CN109859613A - A kind of high-precision cartography method and mobile unit based on projected coordinate system - Google Patents
A kind of high-precision cartography method and mobile unit based on projected coordinate system Download PDFInfo
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Abstract
The present embodiments relate to a kind of high-precision cartography method and mobile unit based on projected coordinate system, method include: to acquire the location data and sensing data of limited area, and location data includes longitude and latitude；Based on longitude or latitude, limited area median is determined；Based on limited area median, longitude and latitude are converted as the plane coordinates in projected coordinate system；Based on plane coordinates, three-dimensional coordinate is constructed；Based on sensing data and three-dimensional coordinate, high-precision map is made.In the embodiment of the present invention, by determining limited area median, and the new benchmark for converting limited area median as coordinate, compared to the benchmark that the median longitudinal in the region divided using projected coordinate system is converted as coordinate, if limited area is transregional region, in transregional region, longitude and latitude including transregional region intersection, closer to new benchmark, improve the accuracy that longitude and latitude is converted to plane coordinates in transregional region, so that high-precision map is more accurate.
Description
Technical field
The present embodiments relate to technical field of data processing, and in particular to a kind of high-precision map based on projected coordinate system
Production method and mobile unit.
Background technique
With the development of automatic Pilot technology, the various landings for limiting scene are applied to for asking firstly the need of solution
Topic.Restriction of the development of automatic Pilot technology at present by high-precision location technology and high-precision cartography technology, GNSS
(Global Navigation Satellite System, Global Navigation Satellite System) plays important in positioning and drawing
Role, GNSS include but is not limited to: GPS (Global Positioning System, global positioning system) and dipper system.
Either GPS or dipper system, the positioning coordinate of output are the coordinate under geographic coordinate system, and geographic coordinate system such as WGS84 is sat
Mark system and CGCS2000 coordinate system.
GNSS characterizes any position of earth surface by longitude, latitude and elevation, for automated driving system and
High-precision map, can not be directly using the spherical coordinate of GNSS output, need to be by the method for map projection by the seat of spheric coordinate system
Mark is converted into the coordinate of projected coordinate system.There are many projection coordinate systems, such as Universal Transverse Mercator Projection (UTM,
Universal Transverse Mercator) coordinate system is a kind of common projected coordinate system, which divides the earth
For 60 regions (ZONE), each region is expressed as 6 degree of longitude zone, and uses secant Transverse Mercator on each zone
Projection.
UTM coordinate system uses cartesian coordinate frame, and coordinate value is as unit of rice, and coordinate can be calculated directly, phase
For spheric coordinate system, the calculating apart from the physical values such as angle and area is facilitated.
Existing GPS coordinate (WGS-84) uses one group of mathematical formulae to the conversion method of UTM coordinate, can be by given warp
Plane coordinates where latitude is converted to the longitude and latitude in ZONE, while can also be turned according to the area code and plane coordinates of ZONE
Turn to longitude and latitude.But the principle of utm projection determines the remoter position of the median longitudinal of distance ZONE, and distortion is bigger, especially
It is in the boundary of ZONE, and there are very important errors for projection transform, and therefore, utm projection is not suitable for trans-regional satellite
Navigation system positioning and the high-precision cartography based on positioning result.
The description of the above-mentioned discovery procedure to problem, is only used to facilitate the understanding of the technical scheme, and does not represent and holds
Recognizing above content is the prior art.
Summary of the invention
In order to solve the problems, such as it is of the existing technology at least one, at least one embodiment of the present invention provides a kind of base
In the high-precision cartography method and mobile unit of projected coordinate system.
In a first aspect, the embodiment of the present invention proposes a kind of high-precision cartography method based on projected coordinate system, the side
Method includes:
The location data and sensing data of limited area are acquired, the location data includes longitude and latitude；
Based on the longitude or the latitude, limited area median is determined；
Based on the limited area median, the longitude and latitude are converted as the plane coordinates in projected coordinate system；
Based on the plane coordinates, three-dimensional coordinate is constructed；
Based on the sensing data and the three-dimensional coordinate, high-precision map is made.
