WO2020108634A1 - 地图校准方法、测绘移动终端以及测绘系统 - Google Patents

地图校准方法、测绘移动终端以及测绘系统 Download PDF

Info

Publication number
WO2020108634A1
WO2020108634A1 PCT/CN2019/122131 CN2019122131W WO2020108634A1 WO 2020108634 A1 WO2020108634 A1 WO 2020108634A1 CN 2019122131 W CN2019122131 W CN 2019122131W WO 2020108634 A1 WO2020108634 A1 WO 2020108634A1
Authority
WO
WIPO (PCT)
Prior art keywords
map
point
surveying
mapping
calibration
Prior art date
Application number
PCT/CN2019/122131
Other languages
English (en)
French (fr)
Inventor
汉曙·但
黄继华
Original Assignee
苏州极目机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州极目机器人科技有限公司 filed Critical 苏州极目机器人科技有限公司
Publication of WO2020108634A1 publication Critical patent/WO2020108634A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

Definitions

  • the present application belongs to the field of surveying and mapping, and for example, relates to a map calibration method, a surveying and mapping mobile terminal, and a surveying and mapping system.
  • unmanned aerial vehicles need to be surveyed and mapped on site by operators to get accurate routes.
  • the equipment is used to spot the plot around the site to obtain positioning information for multiple points.
  • the precise location information of the plot is obtained, and then based on this location information Plan the route.
  • the time for surveying and mapping will be greater than the time for spraying operations, which greatly increases labor costs.
  • the difficulty is greater.
  • the Chinese patent application file with the publication number CN106843277A discloses a UAV surveying and mapping method, which first selects the boundary point of the operation plot according to the map, and then collects the RTK-corrected position of the boundary point by the drone Information, according to the location information of the boundary point, set the planned route and execute the spraying operation.
  • this solution directly determines the route by mapping the boundary points of the drone, and lacks the step of correcting the map.
  • it restricts the attributes of the points selected on the map, and must be continuous boundary points, otherwise the operation plot cannot be limited, and To allow the drone to collect positioning information at these attribute points, it is also necessary to plan a route or the operator to carry the drone to carry out the operation. The operation is cumbersome.
  • the map cannot be used to perform the spraying tasks of other operating plots.
  • the present application provides a map calibration method, a surveying and mapping mobile terminal, and a surveying and mapping system, which can solve the problem of long time spent in surveying and mapping in the related art, and a difficulty for non-professionals.
  • This application provides a map calibration method, including:
  • the calibrated map points are obtained according to the calibration relationship.
  • the step of acquiring the position information of n surveying and mapping points includes: acquiring the position information of the selected and/or arbitrary surveying and mapping points through manual surveying equipment or remote control surveying and mapping equipment, wherein Correction.
  • the step of calculating and obtaining the position information of the map point opposite to the mapping point on the electronic map to generate a matching pair includes:
  • the method further includes a step of determining the number of matching pairs, which is used to determine whether the number m of matching pairs is sufficient; Subsequent steps, otherwise return to re-acquire the position information of the mapping point, where n ⁇ m, m ⁇ 1.
  • the calibration relationship includes at least one or more of the following relationships: translation relationship, rotation relationship, and distortion relationship.
  • the calibrated map point includes the calibrated map point corresponding to the mapping point, and part or all of the map point of the electronic map.
  • This application also provides a surveying and mapping mobile terminal with map calibration, including:
  • Communication module used to receive the position information of the surveying and mapping point
  • a map module used to obtain an electronic map through the communication module or directly store the electronic map
  • the interaction module is used to receive user input and output the surveying points and electronic map to the user;
  • the application module calibrates the electronic map according to the calibration method.
  • the calibration data applied and/or generated by the calibration method is stored in the mapping mobile terminal, and/or uploaded to the server through the communication device.
  • the user input includes a user selecting a map point matching the surveying point, or the user inputting point attribute information of the surveying point.
  • the working lot boundary may be directly generated on the calibrated electronic map, or formed on the calibrated electronic map or the calibrated map point Path planning of the work plot directly on the work plot.
  • the present application also provides a surveying and mapping system using the surveying and mapping mobile terminal and a surveyor, the surveyor includes:
  • Antenna module used to obtain satellite information of surveying and mapping points
  • a receiving module generating position information of the surveying and mapping point according to the satellite information
  • the communication module sends the location information of the surveying point to the surveying and mapping mobile terminal.
  • the surveyor communication module receives differential correction information, and the receiving module generates mapping point position information based on the satellite signal and the differential correction information.
  • the surveyor communication module receives differential correction information, including the surveyer communication module receiving differential correction information from a base station or a service platform; or, the surveyer communication module receives a differential sent by the communication module of the surveying mobile terminal Correction information, the communication module of the mapping mobile terminal outputs the differential correction information to at least one communication-connected surveyor.
  • the communication module of the surveying mobile terminal receives the differential correction information from the base station or the service platform through a wireless data transmission device, and
  • the distance communication device sends the differential correction information to the surveyer communication module, and the surveyer communication module receives the differential correction information through the short-range communication device.
  • a map calibration method, a mapping mobile terminal and a mapping system provided by this application:
  • the map calibration can be achieved based on a small number of surveying and mapping points, which can be faster and more efficient, effectively improving the operation efficiency.
  • calibrated map can realize the path planning of multiple plots, which is more efficient.
  • This application obtains an electronic map with accurate location information by accurately calibrating the electronic map, which satisfies the needs of surveying and mapping and path planning, which greatly improves the operation efficiency and saves labor costs.
  • This application can accurately calibrate different electronic maps, and has strong practicability.
  • set the matching map points on the map and calibrate the map by matching the mapping points and the map points, without limiting the attributes of the surveying points, as long as they can pass
  • the map points can be matched manually or automatically, and the number of surveying points is greatly reduced.
  • the map calibration can be achieved without walking through the plot boundary or the entire plot boundary by flight mapping, saving labor costs, and as long as the calibration is completed, you can target Multi-operation plots are used for path planning, no need to calibrate again, and the scope of application is wide.
  • FIG. 1 is a flowchart of a map calibration method provided by an alternative embodiment of the present application
  • FIG. 2 is a flowchart of a map calibration method provided by another alternative embodiment of the present application.
  • FIG. 3 is a schematic diagram of the mapping points and corresponding map points of this application before and after calibration
  • FIG. 4 is a schematic diagram of a surveying and mapping system provided by an alternative embodiment of the present application.
  • FIG. 5 is a working flowchart of a map-based calibration method provided by an optional embodiment in this application.
  • 400 surveying and mapping equipment; 41, surveying and mapping mobile terminal; 411, communication module; 412, map module; 413, interaction module; 414, application module; 42, surveying and mapping device; 421, antenna module; 422, receiving device; 423, Communication device.
  • This application discloses a map calibration method, referring to FIG. 1, which includes the following steps:
  • mapping points are not limited to the mapping points of the plots in the surveying and mapping task, but can also be the points of the terrain or plots corresponding to any electronic map.
  • location information of the selected and/or arbitrary surveying points can be obtained by manual surveying equipment or remote control surveying equipment.
  • the manual surveying equipment can obtain the location information of the surveying points by the user walking or driving to the surveying points, and the remote surveying and mapping equipment The user can remotely or automatically remotely control the device to reach the surveying point to obtain the location information of the surveying point.
  • the surveying point can be selected as an arbitrary or iconic point in the electronic map, or within the working plot or the boundary of the working plot You can also select the point of the map or plot corresponding to the electronic map without selecting the point. There is no restriction on the method of selecting the mapping point, as long as the point can be found on the electronic map.
  • the position information of the mapping points is corrected by differential correction information, and the accuracy is centimeter level or higher.
  • the accuracy of the surveying and mapping points corrected by the difference is much higher than the points directly located by GPS, which can guarantee the accuracy of the location information of the surveying and mapping points.
  • the number of surveying and mapping points n ⁇ 1, which can be 2, 3, 4, 5, 6, 7, etc., generally ⁇ 10, or ⁇ 20, or ⁇ 30, using fewer surveying and mapping points Can improve work efficiency, but will lose a certain calibration accuracy, users can choose according to needs.
  • S102 Calculate and obtain the position information of the map point opposite to the mapping point on the electronic map to form a matching pair.
  • Optional including manual mode and/or automatic mode.
  • the manual method is to manually select the map point corresponding to the surveying point on the electronic map.
  • the user judges the map point on the electronic map to be the same as the actual location of the surveying point.
  • the surveying point is a telephone pole and displays deviation
