WO2020124749A1

WO2020124749A1 - Mapping method and apparatus, and computer device

Info

Publication number: WO2020124749A1
Application number: PCT/CN2019/073530
Authority: WO
Inventors: 郑勇; 夏志祥; 黄夏清; 王辉
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2018-12-18
Filing date: 2019-01-28
Publication date: 2020-06-25
Also published as: CN109631750A; CN109631750B

Abstract

Provided are a mapping method and apparatus, and a computer device. The method comprises: at a preset frequency, acquiring longitudes and latitudes of multiple sample points on a terminal motion trajectory in real time by means of a multi-frequency GPS (S1); converting the longitudes and latitudes of the multiple sample points into plane coordinates (S2); forming a closed designated area according to the plane coordinates of the multiple sample points (S3); and calculating, by means of a preset formula, mapping data corresponding to the designated area (S4). The aim of improving the accuracy of mapping data is realized.

Description

Surveying and mapping method, device and computer equipment

Technical field

The invention relates to the field of digital measurement technology, in particular to a surveying and mapping method, device and computer equipment.

Background technique

At present, most of the land area is measured by professional measuring instruments and manual measurement; using the measuring instrument to measure the area requires professionals to use it correctly. At the same time, the measuring instrument is expensive and not suitable for people's daily use; while manual measurement requires manual throughput Ruler to measure and manually calculate the area, manual measurement takes time and effort, and the accuracy is low.

Therefore, in the prior art, the built-in GPS of the smartphone is used to measure the area, and the positioning error is more than 5 meters, which cannot be used for high-precision area measurement, so the accuracy is low and the user experience is poor.

technical problem

The main purpose of the present invention is to provide a surveying and mapping method, device and computer equipment to achieve the purpose of improving the accuracy of surveying and mapping data.

Technical solution

The invention proposes a surveying and mapping method, including:

Under the preset frequency, obtain the latitude and longitude of multiple sample points on the movement track of the terminal in real time through multi-frequency GPS;

Convert the latitude and longitude of multiple samples to plane coordinates;

Form a closed designated area according to the plane coordinates of multiple sample points;

Calculate the mapping data corresponding to the specified area through the preset formula.

The invention also proposes a surveying and mapping device based on GPS multi-frequency positioning technology, including:

The first acquisition module is used to acquire the latitude and longitude of multiple sample points on the terminal's motion track in real time through multi-frequency GPS at a preset frequency;

Conversion module, used to convert the latitude and longitude of multiple samples to plane coordinates;

Forming module, used to form a closed designated area according to the plane coordinates of multiple sample points;

The first calculation module is used to calculate the mapping data corresponding to the specified area through a preset formula.

The present invention also provides a computer device, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor. The processor implements the computer program to implement the above-described surveying and mapping method .

Beneficial effect

The present invention uses the multi-frequency GPS built in the terminal to obtain the sample points on the terminal's movement track to achieve sub-meter positioning, and at the same time obtain the sample points at a preset frequency, so that the GPS obtains enough sample points to reduce the error; The latitude and longitude are converted into plane coordinates, so that the spatial solid geometry problem is transformed into a plane geometry problem, so that the collected multiple sample points are fitted into the specified plane area, and then the surveying and mapping data of the specified area is calculated algebraically to achieve high Accurately measure the area and circumference of the area.

BRIEF DESCRIPTION

1 is a schematic diagram of steps of an embodiment of a surveying and mapping method of the present invention;

2 is a schematic structural diagram of an embodiment of a surveying and mapping device of the present invention;

FIG. 3 is a schematic structural diagram of a non-linear movement trajectory of a terminal in an embodiment of the present invention.

The implementation, functional characteristics and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the drawings.

Best Mode of the Invention

It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

Referring to FIG. 1, an embodiment of the mapping method of the present invention includes:

S1, at a preset frequency, obtain the latitude and longitude of multiple sample points on the movement track of the terminal in real time through multi-frequency GPS;

S2, converting the latitude and longitude of the multiple sample points into plane coordinates;

S3, forming a closed designated area according to the plane coordinates of the multiple sample points;

S4. Calculate the mapping data corresponding to the specified area through a preset formula.

This method can be applied to terminals, but is not limited to the above terminals. The above terminals include any terminal devices such as mobile phones, tablet computers, PDAs (Personal Digital Assistants), in-vehicle computers, etc.; the above terminals are installed with built-in multi-frequency GPS; Frequency GPS includes dual-frequency GPS and tri-frequency GPS, the frequency band of GPS is L1, L2 and/or L5; the above-mentioned dual-frequency GPS is L1+L2 dual-frequency GPS, L1+L5 dual-frequency GPS or L2+L5 dual-frequency GPS, three Frequency GPS is L1+L2+L5 tri-band GPS; the frequency band of L1 is 1575.42MHz±1.023MHz, the frequency band of L2 is 1227.60MHz±1.023MHz, and the frequency band of L5 is 1176.45MHz±1.023MHz; the dual-frequency GPS is preferably L1 +L5 dual-frequency GPS, because L1's signal bit rate is low, it is easy to capture the signal, L5's signal bit rate is high, and L5's spectral density is easier to concentrate, so L1 captures the signal, L5 improves the accuracy of the signal captured by L1, thereby improving The accuracy of GPS positioning. At the same time, L1+L5 dual-frequency GPS can eliminate ionospheric errors and achieve sub-meter positioning.

In the above step S1, the motion trajectory is a trajectory where the user's handheld terminal walks around the boundary of the measurement area; the user's handheld terminal moves on the boundary of the measurement area, and during the user's movement, the multi-frequency GPS is updated at a preset frequency Position signal, for example, the terminal collects the current latitude and longitude of the terminal through multi-frequency GPS after a preset time period, and uses the collected latitude and longitude as the sample points; so after the user walks around, the terminal collects multiple sample points ; Among them, the above-mentioned preset time period is preferably the shortest time period, for example, 20ms; in order to ensure the measurement accuracy of the measurement area, collect as many sample points as possible.