In some embodiments, it is based on the longitude or the latitude, determines limited area median, comprising:
If the region division of the projected coordinate system is longitude division, it is based on the longitude, determines limited area center
Value is limited area median longitudinal；
If the region division of the projected coordinate system is latitude division, it is based on the latitude, determines limited area center
Value is limited area center latitude.
In some embodiments, it is based on the longitude, determines that limited area median is limited area median longitudinal, packet
It includes:
Based on the longitude, determine the limited area to the east of longitude and west to longitude；
Based on described to the east of longitude and west to longitude, limited area median longitudinal is determined.
In some embodiments, it is based on the latitude, determines that limited area median is limited area center latitude, packet
It includes:
Based on the latitude, the southern to latitude and northern to latitude of the limited area is determined；
Based on the south to latitude and north to latitude, limited area center latitude is determined.
In some embodiments, the sensing data includes: sequence of points cloud and the corresponding timestamp of the sequence of points cloud
Timestamp corresponding with image and described image；
The location data further include: when height value, the corresponding longitude and latitude of the height value and the corresponding height value
Between stab.
In some embodiments, it is based on the plane coordinates, constructs three-dimensional coordinate, comprising:
Based on the plane coordinates and the height value, constructs three-dimensional system of coordinate and obtain three-dimensional coordinate.
In some embodiments, it is based on the sensing data and the three-dimensional coordinate, makes high-precision map, comprising:
It is positioned based on the sensing data, obtains the first coordinate and the second coordinate, wherein first coordinate is
Based on the coordinate that the sequence of points cloud obtains, second coordinate is the coordinate obtained based on described image；
Based on first coordinate, second coordinate and the three-dimensional coordinate, high-precision map is made.
In some embodiments, it is based on first coordinate, second coordinate and the three-dimensional coordinate, production is high-precisionly
Figure, comprising:
First coordinate is converted to the coordinate in the three-dimensional system of coordinate；
Second coordinate is converted to the coordinate in the three-dimensional system of coordinate；
Based on the first coordinate after conversion, the second coordinate after conversion and the three-dimensional coordinate, high-precision map is made.
In some embodiments, the method also includes: the limited area median is marked in the high-precision map.
In some embodiments, the method also includes: after making high-precision map, the three-dimensional coordinate is converted to ground
Manage the coordinate in coordinate system.
Second aspect, the embodiment of the present invention also propose a kind of mobile unit, comprising:
Processor and memory；
The processor and the memory are coupled by bus system；
The processor is used to execute side as described in relation to the first aspect by the program or instruction of calling the memory to store
The step of method.
As it can be seen that at least one embodiment of the embodiment of the present invention by determining limited area median, and area will be limited
The new benchmark that domain median is converted as coordinate, the median longitudinal compared to the region divided using projected coordinate system are converted as coordinate
Benchmark, if limited area is transregional region, in transregional region, the longitude and latitude including transregional region intersection, closer to new
Benchmark improves the accuracy that longitude and latitude is converted to plane coordinates in transregional region, so that high-precision map is more accurate.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, for those of ordinary skill in the art, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention；
Fig. 2 is a kind of high-precision cartography method flow diagram based on projected coordinate system provided in an embodiment of the present invention.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawings and examples
The present invention is described in further detail.It is understood that described embodiment is a part of the embodiments of the present invention,
Instead of all the embodiments.Specific embodiment described herein is used only for explaining the present invention, rather than to limit of the invention
It is fixed.Based on described the embodiment of the present invention, those of ordinary skill in the art's every other embodiment obtained is belonged to
The scope of protection of the invention.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.
Fig. 1 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention.
Mobile unit shown in FIG. 1 includes: at least one processor 101 and at least one processor 102.In mobile unit
Various components be coupled by bus system 103.It is understood that bus system 103 is for realizing between these components
Connection communication.Bus system 103 further includes power bus, control bus and status signal bus in addition in addition to including data/address bus.
But for the sake of clear explanation, various buses are all designated as bus system 103 in Fig. 1.