  • the telephone pole the user selects the telephone pole as a map point on the electronic map, and determines the map point matching the surveying point; while determining the map point, the position of the map point on the electronic map can be directly calculated through the electronic map
  • the information, the matching pairs that make up the location information of the mapping point and the map point, and so on, can generate several matching pairs.
  • the automatic method is to automatically identify the map points matching the survey points on the electronic map, and calculate and obtain the location information of the map points, and form a matching pair according to the location information of the survey points and the map points.
  • the mapping point needs to be the boundary point of the working plot, and according to the plot boundary attribute of the mapping point, the matching map point can be automatically identified on the electronic map, or in one embodiment, no limitation is required
  • the mapping point is the boundary of the work plot. You can manually input the point attributes of the mapping point, and automatically identify the matching map points according to the point attributes of the mapping point.
  • the automatic matching may be performed by several matching pairs at the same time, or may be performed by several matching pairs sequentially, one by one to complete the matching. Each matching pair contains the location information of the mapping points and the location information of the matching map points.
  • the calibration relationship includes at least one or more of the following relationships: translation relationship, rotation relationship, and distortion relationship.
  • the relative relationship between the mapping point and the map point can be obtained through one matching pair, and of course, the conversion relationship can also be determined by minimizing the translation error through multiple matching pairs; for the rotation error, at least two A matching pair is used to calculate the relative relationship between the mapping point and the map point.
  • several matching pairs can be used to minimize the rotation error to determine the conversion relationship; for the map distortion error, multiple matching pairs are required to calculate the relative relationship.
  • V′ F1(V)
  • the position information of the map point and the mapping point is known, but the parameters in the calibration relationship are unknown.
  • one method can be selected, or different methods can be selected at the same time, and the relative relationship between the mapping points and the map points is calculated by using m matching pairs (that is, m pairs of map point positions and map point positions), that is, The parameters in the calibration relationship equation are calculated to determine the calibration relationship equation.
  • the calibrated map points include the calibrated map points corresponding to the mapping points, and some or all map points of the electronic map. According to the calibration relationship, not only the calibration of map points, but also the calibration of the entire electronic map or a part of the electronic map can be achieved, which can be set as required.
  • the location information of a limited number of mapping points can be used to quickly and effectively calibrate the corresponding map points or electronic maps.
  • the method is simple, easy to implement, and the calibration accuracy is high, which is convenient for subsequent electronic map-based Compared with the traditional surveying and mapping methods around plots, the precise surveying and path planning of the site have significantly improved work efficiency. There is no need to spot each plot. As long as the electronic map is calibrated, any operation within the electronic map can be achieved. Land surveying and mapping work.
  • FIG. 2 shows a flowchart of another map calibration method, which is further defined based on the workflow of FIG. 1 and improves the efficiency and accuracy of map calibration.
  • step S1021 judging the number of matching pairs, used to judge whether the number m of matching pairs is sufficient; if it is enough, continue to perform the subsequent steps, otherwise return to S101 to reacquire the position information of the mapping point, where n ⁇ m, m ⁇ 1 (n is the number of mapping points).
  • step S104 Before S104, it also includes step S1031: verifying the calibration relationship, and generating the cost equation of the position information error according to the calibration relationship, which may be the cost equation of the maximum position error of these matching pairs or the cost equation of the weighted sum of the position errors.
  • step S1032 if the cost of the cost equation is less than or equal to the preset threshold, verify that it is appropriate, and continue to perform the subsequent step S104, otherwise return to S101 to reacquire the location information of the mapping point.
  • the unmatched mapping points are used to verify the calibration relationship. First determine these mapping points and their corresponding map points. If the cost of the location error of these map points and the mapping points is within a preset threshold, it is considered to be suitable for calibration. If it exceeds this threshold range, the calibration is not suitable. The cost is calculated by unmatched mapping points, and the verification result with a certain probability is more accurate.
  • V is the mapping point and the mapping point before calibration
  • FIG. 3B is the map point after calibration.
  • V” F1(V), which can realize the calibration of map points and/or electronic maps.
  • the error of the calibration relationship can be greatly reduced, the calibration accuracy can be improved, and the map calibration can be applied to any mapping task or path planning task.
  • the calibration method of the present application can be applied to any computing-enabled device equipped with an electronic map, including mobile phones, tablet computers, controllers, notebook computers, desktop computers, handheld computers, etc. Map points and/or electronic maps can be calibrated, and the calibrated electronic map can be applied to other users or any occasion.
  • the calibration accuracy is high, the calibration efficiency is high, and the practicability is strong, which provides guarantee for the precise application of electronic maps.
  • the present application also provides a surveying and mapping mobile terminal 41, as shown in FIG. 4, which includes: a communication module 411 for receiving position information of a surveying and mapping point.
  • the communication module 411 is used for signal reception and transmission, including but not limited to Bluetooth, cellular network transmission, 2.4G data transmission, etc. for communication.
  • the communication module 411 may include several communication devices, for example, including establishing a communication connection with the surveying instrument 42 through a Bluetooth device, using a 2.4G wireless data communication method through a wireless data transmission device, or a communication connection between a cellular communication device and a base station, and so on.
  • the base station here provides differential correction information for its nearby devices.
  • the map module 412 is used to obtain an electronic map through the communication module 411 or directly store the electronic map. Including commercial satellite maps or aerial maps.
  • the interaction module 413 is used to receive user input and output survey points and electronic maps to the user.
  • the user input includes the user selecting a map point matching the surveying point, or the user inputting point attribute information of the surveying point.
  • the user is required to select a map point on the electronic map to achieve matching.
  • the user inputs the selected map point on the electronic map, and matches the mapping point and the map point; another
  • the mapping points are defined according to the point attribute information of the mapping points input by the user, so as to automatically obtain the corresponding map points according to the point attributes of the mapping points; in other embodiments, It is also possible to automatically match the map points corresponding to the survey points without user input.
  • the interaction module 413 is also responsible for displaying surveying and mapping points, map points, electronic maps, calibration processes, calibration results, and surveying and mapping results. Through the interaction module 413, users can monitor, view, or modify surveying and mapping points and map points in real time.
  • the application module 414 calibrates the electronic map according to the foregoing calibration method according to the location information of the surveying point and the electronic map, which will not be repeated here.
  • the calibration data is stored in the mapping mobile terminal, and/or uploaded to the server through the communication device 411.
  • the calibration data includes the location information of the mapping point, the location information of the map point, the calibration relationship, the verification method, the matching method, the calibrated map point, the calibrated electronic map, etc.
  • the application module 414 can pass the calibrated electronic map through the terminal communication module 411 output to the server to provide to other users or work orders. In this way, as long as the map calibration is performed once, it can be provided to any user or work order that needs to use the electronic map, which greatly improves work efficiency and saves labor costs.
  • the working plot boundary can be directly generated on the calibrated electronic map, or the working plot formed from the calibrated electronic map or the calibrated map point Directly plan the path of the operation plot.
  • the mapping point is selected as the corner point on the boundary of the working block, a closed working block can be directly formed. In this way, the mapping task can be completed without selecting the working block boundary on the calibrated map, which is especially suitable for small-scale In the case of homework, it is more simple and convenient, and improves the efficiency of surveying and mapping.
  • This application also provides a surveying and mapping system 400, including:
  • the antenna module 421 is used to obtain satellite information of the mapping point.
  • the antenna module 421 is placed at the surveying point by the surveying instrument 42 to capture the satellite signal tracking this point.
  • the receiving module 422 generates position information of the mapping point according to the satellite information.
  • the communication module 423 sends the location information of the surveying point to the surveying and mapping mobile terminal 41.
  • the communication module 423 of the surveyor is used for signal reception and transmission, including but not limited to Bluetooth, WIFI, microwave, cellular network transmission, 2.4G wireless data transmission, etc. for communication.
  • the communication module 423 of the surveyor receives differential correction information, and the receiving module 422 generates mapping point position information based on the satellite signal and the differential correction information.
  • the surveyor can be a manual surveying device or a remote surveying and mapping device, as long as the location information of the surveying point can be obtained, and it can also receive differential correction information to achieve differential correction, so that the location information of the surveying point is more accurate.
