CN105652303B - A kind of mountain area field sampling based on mobile electronic devices such as Pad does not contact localization method quickly - Google Patents

Abstract

The present invention relates to a kind of mountain area field samplings based on mobile electronic devices such as Pad not to contact localization method quickly, including, using Cross location pattern or apart from position fix pattern, positioning measurement being carried out to the target for being difficult to contact on the spot by integrated mobile electronic device GPS, electronic compass and gyroscope and laser range finder.This method solve be unable to space coordinate of the measurement long distance from impalpable Target scalar to be sampled during the field sampling of mountain area.

Description

A fast non-contact positioning method for field sampling in mountainous areas based on mobile electronic devices such as Pad bit method

technical field

The present invention relates to a fast non-contact positioning method for field sampling in mountainous areas based on mobile electronic equipment, in particular to a method for locating target features that cannot be touched due to distance, terrain and mountain disasters during the field sampling process in mountainous areas. The field of surveying positioning of distant features on the earth's surface.

Background technique

Fixed-point sampling in the field is a necessary prerequisite for geographical surveys, field surveys of land cover, and fixed-point surveys of mountain disasters. Field surveys in mountainous areas are usually difficult to sample due to the large undulations and complex terrain. Conventional land cover sample point data collection in the field mainly uses GPS fixed points and paper records as the medium. This sampling method is often recorded separately because of the spatial position information of sample points, land cover attribute information and image information, and its efficiency is low. The operation is complicated and error-prone. With the development and popularization of electronic products, the mobile field land cover sampling method using electronic equipment as the medium has developed rapidly. The mobile field survey method uses portable mobile devices such as mobile phones, tablets, and PDAs as carriers to collect the land cover conditions of the survey route through the field sampling system, and can collect spatial information, attribute information, and image information of the sample points in an integrated manner. This method can effectively improve the efficiency of field sampling and enrich the amount of field sampling information. Therefore, many domestic and foreign companies use mobile GPS, GIS and RS technologies to develop and launch their own mobile sampling products, such as ESRI's ArcPad, Trimble's TerraSync and Mobile products such as eSuperMap of SuperMap and UCMAP of Bubu Technology. However, the above-mentioned sampling methods and mobile products are affected by the limitation of distance and the obstruction of rivers and mountains, so that the sampling personnel cannot contact with the target features and cannot accurately obtain the spatial coordinates of the target features, and often need to be used in combination with relevant professional knowledge GIS software modifies field sampling information, which increases the workload of the office. In the process of field investigation in mountainous areas, if it is necessary to quickly and accurately obtain field sampling information with high positioning accuracy, it is necessary to integrate a variety of advanced measurement technologies and study the method of non-contact positioning.

Mobile GPS technology, precision electronic compass and gyroscope, and laser ranging technology provide technical support for obtaining its spatial coordinates without touching the target object. Among them, the mobile GPS provides the spatial coordinates for obtaining the current position, the precision electronic compass and the gyroscope can obtain the azimuth between the current position and the straight line direction of the target object to be sampled relative to the north direction, and the laser ranging technology can be used without touching the target object. In the case of obtaining the distance between the current position and the target object to be sampled. Based on the application of mobile GPS technology, precision electronic compass and gyroscope and laser ranging technology, the present invention introduces rendezvous fixed point and distance orientation in mobile electronic equipment and laser range finder integrating mobile GPS, precision electronic compass and gyroscope Two fixed-point methods can quickly and accurately obtain the spatial coordinate information of long-distance untouchable targets in mountainous areas. Especially in mountainous areas, where rivers and high mountains are seriously obstructed, and landslides, collapses and other disasters occur frequently, it is impossible for sampling personnel to contact the target so that it is difficult or even impossible to obtain accurate coordinate information of the target. Apply the non-contact positioning method provided by the present invention It can not only quickly and accurately obtain the spatial coordinates of the long-distance target, but also ensure the personal safety of the staff.

Contents of the invention

The purpose of the present invention is to solve the problem of not being able to measure the spatial coordinates of remote and untouchable target features to be sampled during the field sampling process in mountainous areas, and to provide a non-contact positioning method based on mobile electronic devices.

The invention provides a non-contact positioning method based on a mobile electronic device, including

The mobile electronic device includes GPS, camera, precision electronic compass and gyroscope functions, including the following steps:

Step 1, switch the sampling mode, choose to use the intersection fixed-point mode or the distance and azimuth fixed-point mode;

Step 2, if the intersection fixed-point mode is selected, use the intersection fixed-point method for measurement;

Step 3, if the distance and azimuth fixed-point mode is selected, use the distance and azimuth fixed-point method for measurement.