It is appreciated that the memory 102 in the present embodiment can be volatile memory or nonvolatile memory, or can
Including both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (Read-Only
Memory, ROM), programmable read only memory (Programmable ROM, PROM), Erasable Programmable Read Only Memory EPROM
(Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) dodge
It deposits.Volatile memory can be random access memory (Random Access Memory, RAM), be used as external high speed
Caching.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory
(Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory
(Synchronous DRAM, SDRAM), double data speed synchronous dynamic RAM (DoubleDataRate
SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (Synchlink DRAM, SLDRAM) and direct rambus random access memory
(DirectRambus RAM, DRRAM).Memory 102 described herein is intended to include but is not limited to these and fits with any other
Close the memory of type.
In some embodiments, memory 102 stores following element, and unit or data structure can be performed, or
Their subset of person or their superset: operating system 1021 and application program 1022.
Wherein, operating system 1021 include various system programs, such as ccf layer, core library layer, driving layer etc., are used for
Realize various basic businesses and the hardware based task of processing.Application program 1022 includes various application programs, such as media
Player (Media Player), browser (Browser) etc., for realizing various applied business.Realize the embodiment of the present invention
The program of method may be embodied in application program 1022.
In embodiments of the present invention, program or instruction that processor 101 is stored by calling memory 102, specifically, can
To be the program or instruction stored in application program 1022, processor 101 is for executing the high-precision map based on projected coordinate system
The step of each embodiment of production method, such as may include following steps one to step 5:
Step 1: the location data and sensing data of acquisition limited area, the location data includes longitude and latitude.
Step 2: being based on the longitude or the latitude, limited area median is determined.
Step 3: being based on the limited area median, the longitude and latitude are converted as the plane in projected coordinate system
Coordinate.
Step 4: being based on the plane coordinates, three-dimensional coordinate is constructed.
Step 5: being based on the sensing data and the three-dimensional coordinate, high-precision map is made.
In the embodiment of the present invention, converted by determining limited area median, and using limited area median as coordinate
New benchmark, compared to the benchmark converted as coordinate of median longitudinal in the region divided using projected coordinate system, if limited area is
When transregional region, in transregional region, the longitude and latitude including transregional region intersection makes to pass through in transregional region closer to new benchmark
The accuracy that latitude is converted to plane coordinates improves, so that high-precision map is more accurate.
The method that the embodiments of the present invention disclose can be applied in processor 101, or be realized by processor 101.
Processor 101 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 101 or the instruction of software form.Above-mentioned processing
Device 101 can be general processor, digital signal processor (Digital Signal Processor, DSP), dedicated integrated electricity
Road (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.It is general
Processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with institute of the embodiment of the present invention
The step of disclosed method, can be embodied directly in hardware decoding processor and execute completion, or with the hardware in decoding processor
And software unit combination executes completion.Software unit can be located at random access memory, and flash memory, read-only memory may be programmed read-only
In the storage medium of this fields such as memory or electrically erasable programmable memory, register maturation.The storage medium is located at
The step of memory 102, processor 101 reads the information in memory 102, completes the above method in conjunction with its hardware.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuits (ASIC), number letter
Number processor (DSP), digital signal processing appts (DSP Device, DSPD), programmable logic device (PLD), scene can compile
Journey gate array (FPGA), general processor, controller, microcontroller, microprocessor, for execute herein described function its
In its electronic unit or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation
Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
It is understood that unit described in conjunction with the examples disclosed in the embodiments of the present disclosure and algorithm steps, energy
The combination with electronic hardware or computer software and electronic hardware is reached to realize.These functions are actually with hardware or software
Mode executes, specific application and design constraint depending on technical solution.Professional technician can be to each specific
Application use different methods to achieve the described function, but such implementation should not be considered as beyond the scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that unless existing clear between the step of embodiment of the method
Sequencing, otherwise execution sequence can arbitrarily adjust.Disclosed device and method, may be implemented in other ways.
For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic
Function division, there may be another division manner in actual implementation, such as multiple units or components can combine or can collect
At another system is arrived, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling
It closes or direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit can be with
It is electrically mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially
The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words
Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can
To be personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention
Step.And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program
The medium of code.
Fig. 2 is a kind of high-precision cartography method flow diagram based on projected coordinate system provided in an embodiment of the present invention.It should
The executing subject of method is mobile unit.
As shown in Fig. 2, method disclosed in the present embodiment may include following steps 201 to 205:
201, the location data and sensing data of limited area are acquired, the location data includes longitude and latitude.