  • the accuracy of satellite information is on the order of meters. By correcting the differential correction information, the accuracy of the position information of the mapping points can reach the centimeter level or even less than 1 cm.
  • centimeter-level accuracy is very necessary, especially for precise spraying, if the growth space of a crop is within 1m, if the accuracy exceeds the meter level, it will greatly affect the accuracy of the operation, even Causes phytotoxicity.
  • the communication module 423 of the surveyer may receive differential correction information from the base station or service platform; or, receive the differential correction information sent by the communication module 411 of the mobile terminal 41 to survey and map the mobile terminal’s
  • the communication module 411 outputs the differential correction information to at least one communicator 42 connected in communication.
  • the communication module 423 of the surveying instrument receives the differential correction information sent by the communication module 411 of the mapping mobile terminal
  • the communication module 411 of the mapping mobile terminal receives the differential correction information from the base station or service platform through the wireless data transmission device and communicates through short distances
  • the device for example, a Bluetooth communication device
  • the communication module 423 of the surveyer receives the differential correction information through the short-range communication device.
  • the surveyor 42 does not need to install a high-cost wireless data transmission device to directly receive the differential correction information of the base station or service platform (because the distance of the base station or service platform is far, it is necessary to use a higher-cost wireless data transmission device to transmit Signal, such as a cellular communication device), and receive the differential correction information from the closer mapping mobile terminal 41 through a lower-cost short-range communication device, and at the same time, a mapping mobile terminal 41 can also simultaneously measure multiple mapping devices 42 Sending differential correction information can further reduce costs and save power consumption.
  • a mapping mobile terminal 41 can also simultaneously measure multiple mapping devices 42 Sending differential correction information can further reduce costs and save power consumption.
  • a surveying and mapping device interaction module which is used to directly input point attribute information of a surveying and mapping point during surveying and mapping, without inputting on the subsequent surveying and mapping mobile terminal 41, to avoid forgetting or omission.
  • the above-mentioned surveying instrument 42 may be a handheld, vehicle-mounted surveying instrument, or a remotely-controlled flying surveying instrument, as long as it can reach the surveying point and obtain the location information of the surveying point.
  • the surveying and mapping system 400 of the present application obtains the position information of the surveying and mapping points through the surveyor 42 and realizes the calibration of the electronic map through the surveying and mapping mobile terminal 42.
  • the combination of the two can realize the calibration of any electronic map with a small number of precise surveying points. It is used for follow-up surveying and mapping or planning path. It is simple and practical, with high working efficiency and high calibration accuracy, especially suitable for beginners in surveying and mapping.
  • a surveying and mapping map based on a map calibration method can achieve rapid completion of on-site surveying and mapping based on limited surveying and mapping points.
  • S501 Generate a preset or downloaded electronic map. You can quickly create an electronic map offline for special field operations, such as drone agricultural spraying, aerial mapping, and so on.
  • the electronic map may include map point attributes such as borders, fences, corners, road edges, buildings, and pillars.
  • S502 Input map calibration rules, including calibration accuracy, calibration method, verification method, matching method, etc.
  • the matching method includes point matching/line matching/direction matching/shape matching/manual matching, etc.
  • the calibration method includes translation error, rotation error, The calibration relation formula of the map points corresponding to the map distortions such as map distortion errors
  • the verification method includes several cost equations
  • the calibration accuracy is used to adaptively adjust different electronic maps.
  • S503 Receive the location information of the surveying point and generate the surveying point.
  • the surveying point can be the boundary point, corner, obstacle of the plot, or the edge of the road, the continuous point on the ridge, the pole, the lamp post, etc . It also includes receiving attribute information of surveying and mapping points, which can be added and modified manually.
  • the point attribute information can be input on the interactive module of the surveying and mapping mobile terminal 41 or the interactive mode of the surveyor 42, which can be input on the spot or after the survey and mapping are completed. For example, the user can hold the plotter 42 to obtain the location information of different surveying points on the spot.
  • the user can also input the point attributes corresponding to the surveying points on the surveyor while surveying or, if there is no interactive module on the surveyer , The user can input the point attribute corresponding to the mapping point on the mapping mobile terminal 41.
  • the position information of the surveying point is corrected by difference, and its accuracy is in the centimeter level or higher.
  • S504 Select a map point according to the calibration rule, and generate a matching pair of the location information of the mapping point and the map point.
  • the manual matching method is: the user selects the location of the corresponding map point on the interactive module 413 of the mobile terminal 41 according to the actual location of the mapping point, and obtains m pairs of test points and map points. Or, through the point attribute of the mapping point itself or the point attribute input by the user, through point matching/line matching/direction matching/shape matching, etc., automatically identify the map points matching the mapping points to form m pairs of test points and map points Matching pairs.
  • the image recognition algorithm will automatically identify and calculate the map point corresponding to this surveying point based on this feature, taking into account factors such as the distance from the surveying point location information, etc. Matching with map points, to achieve fully automated processing.
  • both manual matching method and automatic matching method can be used.
  • the automatic recognition method can be used.
  • mapping points whose attributes are not obvious manual matching can be used. Method to improve the accuracy of matching.
  • V′ F1(V)
  • V′ is a known map point
  • V′ and V are two-dimensional coordinates.
  • V′ is a known map point
  • V′ and V are two-dimensional coordinates.
  • the location information of points and survey points determines the parameters of the calibration relationship equation to determine the calibration relationship formula of the map points and survey points.
  • V′ VA+B
  • the map point and the mapping point are not one-dimensional data, for example, the map point and the mapping point
  • the point is defined as two-dimensional data for explanation.
  • V′ is a known map point
  • V is a known mapping point
  • a and B are the values to be solved.
  • both V′ and V are m ⁇ 2 matrices
  • A is a 2 ⁇ 2 rotation matrix to obtain the rotation relationship between the map points and the mapping points
  • B is 1 ⁇ 2
  • ⁇ is the rotation angle between the map point and the mapping point.
  • the parameters A and B of the calibration relationship are determined according to the known location information of the map points and the mapping points.
  • x 1 ... x n are the coordinate values along the x-axis in the two-dimensional coordinates of the known mapping points
  • y 1 ... y n are the coordinate values along the y-axis in the two-dimensional coordinates of the known mapping points
  • x 1 ′ is the coordinate value along the x axis in the two-dimensional coordinates of the known map points
  • y 1 ′...y n ′ is the coordinate along the y axis in the two-dimensional coordinates of the known map points Value
  • b1 and b2 are parameters.
  • determining the parameters of the calibration relationship also includes optimizing the calibration relationship, generating corresponding position error Errors (or using a cost equation that reflects the magnitude of the error) for map points and mapping points according to m, and minimizing the position error (Or the cost of the cost equation) to optimize the calibration relationship parameters, that is, further modify the parameters A and B, so as to obtain the calibration relationship formula with less error.
  • the position error can be calculated as:
  • the position error Errors is an m ⁇ 2 matrix, which can be calculated as Vi′ is a known two-dimensional map point, Vi is the corresponding two-dimensional mapping point, and e i is a 1 ⁇ 2 matrix
  • the cost equation is the 2-norm of the Errors equation, and the cost is the square root of the largest eigenvalue of Errors. You can also select 1-norm or ⁇ -norm or other weight equations as the cost equation. Calculate the cost. Parameters A and B are confirmed in step S505, therefore, the position error and its cost can be calculated based on it.
  • step S506 when the calibration relationship formula is optimized using the minimized cost in step S505, in step S506, the cost obtained in step S505 can be directly used without recalculating the cost equation.
  • a cost equation different from the cost equation used in step S505 may be selected in step S506 to calculate costs for verifying the calibration relationship.
  • step S507 Whether the cost is less than or equal to the preset threshold, if the cost is less than or equal to the preset threshold, the error range is small, go to S508, otherwise, the calibration error is large, return to step S503, re-acquire the surveying point, you can also give through the interactive interface Suggestions are suggested, and the operator is recommended to survey and map the surveying points at the recommended location or area.
  • the preset threshold can be set according to different electronic maps, without limitation here. In another embodiment, if it is greater than the preset threshold, it may first return to step S504, delete the unsuitable matching pair, and re-execute step S505, if it is still not satisfied, return to step S503, and re-acquire the mapping points.
  • S508 Output the calibrated survey map. All map-based points will be adjusted according to the calibration relationship obtained in the map calibration, and the calibrated electronic map will be output.
  • the above method can be applied not only to drones, but also to ground vehicles, which is not limited here.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Databases & Information Systems (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)

