Specific embodiment
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body;It can be mechanical connection, be also possible to be electrically connected;It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
First embodiment
As shown in Figure 1, the flow diagram of the first embodiment for a kind of localization method of base station coordinates of the invention;This
In embodiment, including
Step 1: being laid out according to base station location, divide one or more regions to be measured, including the first region to be measured;
Step 2: in the described first region to be measured, setting refers to polyhedron, with a top with reference on polyhedron
Point is reference point, generates the first reference frame, and calculates each vertex with reference on polyhedron in first ginseng
Examine the coordinate in coordinate system;
As shown in Fig. 2, the process for a kind of step 2 of the first embodiment of the localization method of base station coordinates of the invention is shown
It is intended to;As shown in figure 4, the structure for a kind of region to be measured of the first embodiment of the localization method of base station coordinates of the invention is shown
It is intended to;As shown in figure 5, the polyhedral structure of reference of the first embodiment for a kind of localization method of base station coordinates of the invention
Schematic diagram;
In the present embodiment, illustratively, the reference polyhedron is tetrahedron, and the tetrahedron is equilateral tetrahedron, packet
Include tetra- vertex S1, S2, S3 and S4;This step includes:
Step S21: setting S1 is reference point, and a line where the S1 is tightly overlapped with laser designation line;
Step S22: the plane where the side that setting is tightly overlapped with laser designation line is horizontal plane;
Step S23: the coordinate of setting vertex S1 is (0,0,0), generates the first reference frame;According to the equilateral four sides
The coordinate on tri- vertex S2, S3 and S4 is calculated in the side length of body.
The equilateral tetrahedral side length is 1 as a preferred technical solution, and calculating B point coordinate according to algorithm isC point coordinate is (2,0,0), and D point coordinate is
As shown in figure 3, the process for a kind of step 3 of the first embodiment of the localization method of base station coordinates of the invention is shown
It is intended to;In the present embodiment, step 3: in measurement first region to be measured, base station to be measured refers to polyhedral each top away from described
The distance of point, and calculate the coordinate for generating each base station in first reference frame;
This step includes: step 31: distance of the base station away from S1, S2, S3 and S4 point in measurement first region to be measured
It Wei not a, b, c, d;
Step 32: coordinate of the base station in first reference frame is set as (x, y, z), and x is calculated according to equation group,
The value of y, z;
The equation group are as follows:
a2=x2+y2+z2 (1)
c2=(x-2)2+y2+z2 (3)
Arithmetical solution are as follows:
According to position of the base station in first reference frame, it is known that z value is positive number or negative.
Therefore, it by above-mentioned formula, can calculate in the reference frame using S1 as reference point, base station An's to be measured
Coordinate (xn, yn, zn).
Step 4: setting Reference BTS for one of them base station to be measured in the described first region to be measured, and with benchmark base
It stands and generates the frame of reference for origin;Illustratively, in the present embodiment, it is benchmark base station that the base station A1, which is arranged, is generated with A1
Base station is the frame of reference of origin, and in the frame of reference, the coordinate of the base station A1 is (0,0,0);
Illustratively, measure the base station A1 in first region to be measured distance a1, b1, c1 away from S1, S2, S3 and S4 and
d1;According to formula (1), (2), (3) and (4), the coordinate for calculating the base station A1 is (x1, y1, z1);
Measure the base station An in the described first region to be measured distance an, bn, cn and dn away from S1, S2, S3 and S4;According to public affairs
Formula (1), (2), (3) and (4), the coordinate for calculating the base station An is (xn, yn, zn).
Step 5: it calculates and generates in base station to be measured, coordinate of each base station in the frame of reference.
In the present invention, in reference frame, the coordinate of A1 is (x1, y1, z1), and in the frame of reference, the seat of A1
It is designated as (0,0,0);After calculating coordinate (xn, yn, zn) of the base station An to be measured in reference frame, according in first ginseng
The coordinate (x1, y1, z1) of the base station A1 in coordinate system and the coordinate (xn, yn, zn) of the base station An are examined, An base is calculated by the following formula
The coordinate stood in the frame of reference:
An=(xn-x1,yn-y1,zn-z1) (5)。
Second embodiment
A place may include multi-satellite, and a tetrahedron disposably can not all provide all co-ordinates of satellite,
It so just needs to measure the co-ordinates of satellite of different zones respectively, then by coordinate translation, the co-ordinates of satellite in other regions is returned
Under the coordinate system in one to the first region.