The process of step 2 is as follows:

Step 2.1, set the three vertices A, B, and C of the known triangle, where A and B are the positions that the staff can reach, and point C is the position to be determined;

Step 2.2, applying GPS to measure the spatial coordinates of A and B;

Step 2.3, use the electronic compass and gyroscope to measure the horizontal angle a of the AC direction relative to the north direction and the angle β1 between the AC direction and the horizontal plane, the horizontal angle r between the BC direction relative to the north direction and the angle β2 between the BC direction and the horizontal plane ;

Step 2.4, calculate the coordinates of C according to the coordinates of points A and B and the angle between the directions of AC and BC relative to the north, and the coordinates of point C are calculated according to the following formula:

In the formula, A and B represent the position of the intersection point in the intersection measurement, and C represents the fixed-point target; α, r, and β1 represent the azimuth angle of the AC direction relative to the north direction, the azimuth angle of the BC direction relative to the north direction, and the AC direction and the north direction respectively. The included angle of the horizontal plane; X _B , Y _B , Z _B respectively represent the space coordinates of the point _C to be fixed; X _A , Y _A , Z _A represent the space coordinates of the point _A to be fixed respectively; space coordinates

Preferably, the process of step 3 is as follows:

Step 3.1, set two points A and C, wherein point A is the position that the staff can reach, and point C is the position to be determined;

Step 3.2, using GPS to obtain the spatial coordinates of point A;

Step 3.3, using the electronic compass and gyroscope to measure the horizontal angle a of the AC direction relative to the north direction and the vertical angle r of the AC direction relative to the horizontal ground;

Step 3.4, use the laser rangefinder to measure the horizontal distance S between the two points A and C, and calculate the spatial coordinates of the C point. The spatial coordinates of the C point are calculated according to the following formula:

In the formula, A and C respectively represent the positions of the sampling personnel and the target to be determined; a represents the azimuth angle of the AC direction relative to the true north direction; r represents the angle between the AC direction and the horizontal plane; S represents the level between point A and point C Distance; X _C , Y _C , Z _C respectively represent the space coordinates of point C to be determined; X _A , Y _A , Z _A represent the space coordinates of point A to be determined respectively.

Preferably, the types of target features for positioning include: surface features in mountainous areas or ground features that are difficult to contact on the ground due to natural conditions.

Compared with the existing technology, the present invention provides a non-contact positioning method based on mobile electronic equipment. The present invention can efficiently and Accurate and automatic collection of spatial coordinates where sampling personnel in mountainous areas cannot touch target features. The present invention has the advantages of high efficiency, high precision, and automatic fixed-point sampling in the field, and is especially significant for massive field data sampling limited by terrain conditions and mountain disasters in mountainous areas. It solves the problem of general field sampling products such as ArcPad, UCMAP, etc. The problem that mobile products cannot quickly obtain the spatial coordinates of long-distance inaccessible target objects.

Description of drawings

Figure 1 is an example diagram of an untouchable long-distance target sampled in the field;

Fig. 2 is a schematic diagram of the geometric principle of the intersection fixed-point method;

Fig. 3 is a schematic diagram of the geometric principle of the distance and azimuth fixed-point method;

Figure 4 is an interface display diagram of a set of field sampling system designed based on the non-contact positioning method in mountainous areas;

Figure 5 is a schematic diagram of the interface of the rendezvous and fixed-point positioning method in the field sampling system

Figure 6 is a schematic diagram of the interface of the distance and azimuth fixed-point method in the field sampling system

Detailed ways

The type of target features that the non-contact positioning method of the present invention faces: a, surface features in mountainous areas: features on the hard surface of the earth, such as: trees, farmland, roads and buildings; b, targeted features: affected Blocked by terrain factors such as rivers and mountains, far away from sampling personnel, frequent disasters such as collapses and landslides, surface features that are difficult or even impossible for staff to contact, such as: forests on high mountains, farmland on the other side of the river and disaster points such as collapses and landslides.

The non-contact positioning method adopted in the present invention includes: intersection fixed-point method and distance and azimuth fixed-point method, using integrated GPS technology, camera technology, precision electronic compass and gyroscope technology to reach the non-contact target feature to obtain its coordinate information.

As shown in Figure 2, the rendezvous and fixed-point method, according to the principle of rendezvous measurement in surveying, uses GPS technology and electronic compass orientation technology to measure the spatial coordinates of the target object: the three vertices A, B, and C of the triangle are known, where A Points 1 and B are the positions (roads) that the staff can reach, and point C is the position of the point to be determined. GPS is used to measure the spatial coordinates of points A and B, and the electronic compass and gyroscope measure the horizontal angle of the AC direction relative to the north direction. a and the angle β1 between the AC direction and the horizontal plane, the horizontal angle r between the BC direction and the horizontal plane r, and the angle β2 between the BC direction and the horizontal plane, calculated according to the coordinates of points A and B and the angle between the AC and BC directions relative to the north C's coordinates.

