dimensional coordinate value, x, of the second auxiliary point 3 、y 3 、z 3 Is a three-dimensional coordinate value, L, of the third auxiliary point 1 、L 2 、L 3 The slope distance values of the first auxiliary point, the second auxiliary point and the third auxiliary point are respectively.
Based on the above embodiments, the apparatus may further include:
the recombination module is used for setting a fourth auxiliary point and recombining the fourth auxiliary point with any two auxiliary points of the first auxiliary point, the second auxiliary point and the third auxiliary point to form three auxiliary points;
and the verification module is used for solving the three-dimensional coordinate value of the target anchor point again through the three reconstructed auxiliary points and verifying whether the three-dimensional coordinate value of the target anchor point calculated through the initial three auxiliary points is correct or not.
Based on the foregoing embodiments, the present invention further provides an anchor point positioning device, which may include a memory and a processor, where the memory stores a computer program, and the processor may implement the steps provided by the foregoing embodiments when calling the computer program in the memory. Of course, the device may also include various necessary network interfaces, power supplies, and other components.
The invention also provides a computer readable storage medium, on which a computer program is stored, and when the computer program is executed by an execution terminal or a processor, the anchor point positioning method provided by the embodiment of the invention can be realized; the storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Finally, it should also be 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 a … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
The anchor point positioning method, device, equipment and computer-readable storage medium provided by the present invention are described in detail above, and a specific example is applied in the text to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An anchor point positioning method, comprising:
determining three auxiliary points which are not on the same horizontal line, namely a first auxiliary point, a second auxiliary point and a third auxiliary point, and measuring longitude and latitude values of the three auxiliary points and an inclined distance value from an anchor point;
respectively projecting the longitude and latitude values of the three auxiliary points to obtain corresponding auxiliary point plane coordinate values, and obtaining auxiliary point three-dimensional coordinate values of the three auxiliary points by taking a sea level as a reference plane;
determining the three-dimensional coordinate value of the preset anchor point as the three-dimensional coordinate value of the iteration anchor point;
calculating an anchor point correction value according to the three auxiliary point three-dimensional coordinate values, the three slope distance values and the iteration anchor point three-dimensional coordinate value;
judging whether the anchor point correction value meets the preset precision;
if the anchor point correction value meets the preset precision, determining the three-dimensional coordinate value of the iteration anchor point as the three-dimensional coordinate value of the target anchor point;
and if the anchor point correction value does not meet the preset precision, adding the three-dimensional coordinate value of the iteration anchor point to the anchor point correction value, and restarting the step of calculating the anchor point correction value until the anchor point correction value is judged to meet the preset precision.
2. The anchor point localization method according to claim 1, wherein the calculating an anchor point correction value based on the three auxiliary point three-dimensional coordinate values, the three slope distance values, and the iterative anchor point three-dimensional coordinate value comprises:
determining an auxiliary matrix according to the three auxiliary point three-dimensional coordinate values, the three slope distance values and the iteration anchor point three-dimensional coordinate values, and inputting the auxiliary matrix and the three slope distance values into a first model to calculate the anchor point correction value, wherein the expression of the first model is as follows:
in the formula, dx u 、dy u 、dz u Respectively are the corrected values of the three-dimensional coordinate values of the iteration anchor point on an x axis, a y axis and a z axis, A is the auxiliary matrix, dL 1 、dL 2 、dL 3 Are the pitch values of the first auxiliary point, the second auxiliary point, and the third auxiliary point, respectively.
3. The anchor point localization method of claim 2, wherein the determining an auxiliary matrix from the three auxiliary point three-dimensional coordinate values, the three slope distance values, and the iterative anchor point three-dimensional coordinate values comprises:
determining the auxiliary matrix by inputting three auxiliary point three-dimensional coordinate values, three slope values and the iteration anchor point three-dimensional coordinate values into a second model, wherein the expression of the second model is as follows:
in the formula, x u 、y u 、z u Is the three-dimensional coordinate value, x, of the iteration anchor point 1 、y 1 、z 1 Is a three-dimensional coordinate value, x, of the first auxiliary point 2 、y 2 、z 2 Is a three-dimensional coordinate value, x, of the second auxiliary point 3 、y 3 、z 3 Is a three-dimensional coordinate value, L, of the third auxiliary point 1 、L 2 、L 3 The slope distance values of the first auxiliary point, the second auxiliary point and the third auxiliary point are respectively.