As Fig. 6 shows a kind of flow diagram of the second embodiment of the localization method of base station coordinates of the invention;Such as
It is a kind of structural schematic diagram sheet in the region to be measured of the second embodiment of the localization method of base station coordinates of the invention shown in Fig. 7
In embodiment, step 1 to step 5 is identical as the correspondence step of first embodiment;It is described according to base station location cloth in the present embodiment
The step of office, division one or more region to be measured includes: according to the location layout of base station to be measured, in the described first region to be measured
On the basis of, extend the region to be measured of division second, third region to be measured to the region to be measured N;First region to be measured, second to
Survey region, third region to be measured to the region to be measured N is successively disposed adjacent;Preferably, in per two adjacent regions to be measured, until
Less include the base station of two coincidences: first is overlapped base station and the second coincidence base station, and the base station of the coincidence is adjacent simultaneously
In two regions to be measured.
After the step 5, further includes:
Step 6: being moved in translation the reference polyhedron into n-th region to be measured;
In this step, when positive tetrahedron is moved to next measured zone, it must be noted that the problem of be, such as
When tetrahedron is translated along X-axis, the side where S1 must be strictly overlapped with laser designation line, at the same require be mounted on AC arm and
Horizontal ruler on BC arm keeps horizontality.Because practical place is likely to occur curved surface, the irregular place such as broken line, preferably in advance
Auxiliary line is first carried out into the position for preparing to place positive tetrahedron, considers (three mobile, triangle horizontal operation platform of production one
Angle is adjustable, it is ensured that the tetrahedron being placed on platform is in a vertical state), tetrahedron is placed on levelling bench and can greatly speed up
Locating speed and precision.
Step 7: in the region to be measured N, using a vertex with reference on polyhedron as reference point, generating the
N reference frame, and calculate the coordinate of each vertex in the N reference frame with reference on polyhedron;This
Step is identical as the Method And Principle of the step 2 of first embodiment.
Step 8: in the measurement region to be measured N, base station to be measured away from the distance with reference to polyhedral each vertex,
And calculate the coordinate for generating each base station in the N reference frame;The method of the step 3 of this step and first embodiment
Principle is identical.
Step 9: according to it is described with reference to polyhedron from the first region to be measured be moved in translation to the translation in the region to be measured N away from
From calculating generates coordinate of the website to be measured in the frame of reference in the region to be measured N.
As shown in figure 8, the process for a kind of step 9 of the second embodiment of the localization method of base station coordinates of the invention is shown
It is intended to;
This step includes: step 91: being calculated in first region to be measured, polyhedral reference point S1 is in base for the reference
Coordinate (x0, y0, z0) in conventional coordinates;
Step 92: it calculates after being moved in translation the reference polyhedron to the region to be measured N, it is described to refer to polyhedral ginseng
Coordinate (x0 ', y0 ', z0 ') of the examination point S1 in the frame of reference
Step 93: obtain according in step 8, the base station An in the region to be measured N in the region to be measured N the
Coordinate An (xn, yn, zn) in N reference frame;
Step 94: according to the following formula, calculating coordinate of the base station An in the frame of reference in the region to be measured N
(xn’、yn’、zn’):
3rd embodiment
As shown in figure 9, the flow diagram of the 3rd embodiment for a kind of localization method of base station coordinates of the invention;This
In embodiment, step 1 to step 9 is identical as the corresponding Principle Method of step of embodiment two, and in the present embodiment, error analysis is added
And modified function.
Step 10: in previous region to be measured, obtaining described second and be overlapped coordinate of the base station in the frame of reference;Rear
In one region to be measured, the relative position that base station is overlapped base station relative to first is overlapped according to described second and calculates the second coincidence base station
Coordinate in the frame of reference;If the calculated coordinate difference of two ways is greater than default error threshold, correct with reference to more
The position of face body, is recalculated.
It as shown in Figure 10, is a kind of process of the step 10 of the 3rd embodiment of the localization method of base station coordinates of the invention
Schematic diagram;
The step 10 includes:
Step 101: obtaining in previous region to be measured, first, which is overlapped base station and second, is overlapped the seat in the frame of reference
Mark B1;
Step 102: being overlapped the position that base station is overlapped base station relative to first according to second, calculate the second coincidence base station and exist
Coordinate B2 ' in the frame of reference;
Step 103: respectively on three directions of the frame of reference, coordinate B2 and step 103 that obtaining step 102 calculates
Coordinate B2 ' the difference of calculating;
Step 104: being preset if any one or more in the difference on three directions of the frame of reference are greater than
Error threshold, then adjust described with reference to polyhedron, recalculates the coordinate of website to be measured in the region to be measured N.