202, it is based on longitude or latitude, determines limited area median.
203, it is based on limited area median, converts longitude and latitude as the plane coordinates in projected coordinate system.
204, it is based on plane coordinates, constructs three-dimensional coordinate.
205, it is based on sensing data and three-dimensional coordinate, makes high-precision map.
In the present embodiment, mobile unit can be by GNSS (the Global Navigation that is mounted on automatic driving vehicle
Satellite System, Global Navigation Satellite System) acquisition limited area location data, GNSS includes but is not limited to: GPS
(Global Positioning System, global positioning system) and dipper system.
By taking GPS as an example, the data of GPS gathers are GPS positioning data, and abbreviation location data, location data includes: the time
Stamp and the corresponding longitude of timestamp, latitude and height value.
Mobile unit can also acquire data by the sensor group being mounted on automatic driving vehicle, obtain sensor number
According to.Sensor group includes but is not limited to laser radar and imaging sensor.Imaging sensor is, for example, camera.
The data of laser radar acquisition are sequence of points cloud, and different sequence of points clouds correspond to different timestamps.Camera acquisition
Data be image, different images are for different timestamps.
In the present embodiment, limited area is pre-set region, such as limited area can be a city.Limit area
Domain is changeable, can be at any region in the multiple regions that projected coordinate system divides the earth, can also be transregional region.Across
Region can be regarded as limited area and be at least two regions in the multiple regions that projected coordinate system divides the earth, with
For transregional region is including two regions, transregional region intersection can be regarded as the intersection in the two regions.
In the present embodiment, it can be based on longitude or latitude, determine limited area median.Specifically, due to different projections
Coordinate system is different to the region division mode of the earth, it may be determined that different limited area medians.
If the region division of projected coordinate system is longitude division, it is based on longitude, determines limited area median to limit
Region median longitudinal specifically may include following steps (1) and (2):
(1) be based on longitude, determine limited area to the east of longitude and west to longitude；
(2) based on to the east of longitude and west to longitude, limited area median longitudinal is determined.
If the region division of projected coordinate system is latitude division, it is based on latitude, determines limited area median to limit
Region center latitude specifically may include following steps (3) and (4):
(3) it is based on latitude, determines the southern to latitude and northern to latitude of limited area；
(4) limited area center latitude is determined to latitude based on south to latitude and north.
After determining limited area median, it is based on limited area median, convertible longitude and latitude are projection coordinate
Plane coordinates in system.
By taking Universal Transverse Mercator Projection (UTM, Universal Transverse Mercator) coordinate system as an example, UTM
Coordinate system is a kind of common projected coordinate system, which is divided into 60 regions (ZONE) for the earth, and each region indicates
For 6 degree of longitude zone, and secant transverse Mercator projection is used on each zone.In the present embodiment, limited area center
Value is limited area median longitudinal.
By determining limited area median, and the new benchmark that limited area median is converted as coordinate, compare with
The benchmark that the median longitudinal in the region that projected coordinate system divides is converted as coordinate limits if limited area is transregional region
In the transregional region in region, the longitude and latitude including transregional region intersection converts longitude and latitude in transregional region closer to new benchmark
It is improved for the accuracy of plane coordinates.
In some embodiments, three-dimensional system of coordinate can be constructed simultaneously based on the height value in plane coordinates and GPS positioning data
Obtain three-dimensional coordinate.
Plane coordinates due to plane coordinates for the longitude and latitude in GPS positioning data in projected coordinate system, and three
Dimension coordinate system is constructed based on the height value in plane coordinates and GPS positioning data, it is thereby achieved that by GPS positioning data
Be converted to the three-dimensional coordinate in the three-dimensional system of coordinate of building.
In some embodiments, it is based on sensing data and three-dimensional coordinate, high-precision map is made, specifically includes following steps
(1) and (2):
(1) positioned based on sensing data, obtain the first coordinate and the second coordinate, wherein the first coordinate be based on
The coordinate that sequence of points cloud obtains, the second coordinate are the coordinate obtained based on image.
(2) it is based on the first coordinate, the second coordinate and three-dimensional coordinate, makes high-precision map.