The coordinates of point C measured by the intersection fixed point method are calculated according to the following formula:

In the formula, A and B represent the position of the intersection point in the intersection measurement, and C represents the fixed-point target; α, r, and β1 represent the azimuth angle of the AC direction relative to the north direction, the azimuth angle of the BC direction relative to the north direction, and the AC direction and the north direction respectively. The included angle of the horizontal plane; X _C , Y _C , Z _C respectively represent the space coordinates of the point C to be fixed; X _A , Y _A , Z _A represent the space coordinates of the point A to be fixed in the X direction, the Y direction and the Z direction respectively; X _B , Y _B respectively represent the X and Y direction space coordinates of the point B to be determined.

As shown in Figure 3, the distance and azimuth fixed point method, according to the principle of traverse survey in surveying, applies GPS technology, electronic compass orientation technology and laser ranging technology: set two points A and C, and point A is accessible to the staff The position of point C is the position of the point to be determined, and the spatial coordinates (X _A , Y _A , Z _A ) of point A are obtained by GPS, and the precision electronic compass and gyroscope measure the horizontal angle a and the AC direction of the AC direction relative to the north direction Relative to the vertical angle r of the horizontal ground, the laser rangefinder measures the horizontal distance S between the two points A and C, and calculates the spatial coordinates of point C.

The space coordinates of point C measured by the fixed-point method of distance and azimuth are calculated according to the following formula:

In the formula, A and C respectively represent the positions of the sampling personnel and the target to be determined; a represents the azimuth angle of the AC direction relative to the true north direction; r represents the angle between the AC direction and the horizontal plane; S represents the level between point A and point C Distance; X _C , Y _C , Z _C respectively represent the space coordinates of point C to be determined; X _A , Y _A , Z _A represent the space coordinates of point A to be determined respectively.

The accuracy evaluation based on the non-contact positioning method of mobile electronic equipment is calculated according to the following formula:

In the above formula, dx, dy, and dz respectively represent the coordinate error of the same target in the X, Y, and Z directions measured by the non-contact positioning method in mountainous areas and the high-precision sub-meter GPS; ΔS represents the non-contact positioning method and the high-precision sub-meter GPS Measure the distance error of the same target; Represents the average distance error between the non-contact positioning method and the high-precision sub-meter GPS measurement of the same target, ΔS _i is the distance error between the i-th measurement result of the method of the present invention and the high-precision and intensive GPS measurement result, and N is the number of measurements .

As shown in Figures 4-6, the mobile electronic device using the present invention operates as follows:

(1) Sampling mode switching: click the intersection sampling in the lower right corner of the map interface in the field sampling system to automatically switch to the intersection sampling mode; click the acquisition button in the main menu to switch to the intersection sampling interface, as shown in Figure 5;

(2) Rendezvous and fixed point: the hand-held mobile electronic device aims at the target feature C to be sampled through the cross hair in the rendezvous fixed point sampling interface, click to aim and automatically record the spatial coordinates of the current position A, the azimuth of the AC direction relative to the north direction and the AC direction Angle with the horizontal plane; move the position, and aim at the target feature C to be sampled through the crosshair in the intersect fixed-point sampling interface; click to automatically record the spatial coordinates of the current position B, the azimuth of the BC direction relative to the north direction, and the BC direction and The included angle of the horizontal plane, the software automatically solves the spatial coordinates of the target feature C by the formula (1);

(3) Sampling mode switching: Click the distance and azimuth sampling in the lower right corner of the map interface in the field sampling system to automatically switch to the distance and azimuth sampling mode; click the acquisition button in the main menu to switch to the distance and azimuth sampling interface, as shown in Figure 6;

(4) Distance and azimuth fixed point: the hand-held mobile electronic device aims at the target feature C to be sampled through the cross hair in the intersect fixed point sampling interface, and clicks to aim to automatically record the spatial coordinates of the current position A, the azimuth of the AC direction relative to the north direction and AC The angle between the direction and the horizontal plane; the handheld laser rangefinder aims at the target object C, measures the horizontal distance between the current position A and the target object C, manually enters the distance information, and the software automatically calculates the target object according to the formula (II) C space coordinates.