In the above step S2, the latitude and longitude are the coordinate position in the geographic coordinate system, which belongs to the data in the three-dimensional space, which is not convenient for the calculation of the area in the two-dimensional plane, so it is necessary to convert the latitude and longitude to the plane under the plane coordinate system of the plane where the measurement area is located Coordinates, and then transform spatial geometry problems into planar geometry problems, and then use algebraic methods to deal with planar geometry problems; convert latitude and longitude into planar coordinates can first convert the geographic coordinate system into a spatial rectangular coordinate system, and then convert the spatial rectangular coordinate system It is a plane rectangular coordinate system; among them, the specific conversion method can be adopted by the Bursa 7-parameter method, that is, for the similarities and differences between the reference ellipsoid and the ground datum, different parameters are used to convert through the Euler angle transformation matrix.

In the above step S3, the plane coordinates are the plane coordinates of the sample points in the same plane coordinate system, and the specified area is a single connected area fitted by the sample points; because the number of sample points is enough, the above The designated area after sample point integration can be regarded as a measurement area approximately.

In the above step S4, the surveying data includes at least the area and perimeter of the specified area; based on the plane coordinates to establish a single connected area model, then the preset formula at least includes the perimeter formula and area formula that satisfy the single connected area, will The above single connected area is regarded as the measurement area, and the above-mentioned plane is substituted into the perimeter formula and the area formula to calculate the perimeter and area of the measurement area.

In an embodiment of the present invention, the multiple sample points include a first same point and multiple second sample points, and the latitude and longitude include a first latitude and longitude and multiple second latitude and longitude; The step S1 of the GPS acquiring the latitude and longitude of multiple samples on the movement track of the terminal in real time includes:

S11: Receive an instruction to start measurement, and obtain the first longitude and latitude of the first same point on the motion track through the multi-frequency GPS, where the first same point is the starting point of the motion track;

S12. At a preset frequency, obtain second latitudes and longitudes corresponding to the plurality of second sample points on the motion track through multi-frequency GPS.

In the above step S11, the user holds the terminal and inputs an instruction to start the measurement on the terminal. The input method may be key input, touch screen operation input, voice input and/or wireless remote control input; the terminal receives the instruction to start the measurement, Multi-frequency GPS immediately updates the location of the current terminal, records the latitude and longitude of the location, and takes this as the first point, and the latitude and longitude of the location is the first latitude and longitude; the first point above will serve as the origin and geography of the plane coordinate system The origin of the coordinate system.

In the above step S12, after the first same point is collected, the multi-frequency GPS collects the sample point and records the latitude and longitude of the sample point after a specified period of time. In this process, the user has been holding the terminal on the boundary of the measurement area Move, therefore, when the user returns to the position of the first point, the terminal collects multiple second samples; in order to ensure that the number of second samples is sufficient, the user can slow down the moving speed during the movement process, thereby Allow the user to walk through the boundary of the specified area for a long enough time, so that the number of multi-frequency GPS updates is sufficient, and the number of samples collected is sufficient; or accelerate the update frequency of multi-frequency GPS.

In an embodiment of the present invention, the step S2 of converting the latitude and longitude of a plurality of sample points into plane coordinates includes:

S21, establishing a geographic coordinate system using the first point as the origin, the horizontal east-west direction as the X axis, the horizontal north-south direction as the Y axis, and the vertical height direction as the Z axis;

S22, according to a preset coordinate system conversion rule, converting the geographic coordinate system into a planar coordinate system with the first point as the origin;

S23. Convert second latitude and longitude of the plurality of second sample points into plane coordinates of the plane coordinate system, respectively.

In the above step S21, the geographic coordinate system is a geodetic coordinate system, which is also a spatial rectangular coordinate system, the latitude and longitude of the plurality of second sample points are coordinates on the geographic coordinate system, and the latitude and longitude of the second sample points are on the geographic coordinate system Is represented by (J, W, H), where J is longitude, W is latitude, and H is altitude; the coordinate axis of the above geographic coordinate system can also be in other directions.

In the above step S22, the preset coordinate system conversion rule may perform Euler angle transformation according to the first posture information collected by the built-in acceleration sensor, gyroscope and/or geomagnetic sensor on the terminal; the first posture information is the terminal The posture relationship between the current coordinate system and the plane coordinate system, and there is also a posture relationship between the terminal coordinate system and the geographical coordinate system, and then the second posture information of the geographical coordinate system is obtained by the Euler angle transformation matrix. The second posture information is the plane coordinate system and The attitude relationship of the geographic coordinate system, and convert the geographic coordinate system into a plane coordinate system with the first point as the origin according to the second attitude information; the terminal coordinate system is the carrier coordinate system, and the origin of the terminal coordinate system and the terminal center Coincident, the z axis points above the terminal, the x axis points to the front of the terminal, and the y axis points to the right of the terminal. The second attitude information includes a pitch angle θ (pitch), a yaw angle ψ (yaw), and a roll angle Φ (roll); the pitch angle is an angle of rotation around the Y axis, that is, the angle between the X axis of the terminal coordinate system and the horizontal plane , When the positive half-axis of the X-axis is above the horizontal plane (head up) of the coordinate origin, the pitch angle is positive, otherwise it is negative; the above yaw angle ψ (yaw) is the angle of rotation around the Z axis, that is, the terminal coordinate system The angle between the projection of the X axis on the horizontal plane and the X axis of the plane coordinate system (on the horizontal plane, the pointing target is positive), from the X axis of the plane coordinate system to the X coordinate projection of the terminal coordinate system When the line is on the line, the yaw angle is positive, that is, the terminal's right yaw is positive, otherwise it is negative. The roll angle Φ(roll) is the angle of rotation of the terminal around the X axis of the terminal coordinate system, that is, the angle between the Z axis of the terminal coordinate system and the vertical plane passing through the X axis of the terminal coordinate system, the terminal rolls to the right is positive, Otherwise it is negative.