Illustratively, the first region to be measured of setting includes base station A1, A2, A3, A4, A5, this six base stations A6, with first to
Survey the second adjacent region to be measured of region, including base station A5, A6, A7, A8, A 9, six base stations A10;A1, A2, A3, A4, A5,
The coordinate of this six base stations A6 is all it is known that be A1(x1,y1,z1),, A5(x5,y5,z5), A6(x6,y6,z6);Wherein on the basis of A1
The frame of reference is established in base station;
In the second region to be measured, after translating referring now to polyhedron, it is moved to the position T ', can be calculated with meter
A5, A6, A7, A8, A9, A 10 is denoted as A' relative to polyhedral coordinate after translation5(x'5,y'5,z'5) and A'6(x'6,y
'6,z'6) ... .., algorithm is as in embodiment two.
Since A5 and A6 is to be overlapped base station, while being in the first region to be measured and the second region to be measured, A5 can be calculated and existed
Coordinate A in the frame of reference5(x5,y5,z5), coordinate A of the A6 in the frame of reference6(x6,y6,z6)。
Enable A5(x5,y5,z5)=A'5(x'5,y'5,z'5), because we put second it is tetrahedral when maintain four
The depth of parallelism of the coordinate system of face body can be converted into A6 on the coordinate in the frame of reference by base station A5:During practice,With A6It may be to have error.Introduce one
A judgement,With A6Between, the error distance in tri- directions X, Y, Z, if it is greater than 15cm, system provides alarm, it is desirable that weight
It surveys, difference can be reduced by adjusting the posture of positive tetrahedron.
Fourth embodiment
Building is not necessarily due south due north direction sometimes, and map is substantially up north and down south left west and right east
Direction, for the continuity of map, it is also necessary to it is primary rotationally-varying, the coordinate system of base station is become into direction identical with map,
After the angle γ of the Y-direction of the due north and our base stations that find map, it can calculate.
It as shown in figure 11, is a kind of flow diagram of the fourth embodiment of the localization method of base station coordinates of the invention;
In the present embodiment, step 1 to step 10 is identical as the Principle Method of correspondence step of 3rd embodiment, as shown in figure 12, for this
A kind of flow diagram of the step 11 of the fourth embodiment of the localization method of base station coordinates of invention;
Step 11: according to the angle of coordinate direction and coordinate direction in map setting in base station coordinates system, by base to be measured
It stands and is converted into the coordinate value in map setting in the coordinate in the frame of reference;
The step 11 includes:
Step 111: obtaining the direct north in map setting, the angle γ between the Y-direction in the frame of reference;
Step 112: according to the following formula, the coordinate in the frame of reference being converted into the coordinate in map setting
Value;
Wherein, (x, y, z) is coordinate value of the base station to be measured in the frame of reference;(x ', y ', z ') is to be converted into
Coordinate value in map setting.
As shown in figure 13, the structure for a kind of reference polyhedron self-correcting of the localization method of base station coordinates of the invention is shown
It is intended to;In the present invention, self-correcting can also be carried out to reference polyhedron, such as place positive tetrahedron in the horizontal plane, positive four sides
Three points of the bottom surface of body have three stringent isometric spokes to intersect at a point, and draw a perpendicular to bottom surface from A point.First AC
Point strictly coincides with laser designation line, then by adjusting the height adjustment levels face of the point of bottom surface 3 of positive tetrahedron, makes vertical
The intersection point of stringent three spokes of face of line.
Or a laser pen is inlayed at the tip of plumb line.The central point of three spokes intersection does a solid cylinder, so
The through-hole of a diameter 1mm (or 2mm) is bored on cylinder afterwards, sets a photoelectric coupling switch below through-hole, when detecting light
When illustrate that positive tetrahedron is vertical, provide the prompt of OK.It is perpendicular to illustrate that positive tetrahedron is not located in if it can't detect light
Histogram to, need to continue adjust levelling bench three angles to ensure that tetrahedron is in a vertical state.
The localization method of base station coordinates of the invention can be automatically generated by the way that region to be measured is arranged and refers to polyhedron
The coordinate of each base station in the space of base station can also complete perfect of base station and map by coordinate translation and coordinate rotation
Match.It indiscriminate can be laid out when cloth base station, the coordinate information of all base stations is automatically generated after cloth is complete, passes through these
Coordinate information draws base station plan view.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, for those skilled in the art, still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.