In the present embodiment, positioned based on sensing data specifically:
Different time based on laser radar acquisition stabs the different time stamp of corresponding sequence of points cloud and camera acquisition
Corresponding image carries out positioning immediately and map structuring (SLAM, Simultaneous Localization And Mapping),
Can be obtained automatic driving vehicle positioning coordinate, laser radar acquisition different sequence of points clouds in corresponding first coordinate of point,
And corresponding second coordinate of multiple characteristic points in the different images of camera acquisition.
Immediately positioning belongs to the mature technology of this field with map structuring, and details are not described herein.
In some embodiments, it is based on the first coordinate, the second coordinate and three-dimensional coordinate, high-precision map is made, specifically includes
Following steps (1) to (3):
(1) the first coordinate is converted to the coordinate in three-dimensional system of coordinate；
(2) the second coordinate is converted to the coordinate in three-dimensional system of coordinate；
(3) based on the first coordinate after conversion, the second coordinate after conversion and three-dimensional coordinate, high-precision map is made.
In the present embodiment, the first coordinate is converted into coordinate in three-dimensional system of coordinate and the second coordinate is converted into three-dimensional
Coordinate in coordinate system, can be used 6DOF alignment registration mode realize, 6DOF alignment registration mode belong to this field at
Cooking technique, details are not described herein.
First coordinate is converted into coordinate in three-dimensional system of coordinate and is converted to the second coordinate in three-dimensional system of coordinate
Coordinate can also be used the registration mode based on characteristic point, such as choose same place, selection side from multiple characteristic points in image
Formula continues to use the prior art, and details are not described herein；After choosing same place, using correlation coefficient process, method of relaxation or least square method
Equal correlation techniques, determine coordinate transformation parameter；Coordinate conversion is carried out based on coordinate transformation parameter.
Therefore, by the way that the first coordinate to be converted to coordinate in three-dimensional system of coordinate and the second coordinate is converted to three-dimensional seat
Coordinate in mark system, realizes corresponding first coordinate of point in the different sequence of points clouds of laser radar acquisition, and will take the photograph
Corresponding second coordinate of multiple characteristic points in different images acquired as head is fused in three-dimensional system of coordinate, fused all
Coordinate can directly carry out coordinate processing.
As it can be seen that laser radar data, camera data and GPS data are fused to three by building three-dimensional system of coordinate
It ties up in coordinate system, fused all coordinates can directly carry out coordinate processing, and then make high-precision map.
Specifically, based on the plane coordinates in three-dimensional system of coordinate, make high-precision map, height value can store for it is subsequent from
It is dynamic to drive planning.
In some embodiments, the high-precision cartography method based on projected coordinate system may further comprise the step of: high-precisionly
Limited area median is marked in figure.
In the present embodiment, in high-precision map mark limited area median, convenient for other limited areas high-precisionly
Figure is merged.
In some embodiments, the high-precision cartography method based on projected coordinate system may further comprise the step of: high in production
After smart map, three-dimensional coordinate is converted to the coordinate in geographic coordinate system.
In the present embodiment, after making high-precision map, three-dimensional coordinate is converted into the coordinate in geographic coordinate system, it can be external
Portion user hides limited area median, reaches the decoupling of transfer function, is convenient for technical protection.
To sum up, the high-precision cartography method disclosed in embodiment based on projected coordinate system, by determining limited area
Median, and the new benchmark that limited area median is converted as coordinate, compared in the region divided with projected coordinate system
The benchmark that centre longitude is converted as coordinate, if limited area is transregional region, in transregional region, including transregional region intersection
Longitude and latitude, closer to new benchmark, the accuracy for making longitude and latitude in transregional region be converted to plane coordinates is improved, so that high
Smart map is more accurate.
By taking Universal Transverse Mercator Projection (UTM, Universal Transverse Mercator) coordinate system as an example, UTM
The earth is divided into 60 regions (ZONE) by coordinate system, and each region is expressed as 6 degree of longitude zone, and makes on each zone
With secant transverse Mercator projection.In the present embodiment, limited area median is limited area median longitudinal.
By improving the precision of coordinate conversion using limited area median longitudinal as projection benchmark.It is with ZONE 51
Example, 120 degree to 126 degree of the longitude range of ZONE 51,0 degree to 60 degree of latitude scope.The standard UTM transformed error of ZONE 51,
I.e. using the median longitudinal of ZONE 51 as the coordinate conversion error of projection benchmark.