In the above step S23, the second latitudes and longitudes of the plurality of second sample points are the coordinate points on the geographic coordinate system with the center of the earth as the origin. The Euler matrix transformation is used to convert the geographic coordinate system with the center of the earth as the origin. The geographic coordinate system with the same point as the origin, and then converts the second latitude and longitude to the coordinate point on the geographic coordinate system with the same point as the origin, and then converts the geographic coordinate system to the planar coordinate system, the second latitude and longitude is in the geographic The coordinate points on the coordinate system are also converted into plane coordinates corresponding to the plane coordinate system.

In an embodiment of the present invention, the step S1 of acquiring the latitude and longitude of the multiple sample points in real time through the multi-frequency GPS in real time to obtain multiple sample points on the terminal trajectory at a preset frequency further includes:

S101. Obtain line motion data and angular motion data of the terminal in the terminal coordinate system;

S102. According to the linear motion data and the angular motion data, a correction point is calculated by an inertial navigation algorithm, and the correction point is a theoretical point of terminal inertial motion;

S103: Determine whether the position deviation between the correction point and the specified sample point is greater than a preset deviation value;

S104. If yes, clear the specified sample point.

In the above step S101, the terminal coordinate system is a carrier coordinate system, the origin coincides with the terminal center, the z axis points above the terminal, the x axis points to the front of the terminal, and the y axis points to the right of the terminal. The linear motion data and angular motion data of the terminal relative to the inertial space with the terminal coordinate system as the reference frame are measured by inertial components such as accelerometers and gyroscopes; the above inertial components are installed in the terminal and do not rely on external data or It radiates energy to the outside and is not easily disturbed.

In the above step S102, the correction point is the theoretical position of the terminal inertial motion estimated by the linear motion data and the angular motion data of the inertial navigation algorithm; the linear motion data and the angular motion data include the triaxial acceleration and triaxial angular rate of the terminal ; The triaxial angular rate can be transformed into an attitude integration function, that is, an attitude integration function; using the attitude data to convert the measured triaxial acceleration to the current terminal coordinate system, and integrating it into a vector velocity function, that is, vector velocity integration Function; a function that integrates the vector velocity in the terminal coordinate system into a position, that is, a position integration function.

In the above step S103, the correction point is the theoretical position calculated by the inertial navigation algorithm; the inertial navigation algorithm at least includes an attitude integration function, a vector velocity integration function and a position integration function; the triaxial angular rate of the terminal is determined by the attitude integration function Converted into a function of attitude product, the three-axis acceleration of the terminal is converted into a function of vector velocity integration in the current terminal coordinate system through the above vector velocity integration function, and then the vector velocity integral of the current terminal coordinate system is converted into position integral by the position integration function Function to obtain the correction point. The theoretical position calculated by the inertial navigation algorithm is compared with the position of the specified sample points collected by the multi-frequency GPS, so as to eliminate the sample points with large deviation from the theoretical position.

In the above step S104, if the value of the position deviation between the two exceeds the preset deviation value, it means that the specified sample points collected by the multi-frequency GPS will cause a larger error in the measurement area, so the specified sample point is cleared; Set the deviation value as the parameter value set by yourself after the actual measurement.

In an embodiment of the present invention, the step S103 of determining whether the position deviation between the correction point and the designated sample point is greater than a preset deviation value includes:

S1031: Calculate the first slope of the straight line connecting the specified sample point and the same point as above, and calculate the second slope of the yaw angle of the correction point; wherein, the above same point is before the specified sample point The same

S1032: Determine whether the first deviation between the first slope and the second slope is greater than the first deviation value.

In the above step S1031, the above specified sample point is a sample point that is compared with the correction point for position deviation, the same point is the adjacent sample point before the specified sample point is collected, and the above same point has been subjected to position deviation with the correction point Sample points for comparison and retention; the correction point for position comparison with the specified sample point and the correction point for position comparison with the same point are not the same correction point; the yaw angle of the above correction point for position comparison with the specified sample point is the terminal The angle between the front of the movement and the X axis of the terminal coordinate system can be calculated according to the attitude integration function in the inertial navigation algorithm.

In the above step S1032, suppose the first slope of the straight line connecting the specified sample point and the same point is Kn, and the second slope of the correction point is tanθ. If the formula |tanθ _n -k _n |<Δ ₁ holds, then the above The position deviation between the specified sample point and the calibration point is small, and the above specified sample point remains, otherwise, the position deviation between the specified sample point and the correction point is large, and the above specified sample point is cleared; where θ is the yaw angle of the above correction point, n is the nth straight line connecting the n+1th specified sample point as the nth, Δ _{1 is} based on the parameters set after the actual measurement.

In an embodiment of the present invention, the step S103 of determining whether the position deviation between the correction point and the designated sample point is greater than a preset deviation value, further includes:

S1033: Calculate the average speed of the terminal displacement process between the specified sample point and the previous point, and obtain the instantaneous speed of the correction point; wherein the previous point is the same as the previous point adjacent to the specified sample point;

S1034: Determine whether the second deviation between the instantaneous speed and the average speed is greater than the second deviation value.

The above step S103 may include steps S1031-S1034, or may only include steps S1031-S1032 or steps S1033-S1034; preferably, steps S1031-S1034 are included.