Abstract

一种地图校准方法、测绘移动终端以及测绘系统，地图校准方法包括获取n个测绘点的位置信息（101）；在电子地图上计算获得与测绘点相对的地图点的位置信息，以生成匹配对（102）；根据匹配对生成测绘点和地图点的位置信息的校准关系（103）；根据校准关系得到校准后的地图点（104）。

Description

地图校准方法、测绘移动终端以及测绘系统
本公开要求在2018年11月30日提交中国专利局、申请号为201811449529.6的中国专利申请的优先权，以上申请的全部内容通过引用结合在本公开中。
技术领域
本申请属于测绘领域，例如涉及一种地图校准方法、测绘移动终端和测绘系统。
背景技术
相关的无人驾驶飞机，需要通过作业人员进行现场测绘，才能得到精确的航线。一般通过设备在现场，围绕地块进行打点，获得多个点的定位信息，当作业人员围绕作业地块走完一圈，则获得了这片地块的精确的位置信息，再根据这个位置信息规划航线。然而，由于打点数量多，走完一圈，花费的时间较长，特别是对于小型地块，测绘的时间将大于喷洒作业的时间，这大大提高了人力成本，同时由于需要作业人员现场测绘，对于非专业人员例如农民来说，难度较大。
而利用相关的电子地图，可以获得实际作业中的作业地块，无需作业人员进行地形测绘，节约了人力成本和时间，但是，对于现有市面上的电子地图，由于拍摄投影角度、数据处理准确性方面的误差，地图上的点相对于实际上的精确位置点，往往会有3m以上的误差，这样大的误差，在无人机植保作业时，会对植保作业产品不利的影响，比如无人机会从作业地块飞到地块边的道路上造成事故、或者飞到不需要进行植保作业的地块造成不需要的喷洒药害等等。此外，不同的电子地图，其误差也有所不同。
另外，公开号为CN106843277A的中国申请专利申请文件中，公开了一种无人机测绘方法，其先根据地图选取作业地块的边界点，后通过无人机采集边界点的经过RTK校正的位置信息，根据边界点的位置信息，设定计划航线，执行喷洒作业。但是，此方案直接通过无人机测绘边界点来确定航线，缺少校正地图的步骤，一方面，限制了在地图上选取点的属性，必须是连续的边界点，否则无法限定作业地块，同时，让无人机在这些属性点采集定位信息也需要规划 航线或者作业人员携带无人机进行打点，操作繁琐，另一方面，无法利用该地图执行其他作业地块的喷洒任务。
发明内容
本申请提供一种地图校准方法、测绘移动终端和测绘系统，可以解决相关技术中测绘花费的时间长，对于非专业人员，难度较大的问题。
本申请提供一种地图校准方法，包括：
获取n个测绘点的位置信息；
在电子地图上计算获得与所述测绘点相对的地图点的位置信息，以生成匹配对；
根据所述匹配对生成所述测绘点和地图点的位置信息的校准关系；
根据校准关系得到校准后的地图点。
所述根据校准关系得到校准后的地图点步骤之前，包括验证校准关系，根据所述校准关系生成位置信息误差的成本方程，若所述成本方程的成本小于或等于预设阈值，则验证合适，继续执行后续步骤，否则返回重新获取测绘点的位置信息。
所述获取n个测绘点的位置信息步骤包括：通过人工测绘设备或者遥控测绘设备获取选定的和/或任意的测绘点的位置信息，其中，所述测绘点的位置信息经过差分校正信息的校正。
所述在电子地图上计算获得与所述测绘点相对的地图点的位置信息，以生成匹配对步骤包括：
在所述电子地图上手动选择与所述测绘点相对应的地图点，并计算获得所述地图点的位置信息，将所述测绘点和地图点的位置信息组成匹配对；
和/或，在所述电子地图上自动识别与所述测绘点匹配的地图点，并计算获得所述地图点的位置信息，将所述测绘点和地图点的位置信息组成匹配对。
所述根据所述匹配对生成所述测绘点和地图点的位置信息的校准关系步骤之前，还包括判断匹配对个数步骤，用于判断匹配对的数量m是否足够；若足够，则继续执行后续步骤，否则返回重新获取测绘点的位置信息，其中，n≥m，m≥1。
所述根据所述匹配对生成所述测绘点和地图点的位置信息的校准关系步骤中，所述校准关系至少包括以下关系中的一种或多种：平移关系，旋转关系，扭曲关系。
所述根据校准关系得到校准后的地图点步骤中，校准后的地图点包括所述测绘点对应的校准后的地图点，以及所述电子地图的部分或所有的地图点。
所述根据所述校准关系生成位置信息误差的成本方程包括：根据校准关系方程V”＝F1(V)生成位置误差方程errors＝F2(V′,V”)，并生成位置误差的成本方程cost＝F3(errors)，其中V为测绘点，V′为校准前获得的地图点，V”为校准后获得的地图点。
本申请还提供一种带地图校准的测绘移动终端，包括：
通信模块，用于接收测绘点的位置信息；
地图模块，用于通过所述通信模块获得电子地图或者直接存储电子地图；
交互模块，用于接收用户输入，并将所述测绘点和电子地图输出给用户；
应用模块，根据所述的校准方法对所述电子地图进行校准。
所述校准方法应用和/或生成的校准数据存储于所述测绘移动终端，和/或通过所述通信设备上传给服务器。
所述用户输入包括用户选择与所述测绘点匹配的地图点，或者用户输入测绘点的点属性信息。
当所述测绘点包括测绘任务中作业地块边界的角点时，可以在校准后的电子地图上直接生成所述作业地块边界，或者在经过校准后的电子地图或校准后的地图点形成的作业地块上直接对作业地块进行路径规划。
本申请还提供一种测绘系统，采用所述的测绘移动终端，以及测绘器，所述测绘器包括：
天线模块，用于获取测绘点的卫星信息；
接收模块，根据所述卫星信息生成所述测绘点的位置信息；
通信模块，将所述测绘点的位置信息发送给所述测绘移动终端。
所述测绘器通信模块接收差分校正信息，所述接收模块根据所述卫星信号和所述差分校正信息生成测绘点位置信息。
所述测绘器通信模块接收差分校正信息，包括所述测绘器通信模块接收来自于基站或者服务平台的差分校正信息；或者，所述测绘器通信模块接收所述测 绘移动终端的通信模块发送的差分校正信息，所述测绘移动终端的通信模块将所述差分校正信息输出给至少一个通信连接的测绘器。
当所述测绘器通信模块接收所述测绘移动终端的通信模块发送的差分校正信息时，所述测绘移动终端的通信模块通过无线数据传输设备接收来自基站或服务平台的差分校正信息，并通过短距离通信设备将所述差分校正信息发送给所述测绘器通信模块，所述测绘器通信模块通过短距离通信设备接收所述差分校正信息。
本申请提供的一种地图校准方法、测绘移动终端和测绘系统：
1、根据少量的测绘点就可以实现地图校准，可以更快速、高效，有效提高作业效率。
2、利用校准的地图可以实现多个地块的路径规划，更高效。
3、可以针对不同的电子地图进行精确校准，适用性强。
4、当用户(例如农民)没有专业操作技能，也可以实现测绘。
本申请通过对电子地图进行精确校准，得到位置信息精确的电子地图，满足测绘以及路径规划的需要，大大提高了作业效率，节省人力成本。本申请可以针对不同的电子地图进行精确校准，实用性强。另外，本申请在测绘得到少量的测绘点的位置信息后，在地图上设定匹配的地图点，通过测绘点和地图点匹配对，对地图进行校准，不限定测绘点的属性，只要能通过手动或自动方式匹配到地图点即可，测绘点的数量大大减少，无需走完地块边界或者飞行测绘整个地块边界就可实现地图校准，节约了人力成本，同时只要校准完成，就可以针对多块作业地块进行路径规划，无需再一次校准，适用范围广。
附图说明
附图1为本申请的一种可选实施例提供的地图校准方法的流程图；
附图2为本申请的又一种可选实施例提供的地图校准方法的流程图；
附图3为本申请的测绘点和对应的地图点的校准前和校准后的示意图；
附图4为本申请中一种可选实施例提供的测绘系统的示意图；
附图5为本申请中的一种可选实施例提供的基于地图校准方法的工作流程图。
其中，400、测绘设备；41、测绘移动终端；411、通信模块；412、地图模块；413、交互模块；414、应用模块；42、测绘器；421、天线模块；422、接收装置；423、通信装置。
具体实施方式
下面结合附图和具体实施例对本申请作详细的阐述。
本申请公开一种地图校准方法，参考图1，包括如下步骤：
S101：获取n个测绘点的位置信息。测绘点不限定是测绘任务中测绘地块的测绘点，也可以是任意的电子地图对应的地形或地块的点。可选的，可以通过人工测绘设备或者遥控测绘设备获取选定的和/或任意的测绘点的位置信息，人工测绘设备通过用户走到或行驶到测绘点以获得测绘点位置信息，遥控测绘设备通过用户遥控或自动遥控该设备到达测绘点以获得测绘点位置信息，该测绘点可以选定为电子地图中任意的、或具有标志性的点，或者作业地块内、作业地块边界的点等等；也可以不选定点，任意选择电子地图对应的地图或地块的点，此处对测绘点的选择方法不作限制，只要能够在电子地图上找到该点即可。