Positioned at 120 degree of longitude and 126 degree of longitude of zone boundary, there is significant projection conversions for mid low latitude region
Error, the largest of about 0.8 meter should not carry out subsequent processing.
Assuming that the limited area of the high-precision map for automatic Pilot is located at 15 degree to 16 degree of latitude, 125.5 degree of longitude is extremely
126.5 degree, the high-precision cartography method based on projected coordinate system proposed using embodiment, using limited area median longitudinal
126 degree of progress projection transforms, maximal projection deviation is about 3 millimeters, meets the need of automatic Pilot positioning and high-precision cartography
It wants.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
It will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments is wrapped
Certain features for including rather than other feature, but the combination of the feature of different embodiments mean in the scope of the present invention it
It is interior and form different embodiments.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair
Various modifications and variations are made in the case where bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (11)
1. a kind of high-precision cartography method based on projected coordinate system, which is characterized in that the described method includes:
The location data and sensing data of limited area are acquired, the location data includes longitude and latitude；
Based on the longitude or the latitude, limited area median is determined；
Based on the limited area median, the longitude and latitude are converted as the plane coordinates in projected coordinate system；
Based on the plane coordinates, three-dimensional coordinate is constructed；
Based on the sensing data and the three-dimensional coordinate, high-precision map is made.
2. determining limited area the method according to claim 1, wherein being based on the longitude or the latitude
Median, comprising:
If the region division of the projected coordinate system is longitude division, it is based on the longitude, determines that limited area median is
Limited area median longitudinal；
If the region division of the projected coordinate system is latitude division, it is based on the latitude, determines that limited area median is
Limited area center latitude.
3. according to the method described in claim 2, it is characterized in that, determining that limited area median is limited based on the longitude
Determine region median longitudinal, comprising:
Based on the longitude, determine the limited area to the east of longitude and west to longitude；
Based on described to the east of longitude and west to longitude, limited area median longitudinal is determined.
4. according to the method described in claim 2, it is characterized in that, determining that limited area median is limited based on the latitude
Determine region center latitude, comprising:
Based on the latitude, the southern to latitude and northern to latitude of the limited area is determined；
Based on the south to latitude and north to latitude, limited area center latitude is determined.
5. method according to any one of claims 1 to 4, which is characterized in that
The sensing data includes: sequence of points cloud and the corresponding timestamp of the sequence of points cloud and image and described image are corresponding
Timestamp；
The location data further include: height value, the corresponding longitude and latitude of the height value and the corresponding timestamp of the height value.
6. according to the method described in claim 5, it is characterized in that, constructing three-dimensional coordinate based on the plane coordinates, comprising:
Based on the plane coordinates and the height value, constructs three-dimensional system of coordinate and obtain three-dimensional coordinate.
7. according to the method described in claim 6, it is characterized in that, being made based on the sensing data and the three-dimensional coordinate
Make high-precision map, comprising:
Positioned based on the sensing data, obtain the first coordinate and the second coordinate, wherein first coordinate be based on
The coordinate that the sequence of points cloud obtains, second coordinate are the coordinate obtained based on described image；
Based on first coordinate, second coordinate and the three-dimensional coordinate, high-precision map is made.
8. the method according to the description of claim 7 is characterized in that based on first coordinate, second coordinate and described
Three-dimensional coordinate makes high-precision map, comprising:
First coordinate is converted to the coordinate in the three-dimensional system of coordinate；
Second coordinate is converted to the coordinate in the three-dimensional system of coordinate；
Based on the first coordinate after conversion, the second coordinate after conversion and the three-dimensional coordinate, high-precision map is made.
9. the method according to claim 1, wherein the method also includes: mark in the high-precision map
The limited area median.
10. according to the method described in claim 8, it is characterized in that,
The method also includes: after making high-precision map, the three-dimensional coordinate is converted to the coordinate in geographic coordinate system.
11. a kind of mobile unit characterized by comprising
Processor and memory；
The processor and the memory are coupled by bus system；
The processor is used to execute as claims 1 to 10 is any by the program or instruction of calling the memory to store
The step of item the method.
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