In the above step S1033, the above average speed can be calculated according to the distance between the designated sample point and the same point and the time taken to pass the distance, the calculation formula can be average speed=distance/time; the instantaneous speed of the above correction point can be based on The vector speed integral function in the inertial navigation algorithm is calculated.

In the above step S1034, suppose the average speed is v ₁ and the instantaneous speed is v _2. If the formula |v ₂ -v ₁ |<Δ ₂ holds, it means that the position deviation between the specified sample point and the correction point is small. The designated sample points are retained, otherwise, the position deviation between the above-mentioned designated sample points and the calibration point is large, and the above-mentioned designated sample points are cleared; where, Δ _{2 is} based on the parameters set after actual measurement.

In an embodiment of the present invention, the preset formula includes an area formula and a perimeter formula; the step S4 of calculating the mapping data corresponding to the specified area through the preset formula according to the plane coordinates of the plurality of sample points, include:

S41. Fit the specified area into a polygonal area having multiple vertices according to a preset error formula according to the plane coordinates of the multiple sample points; wherein the vertices of the polygon are among the multiple sample points Designated samples of

S42: Calculate the area of the polygon area according to the area formula and the plane coordinates of the vertex;

S43: Calculate the perimeter of the polygon area according to the perimeter formula and the plane coordinates of the vertex.

In the above step S41, since the movement trajectory is not necessarily a straight line, in order to make the movement trajectory as straight as possible within the error range, it is necessary to remove points that are not on the straight line; as shown in FIG. 3, set the number of multiple sample points to M, When forming a closed designated area, the non-linear motion trajectory is arc AC. Take three sample points A, B, and C on arc AC, and calculate the slopes K _AB and K _{BC of} _AB and _BC . If |k _AB -k _BC |<Δ ₂ holds, the sampling point C is selected as the vertex, and the sample point B is removed, otherwise, the sampling point B is selected as the vertex, and the sample point C is temporarily retained, and so on, so as to obtain N vertices, the N vertices Connected in turn to form a closed polygonal area; the above polygonal area is approximately a specified area, and the polygonal area is a single connected area model enclosed by a piecewise smooth curve, let the polygonal area be G, the curve R on G, function p(x, y), q(x, y) have a first-order continuous partial derivative in G, then the curve integral ∫ _R p dx+qdy is sufficient and necessary in G to be independent of the path

Established in G Neiheng, applying Green's formula, there is

In the above step S42, the above

The right end of the formula is completely discrete, and let q = x, p = y, to get the formula of the area of the area formed by the curve L:

among them,

Let curve L be the boundary of the specified area

There are n discrete points, and the vertex is an N polygon surrounded by pnk. Take any discrete equation within p _nk p _n(k+1) , from which the area formula of any polygon is derived:

Substituting the plane coordinates of each of the above vertices into the above area formula for summation, the area of the specified area is obtained.

In the above step S43, the perimeter L of the polygon containing N vertices is calculated, then the length of each side of the polygon containing N vertices is calculated, and then the length of each side is summed, so according to the above

The perimeter formula of the polygon with N-1 sides can be obtained:

Substituting the plane coordinates of each of the above vertices into the above perimeter formula for summation, then the perimeter with the specified area.

Referring to FIG. 2, an embodiment of a surveying and mapping device based on GPS multi-frequency positioning technology of the present invention includes:

The first acquisition module 1 is used to acquire the latitude and longitude of multiple sample points on the motion track in real time through multi-frequency GPS at a preset frequency;

The conversion module 2 is used to convert the latitude and longitude of the multiple sample points into plane coordinates;

A forming module 3, configured to form a closed designated area according to the plane coordinates of the plurality of sample points;

The first calculation module 4 is configured to calculate the mapping data corresponding to the specified area through a preset formula.

The above device may be a terminal (but not limited to a terminal), and the terminal includes any terminal device such as a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), an on-board computer, etc.; the above terminal is installed with a built-in multi-frequency GPS; the above-mentioned multi-frequency GPS Including dual-frequency GPS and tri-frequency GPS, the frequency band of GPS is L1, L2 and/or L5; the above-mentioned dual-frequency GPS is L1+L2 dual-frequency GPS, L1+L5 dual-frequency GPS or L2+L5 dual-frequency GPS, tri-frequency GPS It is L1+L2+L5 tri-band GPS; the frequency band of L1 is 1575.42MHz±1.023MHz, the frequency band of L2 is 1227.60MHz±1.023MHz, and the frequency band of L5 is 1176.45MHz±1.023MHz; the above-mentioned dual-frequency GPS is preferably L1+L5 Dual-frequency GPS, because L1's signal bit rate is low, easy to capture the signal, L5's signal bit rate is high, and L5's spectral density is easier to concentrate, so L1 captures the signal, L5 improves the accuracy of the signal captured by L1, thereby improving GPS positioning At the same time, L1+L5 dual-frequency GPS can eliminate ionospheric errors and achieve sub-meter positioning.

In the above-mentioned first acquisition module 1, the above-mentioned motion trajectory is a trajectory in which the user's hand-held mapping device walks around the boundary of the measurement area; the user's hand-held mapping device moves on the boundary of the measurement area. The frequency updates the position signal of the multi-frequency GPS. For example, the first acquisition module 1 collects the current latitude and longitude of the mapping device through the multi-frequency GPS every time a preset period of time passes, and uses the collected latitude and longitude as the sample point; After that, the first acquisition module 1 collects multiple samples; wherein the preset time period is preferably the shortest time period, for example, 20ms; in order to ensure the measurement accuracy of the measurement area, the first acquisition module 1 collects as many as possible Number of samples.