为了提高地图校准的精度，测绘点的位置信息经过差分校正信息的校正，其精度为厘米级或更高精度。通过差分校正的测绘点，其精度远高于通过GPS直接定位的点，可以保证测绘点位置信息的准确度。需要说明的是，测绘点的数量n≥1，可以是2、3、4、5、6、7等等，一般≤10个，也可以≤20个，或者≤30个，采用少的测绘点，可以提高工作效率，但是会损失一定的校准精度，用户可以按照需求进行选择。
S102：在电子地图上计算获得与所述测绘点相对的地图点的位置信息，以组成匹配对。可选的，包括手动方式和/或自动方式。
手动方式为，在电子地图上手动选择与测绘点相对应的地图点，用户在电子地图上判断与测绘点的实际位置相同的地图点，比如，测绘点为一电线杆，在地图上显示偏离该电线杆，则用户在电子地图上选择该电线杆为地图点，确定匹配该测绘点的地图点，在确定地图点的同时，可以通过电子地图直接计算出地图点在该电子地图上的位置信息，组成测绘点和地图点的位置信息的匹配 对，如此反复，可以生成若干个匹配对。
自动方式为，在电子地图上自动识别与测绘点匹配的地图点，并计算获得地图点的位置信息，根据测绘点和地图点的位置信息组成匹配对。需要说明的是，此时测绘点需要是作业地块的边界点，根据测绘点的地块边界属性，可以自动在电子地图上识别与其匹配的地图点，或者在一种实施例中，无需限定测绘点为作业地块的边界，可以手动输入测绘点的点属性，根据测绘点的点属性自动识别与其匹配的地图点。自动匹配可以是若干个匹配对同时进行，也可以是若干个匹配对顺序进行，一个一个完成匹配。每一个匹配对都包含测绘点位置信息以及匹配的地图点位置信息。
S103：根据所述匹配对生成所述测绘点和地图点的位置信息的校准关系。可选的，校准关系至少包括以下关系中的一种或多种：平移关系，旋转关系，扭曲关系。具体的，通过若干对已知位置信息的匹配对，生成校准关系方程V′＝F1(V)，其中V′为地图点，V为测绘点。可选地，对于平移关系，通过一个匹配对就可以得到测绘点和地图点的相对关系，当然也可以通过多个匹配对，最小化平移误差来确定转换关系；对于旋转误差，则需要至少两个匹配对来计算测绘点和地图点的相对关系，当然，也可以多利用几个匹配对，最小化旋转误差来确定转换关系；对于地图扭曲误差，则需要多个匹配对来计算相对关系。
需要说明的是，此时校准关系方程V′＝F1(V)中,地图点和测绘点的位置信息是已知的，但是校准关系中的参数是未知的。针对不同的校准关系，可以选择一种方法，也可以同时选择不同的方法，利用m个匹配对(即m对地图点位置and地图点位置)计算得到测绘点和地图点的相对关系，即，计算出校准关系方程中的参数，从而确定校准关系方程。
S104：根据校准关系得到校准后的地图点:根据在步骤103中已经确认参数关系的校准关系方程V”＝F1(V)，确定校准后的地图点V”。具体的，校准后的地图点包括测绘点对应的校准后的地图点，以及电子地图的部分或所有的地图点。根据校准关系，不仅可以实现地图点的校准，也可以实现整个电子地图或部分电子地图的校准，可以根据需要进行设定。
通过本申请的地图校准方法，利用有限个测绘点的位置信息，可以对与其对应的地图点或电子地图进行快速、有效的校准，方法简单，便于实现，且校 准精度高，便于后续基于电子地图的精确测绘和路径规划等，相较于传统的围绕地块的打点测绘方式，显著提高了工作效率，无需对每个地块进行打点，只要校准了电子地图，就可以实现电子地图内任意作业地块的测绘工作。
图2示出了又一种地图校准方法的流程图，基于图1工作流程的基础上进行了进一步限定，提高了地图校准的效率和精度。
在S102之后，还包括步骤S1021：判断匹配对个数，用于判断匹配对的数量m是否足够；若足够，则继续执行后续步骤，否则返回S101重新获取测绘点的位置信息，其中，n≥m，m≥1(n是测绘点个数)。可以根据校准需要或测绘任务需要设定m的数量，如果想要得到更高精度的校准或者校准的地图越大，则需要m的数量越大，一般的，m＝2、3、4、5、6、或7等。可以根据m的数量来辅助选择校准关系(步骤S103中)，由于针对平移误差进行校准时，m≥1，当针对旋转误差进行校准时，m≥2，当针对地图扭曲误差进行校准时，m≥3，故当m＝2时，可以排除扭曲关系。需要说明的是，如果需要校准更高阶的误差来源，则需要更多的匹配对的个数。
通过加入了判断匹配对个数步骤，可以在匹配对个数不足的情况下，事先提示用户，获取更多数量的测绘点，生成足够的匹配对，提升计算运行效率，节约了系统功耗。
在S104之前，还包括步骤S1031：验证校准关系，根据校准关系生成位置信息误差的成本方程，可以是这些匹配对的最大位置误差的成本方程，也可以是位置误差加权和的成本方程。以及步骤S1032：若成本方程的成本小于或等于预设阈值，则验证合适，继续执行后续步骤S104，否则返回S101重新获取测绘点的位置信息。或者另一种实施例中，利用未匹配的测绘点，验证校准关系。先确定这些测绘点与其对应的地图点，如果这些地图点和测绘点的位置误差的成本在一个预设阈值之内，则认为是校准合适，如果超过这个阈值范围，则校准不合适。通过未匹配的测绘点来计算成本，一定概率上的验证结果更准确。
具体的，根据校准关系方程V”＝F1(V)生成位置误差方程errors＝F2(V′,V”)，并生成位置误差的成本方程cost＝F3(errors)，其中V为测绘点，V′为校准前获得的地图点，V”为校准后获得的地图点。参考图3所示，图3A为校准前的地图点和测绘点，图3B为校准后的地图点，通过校准关系方程V” ＝F1(V)，可以实现地图点和/或电子地图的校准。
通过验证校准关系，可以极大程度上的减小校准关系的误差，提高校准精度，使地图校准可以应用于任意的测绘任务或路径规划任务。
需要说明的是，本申请的校准方法可以适用于任何的配置有电子地图的可运行计算的设备上，包括手机、平板电脑、控制器、笔记本电脑、台式电脑、掌上电脑等，通过测绘点对地图点和/或电子地图进行校准，可以将校准后的电子地图应用于其他用户或者任何场合，校准精度高，校准效率高，实用性强，为电子地图的精确应用提供了保障。
本申请还提供一种测绘移动终端41，如图4所示，其包括：通信模块411，用于接收测绘点的位置信息。具体的，通信模块411用于信号接收和发送，包括但不限于蓝牙、蜂窝网络传输、2.4G数据传输等方式来进行通信。通信模块411可以包括若干个通信设备，例如，包括通过蓝牙设备与测绘器42建立通信连接，通过无线数据传输设备以2.4G无线数据通信方式或蜂窝通信设备与基站进行通信连接等等。一般的，此处的基站为其附近的设备提供差分校正信息。
地图模块412，用于通过通信模块411获得电子地图或者直接存储电子地图。包括商业卫星地图或者航空图。
交互模块413，用于接收用户输入，并将测绘点和电子地图输出给用户。用户输入包括用户选择与测绘点匹配的地图点，或者用户输入测绘点的点属性信息。一种实施方式中，在手动方式形成匹配对时，需要用户在电子地图上选择地图点来实现匹配，此时用户输入为在电子地图上选择的地图点，以及匹配测绘点和地图点；另一种实施方式中，在自动方式匹配时，根据用户输入的测绘点的点属性信息来定义测绘点，以根据测绘点的点属性来自动匹配获得对应的地图点；在其他的实施方式中，也可以不需要用户输入，自动匹配得到测绘点对应的地图点，此时测绘点为作业地块边界上的点。交互模块413还负责展示测绘点、地图点、电子地图、校准过程、校准结果、测绘结果等，通过交互模块413，用户可以实时对测绘点和地图点进行监测、查看、或修改。
应用模块414，根据测绘点的位置信息，以及电子地图，按照前述的校准方法对电子地图进行校准，此处不再赘述。可选的，校准数据存储于测绘移动终端，和/或通过通信设备411上传给服务器。校准数据包括测绘点位置信息、地 图点位置信息、校准关系、验证方法、匹配方法、校准后的地图点、校准后的电子地图等等，应用模块414可以将校准后的电子地图通过终端通信模块411输出给服务器，以提供给其他用户或工单。如此，只要进行一次地图校准，就可以提供给任何需要使用该电子地图的用户或工单，极大提高了工作效率，节约了人力成本。
当测绘点包括测绘任务中作业地块边界的角点时，可以在校准后的电子地图上直接生成作业地块边界，或者在经过校准后的电子地图或校准后的地图点形成的作业地块上直接对作业地块进行路径规划。当测绘点选择为作业地块边界上的角点时，可以直接形成封闭的作业地块，如此，无需在校准后的地图上选择作业地块边界，就可以完成测绘任务，特别适用于小规模作业的情况下，更加简单方便，提高了测绘效率。
本申请还提供一种测绘系统400，包括：
测绘移动终端41，参考前述，此处不再赘述；
测绘器42，其包括：
天线模块421，用于获取测绘点的卫星信息。通过测绘器42将天线模块421放置于测绘点，捕捉跟踪该点的卫星信号。
接收模块422，根据所述卫星信息生成测绘点的位置信息。
通信模块423，将测绘点的位置信息发送给测绘移动终端41。具体的，测绘器的通信模块423用于信号接收和发送，包括但不限于蓝牙、WIFI、微波、蜂窝网络传输、2.4G无线数据传输等方式来进行通信。