4. The anchor point positioning method according to claim 1, wherein after determining the iterative anchor point three-dimensional coordinate value as a target anchor point three-dimensional coordinate value, further comprising:
setting a fourth auxiliary point, and recombining three auxiliary points by the fourth auxiliary point and any two auxiliary points of the first auxiliary point, the second auxiliary point and the third auxiliary point;
and solving the three-dimensional coordinate value of the target anchor point again through the three reconstructed auxiliary points, and verifying whether the three-dimensional coordinate value of the target anchor point calculated through the initial three auxiliary points is correct or not.
5. An anchor point positioning device, comprising:
the auxiliary point module is used for determining three auxiliary points which are not on the same horizontal line, namely a first auxiliary point, a second auxiliary point and a third auxiliary point, and measuring longitude and latitude values of the three auxiliary points and an oblique distance value from an anchor point;
the coordinate module is used for projecting the longitude and latitude values of the three auxiliary points respectively to obtain corresponding auxiliary point plane coordinate values, and obtaining auxiliary point three-dimensional coordinate values of the three auxiliary points by taking a sea level as a reference plane;
the preset module is used for determining the three-dimensional coordinate value of the preset anchor point as the three-dimensional coordinate value of the iteration anchor point;
the calculation module is used for calculating an anchor point correction value according to the three auxiliary point three-dimensional coordinate values, the three slope distance values and the iteration anchor point three-dimensional coordinate value;
the judgment module is used for judging whether the anchor point correction value meets the preset precision;
the determining module is used for determining the three-dimensional coordinate value of the iteration anchor point as the three-dimensional coordinate value of the target anchor point if the anchor point correction value meets the preset precision;
and the loop module is used for adding the three-dimensional coordinate value of the iteration anchor point to the anchor point correction value if the anchor point correction value does not meet the preset precision, and restarting the step of calculating the anchor point correction value until the anchor point correction value is judged to meet the preset precision.
6. The anchor point locating device of claim 5, wherein the computing module comprises:
a first model unit, configured to determine an auxiliary matrix according to three auxiliary point three-dimensional coordinate values, three slope values, and the iteration anchor point three-dimensional coordinate value, and input the auxiliary matrix and the three slope values into a first model to calculate the anchor point correction value, where an expression of the first model is:
in the formula, dx u 、dy u 、dz u Respectively are the corrected values of the three-dimensional coordinate values of the iteration anchor point on the x axis, the y axis and the z axis, A is the auxiliary matrix, dL 1 、dL 2 、dL 3 Are the pitch values of the first auxiliary point, the second auxiliary point, and the third auxiliary point, respectively.
7. The anchor point locating device of claim 6, wherein the first model unit comprises:
a second model subunit, configured to determine the auxiliary matrix by inputting three auxiliary point three-dimensional coordinate values, three slant range values, and the iteration anchor point three-dimensional coordinate value into a second model, where an expression of the second model is:
in the formula, x u 、y u 、z u Is the three-dimensional coordinate value, x, of the iteration anchor point 1 、y 1 、z 1 Is a three-dimensional coordinate value, x, of the first auxiliary point 2 、y 2 、z 2 Is a three-dimensional coordinate value, x, of the second auxiliary point 3 、y 3 、z 3 Is a three-dimensional coordinate value, L, of the third auxiliary point 1 、L 2 、L 3 The slope distance values of the first auxiliary point, the second auxiliary point and the third auxiliary point are respectively.
8. The anchor point locating device of claim 5, further comprising:
the recombination module is used for setting a fourth auxiliary point, and recombining three auxiliary points through the fourth auxiliary point and any two of the first auxiliary point, the second auxiliary point and the third auxiliary point;
and the verification module is used for solving the three-dimensional coordinate value of the target anchor point again through the three reconstructed auxiliary points and verifying whether the three-dimensional coordinate value of the target anchor point calculated through the initial three auxiliary points is correct or not.
9. An anchor point positioning device, comprising:
a memory for storing a computer program;
a processor for implementing the anchor point positioning method according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the anchor point localization method according to any one of claims 1 to 4.
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