In the above conversion module 2, the above latitude and longitude are the coordinate position in the geographic coordinate system, which belongs to the data in three-dimensional space, which is not convenient for the calculation of the area in the two-dimensional plane, so it is necessary to convert the latitude and longitude into the plane coordinate system of the plane where the measurement area is located. Plane coordinates, and then transform spatial geometry problems into planar geometry problems, and then use algebraic methods to deal with the plane geometry problems; the conversion module 2 converts the latitude and longitude into plane coordinates can first convert the geographic coordinate system into a space rectangular coordinate system, and then the space The rectangular coordinate system is converted into a planar rectangular coordinate system; among them, the specific conversion method can be through the Bursa 7-parameter method, according to the similarities and differences between the reference ellipsoid and the ground datum, using different parameters to convert through the Euler angle transformation matrix.

In the above-mentioned forming module 3, the above-mentioned plane coordinates are the plane coordinates of the sample points in the same plane coordinate system, and the above-mentioned designated area is the single connected area that the forming module 3 fits through the above-mentioned sample points; because the number of sample points is enough Therefore, the designated area integrated by the above sample points can be approximately regarded as the measurement area.

In the above-mentioned first calculation module 4, the surveying data includes at least the area and perimeter of the specified area; the single-connected area model is established according to the plane coordinates, then the preset formula at least includes the perimeter formula and area that satisfy the single-connected area In the formula, the above single connected area is regarded as the measurement area, and the first calculation module 4 substitutes the above-mentioned plane into the perimeter formula and the area formula, thereby calculating the perimeter and area of the measurement area.

The multi-frequency GPS built into the surveying and mapping device realizes sub-meter positioning. The first acquisition module 1 collects the maximum number of sample points in the specified area, and the forming module 3 fits the collected multiple sample points into the specified area. Thus, the first calculation module 4 calculates the area and perimeter of the designated area.

In an embodiment of the present invention, the multiple sample points include a first same point and multiple second sample points, the latitude and longitude include a first latitude and longitude and multiple second latitude and longitude; the first acquisition module 1 includes:

A first acquiring unit, configured to receive an instruction to start measurement, and acquire the first longitude and latitude of the first same point on the movement track through the multi-frequency GPS, and the first same point is the starting point of the movement track;

The second obtaining unit is configured to obtain second latitudes and longitudes corresponding to the plurality of second sample points on the movement track through the multi-frequency GPS at a preset frequency.

In the above-mentioned first acquisition unit, the user holds the surveying and mapping device and inputs an instruction to start the measurement on the surveying and mapping device. The input method may be key input, touch screen operation input, voice input and/or wireless remote control input; the surveying and mapping device receives The command to start measurement, multi-frequency GPS immediately updates the current position of the surveying and mapping device, records the latitude and longitude of the position, and takes this as the first point, and the latitude and longitude of the position is the first latitude and longitude; the first point above will be used as the plane The origin of the coordinate system and the origin of the geographic coordinate system.

In the above-mentioned second acquisition unit, after the first acquisition unit acquires the first same point, the second acquisition unit acquires the sample point and records the latitude and longitude of the sample point through multi-frequency GPS every time a specified period of time passes. , The user has been holding the terminal to move on the boundary of the measurement area, so when the user returns to the position of the first point, the second acquisition unit collects multiple second samples; in order to ensure that the number of second samples is sufficient More, the user can slow down the movement speed during the movement, so that the user can walk through the boundary of the specified area for a long enough time, so that the frequency of the multi-frequency GPS update is sufficient enough, and the sample points collected by the second acquisition unit Enough; or speed up the update frequency of multi-frequency GPS.

In an embodiment of the present invention, the conversion module 2 includes:

Establishing a unit for establishing a geographic coordinate system using the first point as the origin, the horizontal east-west direction as the X axis, the horizontal north-south direction as the Y axis, and the vertical height direction as the Z axis;

A first conversion unit, configured to convert the geographic coordinate system into a planar coordinate system with the first point as the origin according to a preset coordinate system conversion rule;

The second conversion unit is configured to convert the second latitude and longitude of the plurality of second sample points into plane coordinates of the plane coordinate system, respectively.

In the above step establishing unit, the geographic coordinate system is a geodetic coordinate system, which is also a space rectangular coordinate system, the latitude and longitude of the plurality of second sample points are coordinates on the geographic coordinate system, and the latitude and longitude of the second sample point are in the geographic coordinate system The above is expressed as (J, W, H), where J is longitude, W is latitude, and H is altitude; the coordinate axis of the above geographic coordinate system can also be in other directions.

In the first conversion unit, the preset coordinate system conversion rule may perform Euler angle transformation according to the first posture information collected by the acceleration sensor, gyroscope, and/or geomagnetic sensor built in the surveying and mapping device; the first posture The information is the attitude relationship between the coordinate system where the terminal is located and the plane coordinate system, and there is also an attitude relationship between the terminal coordinate system and the geographic coordinate system, and then the second attitude information of the geographic coordinate system is obtained by the Euler angle transformation matrix, and the second attitude information is plane The attitude relationship between the coordinate system and the geographic coordinate system, and according to the second attitude information, the geographic coordinate system is converted into a plane coordinate system with the first point as the origin; the terminal coordinate system is the carrier coordinate system, and the origin of the terminal coordinate system It coincides with the center of the surveying and mapping device, the z axis points to the top of the surveying and mapping device, the x axis points to the front of the surveying and mapping device, and the y axis points to the right of the surveying and mapping device. The second attitude information includes a pitch angle θ (pitch), a yaw angle ψ (yaw), and a roll angle Φ (roll); the pitch angle is an angle of rotation around the Y axis, that is, the angle between the X axis of the terminal coordinate system and the horizontal plane , When the positive half-axis of the X-axis is above the horizontal plane (head up) of the coordinate origin, the pitch angle is positive, otherwise it is negative; the above yaw angle ψ (yaw) is the angle of rotation around the Z axis, that is, the terminal coordinate system The angle between the projection of the X axis on the horizontal plane and the X axis of the plane coordinate system (on the horizontal plane, the pointing target is positive), from the X axis of the plane coordinate system to the X coordinate projection of the terminal coordinate system When the line is on line, the yaw angle is positive, that is, the right yaw of the surveying and mapping device is positive, otherwise it is negative. The roll angle Φ (roll) is the angle of rotation of the surveying and mapping device around the X axis of the terminal coordinate system, that is, the angle between the Z axis of the terminal coordinate system and the vertical plane passing through the X axis of the terminal coordinate system, and the mapping device rolls to the right Is positive, otherwise it is negative.