测绘器的通信模块423接收差分校正信息，接收模块422根据卫星信号和差分校正信息生成测绘点位置信息。测绘器可以是人工测绘设备或者遥控测绘设备，只要能获得测绘点位置信息即可，还可以接收差分校正信息实现差分校正，使其测绘点的位置信息更加精确。一般的，由于大气层延迟误差、卫星星历误差、卫星时钟误差等，卫星信息的精度在米级，通过差分校正信息的校正，可以使得测绘点的位置信息的精度达到厘米级甚至1厘米以内，对于精确测绘、精确作业来说，厘米级的精度是非常必要的，特别对于精确喷洒来说，如果一棵农作物的生长空间在1m以内，如果精度超过米级，会大大影响作业精准度， 甚至造成药害。
可选地，对于测绘器的通信模块423接收差分校正信息，可以接收来自于基站或者服务平台的差分校正信息；或者，接收测绘移动终端41的通信模块411发送的差分校正信息，测绘移动终端的通信模块411将差分校正信息输出给至少一个通信连接的测绘器42。当测绘器的通信模块423接收测绘移动终端的通信模块411发送的差分校正信息时，测绘移动终端的通信模块411通过无线数据传输设备接收来自基站或服务平台的差分校正信息，并通过短距离通信设备(比如,蓝牙通信设备)将差分校正信息发送给测绘器的通信模块423，测绘器的通信模块423通过短距离通信设备接收差分校正信息。此时，测绘器42无需设置费用较高的无线数据传输设备来直接接收基站或者服务平台的差分校正信息(由于基站或服务平台的距离较远，需要利用成本较高的无线数据传输设备来传输信号，比如蜂窝通信设备)，而通过成本更低的短距离通信设备来接收来自距离较近的测绘移动终端41的差分校正信息，同时，一个测绘移动终端41还可以同时对多个测绘器42发送差分校正信息，更可以降低成本，节约功耗。
可选的，还包括测绘器交互模块，用于在测绘时直接输入测绘点的点属性信息，无需在后续测绘移动终端41上输入，避免遗忘或遗漏。
以上测绘器42，可以是手持、车载的测绘器，也可以是遥控的空中飞行的测绘器，只要能够到达测绘点，获得测绘点的位置信息即可。
本申请的测绘系统400，通过测绘器42获取测绘点的位置信息，通过测绘移动终端42实现对电子地图的校准，两者配合，可以以少量精确的测绘点，实现任何电子地图的校准，以供后续测绘或规划路径使用，简单实用，工作效率高，校准精度高，尤其适用于测绘初学者。
下面是本申请的一种实施例，基于地图校准方法的测绘地图，可以根据有限的测绘点，实现现场测绘的快速完成。
参考图5所示，包括如下步骤：
S501：生成预设的或者下载的电子地图。可以快速离线创建电子地图，用于特殊的现场作业，比如无人机农业喷洒、航空测绘等等。该电子地图可以包括地图点属性，例如边界，栅栏，角落，道路边缘，建筑物，柱子。
S502：输入地图校准规则，包括校准精度、校准方法、验证方法、匹配方法等，匹配方法包括点匹配/线匹配/方向匹配/形状匹配/手动匹配等；校准方法包括针对平移误差、旋转误差、地图扭曲误差等的地图点对应测绘点的校准关系公式；验证方法包括若干成本方程；校准精度，用于适应性调整不同的电子地图。
S503：接收测绘点位置信息并生成测绘点，测绘点可以是测绘任务中作业地块边界、角落、障碍物的边界点，或者是道路边缘，田埂上连续的点、电线杆、灯柱等等。还包括接收测绘点点属性信息，可以手动添加、修改测绘点的点属性。可以在测绘移动终端41的交互模块或测绘器42的交互模式上输入点属性信息，可以现场输入，也可以测绘完成后输入。比如，用户可以手持测绘器42在现场获得不同的测绘点的位置信息，用户还可以根据需要在测绘的同时在测绘器上输入测绘点对应的点属性，或者，如果测绘器42上没有交互模块，用户可以在测绘移动终端41上输入测绘点对应的点属性。测绘点位置信息经过差分校正，其精度在厘米级或者更高精度。
S504：根据校准规则选择地图点，生成测绘点和地图点的位置信息的匹配对。手动匹配方法为：用户在测绘移动终端41的交互模块413上按照测绘点的实际位置，选择与其对应的地图点的位置，得到m对测试点和地图点的匹配对。或者，通过测绘点本身的点属性或者用户在输入的点属性，通过点匹配/线匹配/方向匹配/形状匹配等方式，自动识别与测绘点匹配的地图点，形成m对测试点和地图点的匹配对。比如，测绘点的点属性为作业地块的边界，则图像识别算法根据这个特征，同时考虑与测绘点位置信息的距离等因素，自动识别算出与这个测绘点相对应的地图点，实现测绘点和地图点的匹配，实现完全自动化处理。需要说明的是，一种实施例中，可以既采用手动匹配方法，又采用自动匹配方法，对于较容易识别的测绘点，可以利用自动识别方法，对于属性不明显的测绘点，可以采用手动匹配的方法，提高匹配的准确性。在选择匹配对时，如果发现错误的匹配对，比如匹配对之间的距离过大，则可以删除这些匹配对，不采用这些匹配对进行校准。
S505：根据匹配对生成校准关系。具体的，选择地图点和测绘点的关系公式V′＝F1(V)，其中V′为已知地图点，V为已知测绘点，V′和V是二维坐标，根据已知的地图点和测绘点的位置信息，确定校准关系方程的参数，以确 定地图点和测绘点的校准关系公式。一种实施例中，根据校准关系确定地图点和测绘点的关系是线性时，V′＝VA+B，此处地图点和测绘点非一维的数据，示例性的，将地图点和测绘点定义为二维数据进行说明。V′为已知地图点，V为已知测绘点，A和B是需要求解的值。当利用m个匹配对来计算A和B时，V′和V都为m×2矩阵，A是一个2×2旋转矩阵以获得地图点和测绘点之间的旋转关系，B是1×2的矩阵，θ是地图点与测绘点之间的旋转角度。根据已知的地图点和测绘点的位置信息以确定校准关系的参数A和B。
比如：
Figure PCTCN2019122131-appb-000001
Figure PCTCN2019122131-appb-000002
其中，x 1……x n为已知测绘点中二维坐标中的沿x轴的坐标值，y 1……y n为已知测绘点中二维坐标中的沿y轴的坐标值；x 1′……x n′为已知地图点中二维坐标中的沿x轴的坐标值，y 1′……y n′为已知地图点中二维坐标中的沿y轴的坐标值；b1和b2为参数。
一种可选的实施例中，确定校准关系的参数还包括优化校准关系，根据m对地图点和测绘点生成对应的位置误差Errors(或者使用反应误差大小的成本方程)，并最小化位置误差(或者成本方程的成本)以优化校准关系参数，即进一步修改参数A和B,从而得到误差较小的校准关系公式。
其中，位置误差可以计算为：
Figure PCTCN2019122131-appb-000003
Figure PCTCN2019122131-appb-000004
S506：计算成本以验证校准关系，根据校准关系方程V”＝F1(V)生成校准后地图点，由位置误差方程F2(V′,V”)计算位置误差errors＝F2(V′,V”)，并根据成本方程F3(errors)生成位置误差的成本cost＝F3(errors)，其中V为测绘点，V′为校准前的地图点，V”为校准后获得的地图点。需要说明的是，校准前的地图点V′用于计算校准关系方程的参数，当校准关系方程的参数确定，则 校准关系方程也确定，则可以根据确定的校准关系方程计算校准后的地图点V”。一种实施例中，位置误差Errors是m×2的矩阵,可以计算为Vi′是一个已知的二维地图点，Vi是对应的二维测绘点，e i是1×2矩阵，一种实施例中,成本方程是Errors方程的2-范数，成本(cost)是Errors最大特征值的平方根，也可以选择1-范数或≦-范数或其他权重方程作为成本方程来计算成本。参数A和B在步骤S505中确认，因此，位置误差Errors及其成本即可根据其计算。
一种可选实施例中，当在步骤S505中使用最小化成本优化了校准关系公式，则在步骤S506中，无需重新计算成本方程，就可直接使用在步骤S505得到成本。在另一实施例中，在步骤S506中可以选择与步骤S505中使用的成本方程不同的成本方程来计算成本用于验证校准关系。
S507：成本是否小于或等于预设阈值，若小于或等于预设阈值，则误差范围较小，进入S508，否则，校准误差较大，返回步骤S503，重新获得测绘点，也可以通过交互界面给出建议，建议作业人员在建议的地点或区域进行测绘点的测绘。预设阈值可以根据不同的电子地图来设定，在此不作限制。另一种实施方式中，若大于预设阈值，可以先返回步骤S504，删除不合适的匹配对，重新执行步骤S505，如果仍旧不满足，返回步骤S503，重新获得测绘点。
S508：输出校准后的测绘地图。所有基于地图的点将根据地图校准中获得的校准关系而进行调整，输出校准后的电子地图。
采用上述方法进行现场测绘，可以通过现场测绘较少数量的测绘点，对电子地图进行校准，并直接快速输出校准后的测绘地图，直接在测绘地图上进出后续的测绘任务或路径规划，操作简单，便于非专业测绘人员使用，校准精度高，便于后续作业任务的实现。
上述方法，不仅可以应用于无人机，还可以应用于地面车辆，在此不作限制。