(5) Accuracy evaluation: the spatial coordinates of the same target feature are respectively measured by high-precision sub-meter-level GPS and the non-contact positioning method of the present invention. Compare the distance difference between the spatial coordinates of the target surface object measured by two kinds of measuring instruments and the coordinate difference in the three directions of X, Y, and Z, and evaluate the non-contact positioning method of the present invention to measure the target surface object according to formula (III) The precision of the space coordinates.

Through the field sampling test, the sampling accuracy of the non-contact positioning method is shown in Table 1:

Table 1 Accuracy evaluation results

Note: Tianbao GPS positioning accuracy: centimeter level; tablet built-in GPS positioning accuracy: about 15m.

(6) Non-contact positioning efficiency: the hardware platform of the electronic equipment test adopted in the present invention can be a Samsung tablet computer based on Android system, model: GT-N8000, system version: Android 4.1.2, baseband version: N8000ZCCMD2, memory: 2GB, HDD: 16GB. Test results: Click the measurement button to automatically collect the spatial coordinates of long-distance inaccessible targets, with high efficiency. The invention can greatly improve the accuracy of the spatial coordinates of the field sampling target features and the efficiency of field sampling, reduce the workload and cost of the office, and provide efficient and accurate sampling for the field fixed-point sampling without contacting the target features in mountainous areas. technical and theoretical support.

In summary, the present invention proposes a non-contact positioning method based on mobile electronic devices. The above description is only used to help understand the method and its core idea of the present invention; meanwhile, for those skilled in the art, according to the present invention Thoughts, there will be changes in the specific implementation and application scope. In summary, the contents of this specification should not be construed as limiting the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention. Furthermore, it is intended that the appended claims of the present invention embrace all changes and modifications that come within the scope and metesques of the appended claims, or equivalents of such scope and metes and bounds.

Claims (2)

1. A fast non-contact positioning method based on mobile electronic equipment for mountain field sampling, characterized in that: mobile electronic equipment includes GPS, camera, precision electronic compass and gyroscope functions, comprising the steps of: Step 1, switch the sampling mode, choose to use the intersection fixed-point mode or the distance and azimuth fixed-point mode; Step 2, if you choose to adopt the intersection fixed-point mode, use the intersection fixed-point method to measure, and the specific steps further include: Step 2.1, set the three vertices A, B, and C of the known triangle, where A and B are the positions that the staff can reach, and point C is the position to be determined; Step 2.2, applying GPS to measure the spatial coordinates of A and B; Step 2.3, using the electronic compass and gyroscope to measure the azimuth a of the AC direction relative to the north direction, the angle β ₁ between the AC direction and the horizontal plane, and the azimuth r of the BC direction relative to the north direction; Step 2.4, calculate the coordinates of C according to the coordinates of points A and B and the angle between the directions of AC and BC relative to the north, and the coordinates of point C are calculated according to the following formula: In the formula, A and B represent the location of the intersection point in the intersection measurement, and C represents the fixed-point target; α, r, and _β1 represent the azimuth angle of the AC direction relative to the north direction, the azimuth angle of the BC direction relative to the north direction, and the AC direction The included angle with the horizontal plane; X _B , Y _B , Z _B respectively represent the space coordinates of the point B to be fixed; X _A , Y _A , Z _A represent the space coordinates of the point A to be fixed respectively; X _C , Y _C , Z _C represent the The spatial coordinates of the point C to be determined; Step 3, if you choose to use the distance and azimuth fixed-point mode, then use the distance and azimuth fixed-point method for measurement, and the specific steps further include: Step 3.1, set two points A and C, wherein point A is the position that the staff can reach, and point C is the position to be determined; Step 3.2, using GPS to obtain the spatial coordinates of point A; Step 3.3, using the electronic compass and gyroscope to measure the azimuth a of the AC direction relative to the north direction and the angle r between the AC direction and the horizontal plane; Step 3.4, use the laser rangefinder to measure the horizontal distance S between the two points A and C, and calculate the spatial coordinates of the C point. The spatial coordinates of the C point are calculated according to the following formula: In the formula, A and C respectively represent the positions of the sampling personnel and the target to be determined; a represents the azimuth angle of the AC direction relative to the true north direction; r represents the angle between the AC direction and the horizontal plane; S represents the level between point A and point C Distance; X _C , Y _C , Z _C respectively represent the space coordinates of point C to be determined; X _A , Y _A , Z _A represent the space coordinates of point A to be determined respectively. 2. According to claim 1, a method for fast non-contact positioning of field sampling in mountainous areas based on mobile electronic devices, is characterized in that: the types of target features for positioning include: surface features in mountainous areas or those that are difficult to contact on the spot due to natural conditions surface features.