In the above-mentioned second conversion unit, the second latitudes and longitudes of the plurality of second sample points are the coordinate points on the geographic coordinate system with the center of the earth as the origin, and the geographic coordinate system with the center of the earth as the origin is converted into The geographic coordinate system with the first point as the origin, and then converts the second latitude and longitude to the coordinate point on the geographic coordinate system with the first point as the origin, and then converts the geographic coordinate system to the plane coordinate system, the second latitude and longitude The coordinate points on the geographic coordinate system are also converted into plane coordinates corresponding to the plane coordinate system.

In an embodiment of the invention, the device further includes:

The second acquisition module is used to acquire the linear motion data and angular motion data of the terminal in the terminal coordinate system;

The second calculation module is used to calculate a correction point calculated by the inertial navigation algorithm according to the linear motion data and the angular motion data, where the correction point is a theoretical point of terminal inertial motion;

The judgment module is used for judging whether the position deviation between the correction point and the specified sample point is greater than a preset deviation value, and the specified sample point is a sample point in the second sample point;

The clearing module, if yes, clears the specified sample point.

In the above second acquisition module, the terminal coordinate system is a carrier coordinate system, the origin coincides with the center of the surveying and mapping device, the z axis points above the surveying device, the x axis points in front of the surveying device, and the y axis points to the right of the surveying device. The linear motion data and angular motion data of the mapping device relative to the inertial space with the terminal coordinate system as the reference frame are measured by inertial elements such as accelerometers and gyroscopes; the above inertial elements are installed in the mapping device and do not depend on external data during work. It also does not radiate energy to the outside and is not susceptible to interference.

In the second calculation module, the correction point is the theoretical position of the terminal inertial motion calculated by the linear motion data and angular motion data of the inertial navigation algorithm; the linear motion data and angular motion data include the three-axis acceleration and three axes of the terminal Angular rate; the three-axis angular rate can be transformed into an integral function of attitude, that is, the attitude integral function; using the attitude data to convert the measured three-axis acceleration to the current terminal coordinate system, and then integrate it into a function of vector velocity, that is, vector Speed integration function; a function that integrates the vector speed in the terminal coordinate system into a position, that is, a position integration function.

In the above judgment module, the correction point is the theoretical position calculated by the inertial navigation algorithm; the above inertial navigation algorithm includes at least an attitude integration function, a vector velocity integration function and a position integration function; the three axis angular rate of the terminal is determined by the attitude integration function Converted into a function of attitude product, the three-axis acceleration of the terminal is converted into a function of vector velocity integration in the current terminal coordinate system through the above vector velocity integration function, and then the vector velocity integral of the current terminal coordinate system is integrated into the position integral by the position integration function Function to obtain the correction point. The judgment module compares the theoretical position calculated by the inertial navigation algorithm with the position of the specified sample points collected by the multi-frequency GPS, and clears the module to remove the sample points with large error from the theoretical position.

In the above removal module, if the value of the position deviation between the two exceeds the preset deviation value, it means that the specified sample points collected by the multi-frequency GPS will cause a larger error in the measurement area, so the removal module clears the specified sample points; The above-mentioned preset deviation value is a parameter value set by itself after actual measurement.

In an embodiment of the invention, the judgment module includes:

A first calculation unit, configured to calculate a first slope of a straight line connecting the specified sample point and the same point as above, and calculate a second slope of the yaw angle of the correction point, wherein the above same point is the same as Said the same point adjacent to the designated sample point;

The first determining unit is configured to determine whether the first deviation between the first slope and the second slope is greater than the first deviation value.

In the above-mentioned first calculation unit, the above-mentioned specified sample point is a sample point for comparing the position deviation with the correction point, the same point is the adjacent sample point before the specified sample point is collected, the above-mentioned same point has already been performed with the correction point The sample points for which the position deviation is compared and retained; the correction point for the position comparison with the specified sample point and the correction point for the position comparison with the same point are not the same correction point; the yaw angle of the above correction point for the position comparison with the specified sample point The angle between the front of the mapping device and the X axis of the terminal coordinate system can be calculated according to the attitude integration function in the inertial navigation algorithm.

In the above first judgment unit, suppose that the first slope of the straight line connecting the specified sample point and the same point is Kn, and the second slope of the correction point is tanθ, if the formula |tanθ _n -k _n |<Δ ₁ holds, then It means that the position deviation between the specified sample point and the calibration point is small, and the specified sample point remains, otherwise, the position deviation between the specified sample point and the correction point is large, and the specified sample point is cleared; where, θ is the yaw of the correction point Angle, n is the nth straight line connected to the n+1th specified sample point as the nth, Δ _{1 is} based on the parameters set after the actual measurement.