Claims (16)

  1. 一种地图校准方法，包括：
    获取n个测绘点的位置信息；
    在电子地图上计算获得与所述测绘点相对的地图点的位置信息，以生成匹配对；
    根据所述匹配对生成所述测绘点和地图点的位置信息的校准关系；
    根据校准关系得到校准后的地图点。
  2. 根据权利要求1所述的地图校准方法，其中，所述根据校准关系得到校准后的地图点步骤之前，包括：
    验证校准关系，根据所述校准关系生成位置信息误差的成本方程，若所述成本方程的成本小于或等于预设阈值，则验证合适，继续执行后续步骤，否则返回重新获取测绘点的位置信息。
  3. 根据权利要求1所述的地图校准方法，其中，所述获取n个测绘点的位置信息步骤包括：
    通过人工测绘设备或者遥控测绘设备获取选定的和/或任意的测绘点的位置信息，其中，所述测绘点的位置信息经过差分校正信息的校正。
  4. 根据权利要求1所述的地图校准方法，其中，所述在电子地图上计算获得与所述测绘点相对的地图点的位置信息，以生成匹配对步骤包括：
    在所述电子地图上手动选择与所述测绘点相对应的地图点，并计算获得所述地图点的位置信息，将所述测绘点和地图点的位置信息组成匹配对；
    和/或，在所述电子地图上自动识别与所述测绘点匹配的地图点，并计算获得所述地图点的位置信息，将所述测绘点和地图点的位置信息组成匹配对。
  5. 根据权利要求1所述的地图校准方法，其中，所述根据所述匹配对生成所述测绘点和地图点的位置信息的校准关系步骤之前，还包括判断匹配对个数步骤，用于判断匹配对的数量m是否足够；若足够，则继续执行后续步骤，否则返回重新获取测绘点的位置信息，其中，n≥m，m≥1。
  6. 根据权利要求1所述的地图校准方法，其中，所述根据所述匹配对生成所述测绘点和地图点的位置信息的校准关系步骤中，所述校准关系至少包括以下关系中的一种或多种：平移关系，旋转关系，扭曲关系。
  7. 根据权利要求1所述的地图校准方法，其中，所述根据校准关系得到校准后的地图点步骤中，校准后的地图点包括所述测绘点对应的校准后的地图点， 以及所述电子地图的部分或所有的地图点。
  8. 根据权利要求2所述的地图校准方法，其中，所述根据所述校准关系生成位置信息误差的成本方程包括：
    根据校准关系方程V”＝F1(V)生成位置误差方程errors＝F2(V′,V”)，并生成位置误差的成本方程cost＝F3(errors)，其中V为测绘点，V′为校准前获得的地图点，V”为校准后获得的地图点。
  9. 一种带地图校准的测绘移动终端，包括：
    通信模块(411)，用于接收测绘点的位置信息；
    地图模块(412)，用于通过所述通信模块获得电子地图或者直接存储电子地图；
    交互模块(413)，用于接收用户输入，并将所述测绘点和电子地图输出给用户；
    应用模块(414)，根据权利要求1～8任一所述的校准方法对所述电子地图进行校准。
  10. 根据权利要求9所述的测绘移动终端，其中，所述校准方法应用和/或生成的校准数据存储于所述测绘移动终端(41)，和/或通过所述通信设备(411)上传给服务器。
  11. 根据权利要求9所述的测绘移动终端，其中，所述用户输入包括用户选择与所述测绘点匹配的地图点，或者用户输入测绘点的点属性信息。
  12. 根据权利要求9所述的测绘移动终端，其中，当所述测绘点包括测绘任务中作业地块边界的角点时，可以在校准后的电子地图上直接生成所述作业地块边界，或者在经过校准后的电子地图或校准后的地图点形成的作业地块上直接对作业地块进行路径规划。
  13. 一种测绘系统，采用权利要求9～12任一项所述的测绘移动终端，以及测绘器(42)，所述测绘器(42)包括：
    天线模块(421)，用于获取测绘点的卫星信息；
    接收模块(422)，根据所述卫星信息生成所述测绘点的位置信息；
    通信模块(423)，将所述测绘点的位置信息发送给所述测绘移动终端。
  14. 根据权利要求13所述的测绘系统,其中，所述测绘器通信模块(423)接收差分校正信息，所述接收模块(422)根据所述卫星信号和所述差分校正信息生成 测绘点位置信息。
  15. 根据权利要求14所述的测绘系统，其中，所述测绘器通信模块(423)接收差分校正信息，包括所述测绘器通信模块(423)接收来自于基站或者服务平台的差分校正信息；或者，所述测绘器通信模块(423)接收所述测绘移动终端的通信模块(411)发送的差分校正信息，所述测绘移动终端的通信模块(411)将所述差分校正信息输出给至少一个通信连接的测绘器(42)。
  16. 根据权利要求15所述的测绘系统，其中，当所述测绘器通信模块(423)接收所述测绘移动终端的通信模块发送的差分校正信息时，所述测绘移动终端的通信模块(411)通过无线数据传输设备接收来自基站或服务平台的差分校正信息，并通过短距离通信设备将所述差分校正信息发送给所述测绘器通信模块(423)，所述测绘器通信模块(423)通过短距离通信设备接收所述差分校正信息。
PCT/CN2019/122131 2018-11-30 2019-11-29 地图校准方法、测绘移动终端以及测绘系统 WO2020108634A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811449529.6A CN109737963A (zh) 2018-11-30 2018-11-30 一种地图校准方法、测绘移动终端以及测绘系统
CN201811449529.6 2018-11-30