In an embodiment of the present invention, the above judgment module further includes:

A second calculation unit, configured to calculate the average speed of the terminal displacement process between the specified sample point and the same point as above, and to obtain the instantaneous speed of the correction point, wherein the previous point is the phase corresponding to the specified sample point Same point before the neighbor;

A second judgment unit is used to judge whether the second deviation between the instantaneous speed and the average speed is greater than a second deviation value.

The above determination module may include a first calculation unit, a first determination unit, a second calculation unit and a second determination unit, or may include only the first calculation unit and the first determination unit or only the second calculation unit and the second determination unit ; Preferably, it includes a first calculation unit, a first determination unit, a second calculation unit, and a second determination unit.

In the above-mentioned second calculation unit, the above-mentioned average speed can be calculated according to the distance between the specified sample point and the same point and the time taken to pass the distance, the calculation formula can be: average speed=distance/time; instantaneous speed of the above correction point It can be calculated according to the vector speed integral function in the inertial navigation algorithm.

In the second judgment unit, let the average speed be v ₁ and the instantaneous speed be v _2. If the formula |v ₂ -v ₁ |<Δ ₂ holds, it means that the position deviation between the specified sample point and the correction point is small , The above-mentioned designated sample point remains, otherwise, the position deviation between the above-mentioned designated sample point and the calibration point is large, and the above-mentioned designated sample point is cleared; among them, Δ _{2 is} based on the parameters set after actual measurement.

In an embodiment of the present invention, the preset formula includes an area formula and a perimeter formula; the first calculation module 4 includes:

A fitting unit, configured to fit the specified area into a polygonal area with multiple vertices according to a predetermined error formula according to the plane coordinates of the multiple sample points; wherein the vertices of the polygon are the multiple Sample points in a sample point;

An area calculation unit, used to calculate the area of the polygonal area according to the area formula and the plane coordinates of the vertex;

The perimeter calculation unit is configured to calculate the perimeter of the polygonal area according to the perimeter formula and the plane coordinates of the vertex.

In the above fitting unit, since the movement trajectory is not necessarily a straight line, in order to make the movement trajectory as straight as possible within the error range, it is necessary to remove points that are not on the straight line; as shown in Figure 3, set the number of multiple sample points to M , When forming a closed designated area, the non-linear motion trajectory is arc AC, take three sample points A, B, and C on arc AC, and calculate the slopes K _AB and K _{BC of} _AB and _BC , if |k _AB -k _BC | <Δ ₃ holds, then the sampling point C is selected as the vertex, and the sample point B is removed, otherwise, the sampling point B is selected as the vertex, and the sample point C is temporarily retained, and so on, so as to obtain N vertices, and N The vertices are connected in sequence to form a closed polygonal area; the above polygonal area is approximately a specified area, and the polygonal area is a single connected area model surrounded by a piecewise smooth curve, let the polygonal area be G, the curve R on G, function p(x , Y), q(x, y) have a first-order continuous partial derivative in G, then a sufficient and necessary condition for the curve integral ∫ _R p dx+qdy to be independent of the path in G

Established in G Neiheng, applying Green's formula, there is

In the above area calculation unit, the above

among them,

Let curve L be the boundary of the specified area

In the above perimeter calculation unit, calculate the perimeter L of the polygon containing N vertices, then calculate the length of each side of the polygon containing N vertices, and then sum the length of each side, so according to the above

The perimeter formula of the polygon with N-1 sides can be obtained:

The present invention also provides a computer device, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor. The processor implements the computer program to implement the above-described mapping method .

The computer device may be a terminal (but not limited to a terminal), and the terminal includes any terminal device including a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), an in-vehicle computer, and the like.

Those skilled in the art may understand that the computer device described in the present invention and the device involved in the above are used to perform one or more of the methods described in this application. These devices may be specially designed and manufactured for the required purpose, or may also include known devices in general-purpose computers. These devices have computer programs or application programs stored therein, which are selectively activated or reconstructed. Such a computer program may be stored in a device (eg, computer) readable medium or any type of medium suitable for storing electronic instructions and respectively coupled to a bus, the computer readable medium including but not limited to any Types of disks (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory , Erasable programmable read-only memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card. That is, a readable medium includes any medium that stores or transmits information in a readable form by a device (eg, a computer).

The above is only a preferred embodiment of the present invention, and thus does not limit the patent scope of the present invention.

Claims

A surveying and mapping method, characterized in that it includes:

Under the preset frequency, obtain the latitude and longitude of multiple samples on the movement track of the terminal in real time through multi-frequency GPS;

Converting the latitude and longitude of the plurality of sample points into plane coordinates;

Forming a closed designated area according to the plane coordinates of the plurality of sample points;

The mapping data corresponding to the specified area is calculated through a preset formula.
The surveying and mapping method according to claim 1, wherein the plurality of sample points include a first same point and a plurality of second sample points, and the latitude and longitude include a first latitude and longitude and a plurality of second latitude and longitude; The step of acquiring the latitude and longitude of multiple sample points on the movement track of the terminal in real time through multi-frequency GPS at a preset frequency includes:

Receiving an instruction to start measurement, and acquiring the first longitude and latitude of the first same point on the movement track through the multi-frequency GPS, the first same point being the starting point of the movement track;

At the preset frequency, the second longitude and latitude corresponding to the plurality of second sample points on the motion track are obtained by the multi-frequency GPS.
The surveying and mapping method according to claim 2, wherein the step of converting the latitude and longitude of a plurality of sample points into plane coordinates includes:

Establish a geographic coordinate system by using the first point as the origin, the horizontal east-west direction as the X axis, the horizontal north-south direction as the Y axis, and the vertical height direction as the Z axis;

Convert the geographic coordinate system into a planar coordinate system with the first point as the origin according to a preset coordinate system conversion rule;

Converting the second latitude and longitude of the plurality of second sample points into plane coordinates of the plane coordinate system, respectively.
The surveying and mapping method according to claim 1, wherein after the step of acquiring the latitude and longitude of a plurality of sample points on the motion trajectory of the terminal in real time at a preset frequency through multi-frequency GPS, the method further comprises:

Obtain the linear motion data and angular motion data of the terminal in the terminal coordinate system;

According to the linear motion data and angular motion data, a correction point is calculated by an inertial navigation algorithm, and the correction point is a theoretical point of terminal inertial motion;

Judging whether the position deviation between the correction point and the specified sample point is greater than a preset deviation value, and the specified sample point is the sample point in the second sample point;

If yes, the specified sample point is cleared.
The surveying and mapping method according to claim 4, wherein the step of determining whether the position deviation between the correction point and the designated sample point is greater than a preset deviation value includes:

Calculating the first slope of the straight line connecting the specified sample point and the same point as above, and calculating the second slope of the yaw angle of the correction point; wherein, the previous point is adjacent to the specified sample point Same as before

It is determined whether the first deviation between the first slope and the second slope is greater than the first deviation value.
The surveying and mapping method according to claim 4, wherein the step of determining whether the position deviation between the correction point and the designated sample point is greater than a preset deviation value, further comprising:

Calculating the average speed of the displacement process of the terminal between the designated sample point and the same point as above, and acquiring the instantaneous velocity of the correction point, wherein the above same point is the previous same point adjacent to the designated sample point;

It is determined whether the second deviation between the instantaneous speed and the average speed is greater than the second deviation value.
The surveying and mapping method according to claim 1, wherein the preset formula includes an area formula and a perimeter formula; and the step of calculating the surveying and mapping data corresponding to the specified area by using the preset formula includes:

According to the plane coordinates of the plurality of sample points, the specified area is fitted into a polygonal area with multiple vertices according to a preset error formula; wherein the vertices of the polygon are the samples of the multiple sample points point;

Calculate the area of the polygonal area according to the area formula and the plane coordinates of the vertex;

The perimeter of the polygon area is calculated according to the perimeter formula and the plane coordinates of the vertex.
A surveying and mapping device, characterized in that it includes:

The first acquisition module is used to acquire the latitude and longitude of multiple sample points on the terminal's motion track in real time through multi-frequency GPS at a preset frequency;

A conversion module, configured to convert the latitude and longitude of the plurality of sample points into plane coordinates;

A forming module, configured to form a closed designated area according to the plane coordinates of the plurality of sample points;

The first calculation module is used to calculate the mapping data corresponding to the specified area through a preset formula.
The surveying and mapping device according to claim 8, wherein the plurality of sample points include a first same point and a plurality of second sample points, and the latitude and longitude include a first latitude and longitude and a plurality of second latitude and longitude; the first One acquisition module, including:

A first acquiring unit, configured to receive an instruction to start measurement, and acquire the first longitude and latitude of the first same point on the movement track through the multi-frequency GPS, and the first same point is the starting point of the movement track;

The second obtaining unit is configured to obtain second latitudes and longitudes corresponding to the plurality of second sample points on the movement track through the multi-frequency GPS at a preset frequency.
The surveying and mapping device according to claim 9, wherein the conversion module comprises:

Establishing a unit for establishing a geographic coordinate system using the first point as the origin, the horizontal east-west direction as the X axis, the horizontal north-south direction as the Y axis, and the vertical height direction as the Z axis;

A first conversion unit, configured to convert the geographic coordinate system into a planar coordinate system with the first point as the origin according to a preset coordinate system conversion rule;

The second conversion unit is configured to convert the second latitude and longitude of the plurality of second sample points into plane coordinates of the plane coordinate system, respectively.
The surveying and mapping device according to claim 8, wherein the device further comprises:

The second acquisition module is used to acquire the linear motion data and angular motion data of the terminal in the terminal coordinate system;

The second calculation module is used to calculate a correction point calculated by the inertial navigation algorithm according to the linear motion data and the angular motion data, where the correction point is a theoretical point of terminal inertial motion;

The judgment module is used for judging whether the position deviation between the correction point and the specified sample point is greater than a preset deviation value, and the specified sample point is a sample point in the second sample point;

The clearing module, if yes, clears the specified sample point.
The surveying and mapping device according to claim 11, wherein the judgment module comprises:

A first calculation unit, configured to calculate a first slope of a straight line connecting the specified sample point and the same point as above, and calculate a second slope of the yaw angle of the correction point, wherein the above same point is the same as Said the same point adjacent to the designated sample point;

The first determining unit is configured to determine whether the first deviation between the first slope and the second slope is greater than the first deviation value.
The surveying and mapping device according to claim 11, wherein the judgment module further comprises:

A second calculation unit, configured to calculate the average speed of the terminal displacement process between the specified sample point and the same point as above, and to obtain the instantaneous speed of the correction point, wherein the previous point is the phase corresponding to the specified sample point Same point before the neighbor;

A second judgment unit is used to judge whether the second deviation between the instantaneous speed and the average speed is greater than a second deviation value.
The surveying and mapping device according to claim 8, wherein the preset formula includes an area formula and a perimeter formula; and the first calculation module includes:

A fitting unit, configured to fit the specified area into a polygonal area with multiple vertices according to a predetermined error formula according to the plane coordinates of the multiple sample points; wherein the vertices of the polygon are the multiple Sample points in a sample point;

An area calculation unit, used to calculate the area of the polygonal area according to the area formula and the plane coordinates of the vertex;

The perimeter calculation unit is configured to calculate the perimeter of the polygonal area according to the perimeter formula and the plane coordinates of the vertex.
A computer device, characterized in that it includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and the processor implements the computer program as claimed in claim 1 The surveying and mapping method described in any one of ~7.