Publications (1)

Publication Number Publication Date
WO2020108634A1 true WO2020108634A1 (zh) 2020-06-04

Family

ID=66358364

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/122131 WO2020108634A1 (zh) 2018-11-30 2019-11-29 地图校准方法、测绘移动终端以及测绘系统

Country Status (2)

Country Link
CN (1) CN109737963A (zh)
WO (1) WO2020108634A1 (zh)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109737963A (zh) * 2018-11-30 2019-05-10 苏州极目机器人科技有限公司 一种地图校准方法、测绘移动终端以及测绘系统
CN110531391A (zh) * 2019-09-04 2019-12-03 北京麦飞科技有限公司 基于动态载波相位差分技术的田间导航方法及系统
CN110502021B (zh) * 2019-09-24 2022-07-15 一米信息服务(北京)有限公司 一种农机作业路径规划方法及系统
CN111156973B (zh) * 2019-12-31 2021-12-21 上海海积信息科技股份有限公司 一种驾校场地测绘方法及装置
CN112484704B (zh) * 2020-11-19 2022-06-03 苏州极目机器人科技有限公司 快速测绘方法和装置
CN114812576A (zh) * 2022-05-23 2022-07-29 上海钛米机器人股份有限公司 地图匹配方法、装置及电子设备
CN115499779A (zh) * 2022-09-23 2022-12-20 山东智源电力设计咨询有限公司 一种基于移动终端的线路云勘察系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1888824A (zh) * 2006-07-18 2007-01-03 华南农业大学 一种导航定位数据的校正方法
CN101082501A (zh) * 2007-07-13 2007-12-05 瑞典维方达软件技术有限公司 基于相对坐标定位的实时地图匹配方法及系统
US20080319657A1 (en) * 2007-06-21 2008-12-25 Mitac International Corp. Navigation apparatus capable of correcting position data according to map matching position and method thereof
CN105890602A (zh) * 2014-11-17 2016-08-24 孔兵 差分卫星定位系统的电子地图绘制装置及方法
CN106843277A (zh) * 2017-04-13 2017-06-13 珠海市双捷科技有限公司 无人机测绘、喷药和监控联合作业方法及系统
CN107784633A (zh) * 2017-09-04 2018-03-09 黄仁杰 适用于平面测量的无人机航拍图像校准方法
CN109737963A (zh) * 2018-11-30 2019-05-10 苏州极目机器人科技有限公司 一种地图校准方法、测绘移动终端以及测绘系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1375987A (zh) * 2002-02-20 2002-10-23 阮伟 影象的数字化纠正成图方法
CN101826274B (zh) * 2010-04-16 2012-02-08 重庆大学 基于浮动车数据的矢量交通数字地图校正方法
CN103854295A (zh) * 2012-12-02 2014-06-11 新疆维吾尔自治区畜牧科学院草业研究所 电子地形图快速校正与裁剪方法
CN103247062B (zh) * 2013-04-28 2016-03-30 北京农业信息技术研究中心 采集农田关键点测绘成图的方法
JP2015156166A (ja) * 2014-02-21 2015-08-27 国際航業株式会社 地図補正方法、及び地図補正装置
CN104850596B (zh) * 2015-04-28 2018-01-02 国家电网公司 一种基于移动gis与rtk定位的配网数据处理方法
CN107390243A (zh) * 2017-06-09 2017-11-24 北斗导航位置服务（北京）有限公司 一种gnss定位数据与地理围栏临界点阈值判断方法
CN108873934A (zh) * 2018-07-04 2018-11-23 溧阳汉和智能装备科技有限公司 一种无人机的航线规划与校准方法以及航线控制系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1888824A (zh) * 2006-07-18 2007-01-03 华南农业大学 一种导航定位数据的校正方法
US20080319657A1 (en) * 2007-06-21 2008-12-25 Mitac International Corp. Navigation apparatus capable of correcting position data according to map matching position and method thereof
CN101082501A (zh) * 2007-07-13 2007-12-05 瑞典维方达软件技术有限公司 基于相对坐标定位的实时地图匹配方法及系统
CN105890602A (zh) * 2014-11-17 2016-08-24 孔兵 差分卫星定位系统的电子地图绘制装置及方法
CN106843277A (zh) * 2017-04-13 2017-06-13 珠海市双捷科技有限公司 无人机测绘、喷药和监控联合作业方法及系统
CN107784633A (zh) * 2017-09-04 2018-03-09 黄仁杰 适用于平面测量的无人机航拍图像校准方法
CN109737963A (zh) * 2018-11-30 2019-05-10 苏州极目机器人科技有限公司 一种地图校准方法、测绘移动终端以及测绘系统

Also Published As

Publication number Publication date
CN109737963A (zh) 2019-05-10

Similar Documents

Publication Publication Date Title
WO2020108634A1 (zh) 地图校准方法、测绘移动终端以及测绘系统
WO2018095407A1 (zh) 控制无人机飞行的方法及装置
US20220044475A1 (en) Forest surveying
WO2022104848A1 (zh) 快速测绘方法和装置
US9727834B2 (en) Remote measurement via on-site portable platform
US9420737B2 (en) Three-dimensional elevation modeling for use in operating agricultural vehicles
WO2019100188A1 (zh) 无人机作业航线的规划方法及地面端设备
CN103718062B (zh) 用于确保个人导航设备的服务的持续性的方法及其设备
US20150175263A1 (en) Vehicle control and interface with mobile device
CN109425365A (zh) 激光扫描设备标定的方法、装置、设备及存储介质
JP2019526479A (ja) 無人航空機の飛行制御方法、装置及びリモートコントローラ
US20190285412A1 (en) System and method for automatically acquiring two-dimensional images and three-dimensional point cloud data of a field to be surveyed
CN113340277B (zh) 一种基于无人机倾斜摄影的高精度定位方法
CN115167529B (zh) 监控方法及系统、无人机、移动终端和存储介质
CN109883398A (zh) 基于无人机倾斜摄影的植株绿量提取的系统及方法
CN110033497B (zh) 区域标定方法、装置、电子设备及计算机可读存储介质
CN113916187A (zh) 基于无人机的基站天线下倾角测量方法、装置和系统
CN110823187A (zh) 一种基于航拍测量待测面积的控制方法及装置
CN212254095U (zh) 一种国土规划用土地测绘装置
KR100782150B1 (ko) 측지측량과 동시에 수치지도의 속성자료를 수정할 수 있는측지측량 방법
WO2021134687A1 (zh) 航点规划方法、控制终端、定位装置、系统及存储介质
US20230290055A1 (en) Surveying assistance system, information display terminal, surveying assistance method, and storage medium storing surveying assistance program
CN110244764A (zh) 一种植保作业方法、系统及电子设备和存储介质
CN114565725A (zh) 无人机三维扫描目标区域逆向建模的方法、存储介质及计算机设备
CN114091774A (zh) 一种作物产量预估方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19888421

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19888421

Country of ref document: EP

Kind code of ref document: A1