CN112214715A - Adaptive fitting method, device and medium for grid point elevation information - Google Patents
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Abstract
The invention provides a self-adaptive fitting method of grid point elevation information, which comprises the steps of dividing a preset regular grid according to acquired base station coverage area information and longitude and latitude intervals to obtain a target grid and grid point plane coordinates; fitting an initial grid point elevation according to grid point plane coordinates, receiving high-precision position information of a plurality of user terminals in a coverage area of a target square grid, and inputting the high-precision position information of the user terminals into a preset high-precision position database; and refining each initial grid point elevation in the initial grid point elevation information according to the high-precision position data of the user terminal in the preset high-precision position database and the grid point plane coordinates to obtain accurate grid point elevation information containing a plurality of accurate grid point elevations. According to the self-adaptive fitting method for the grid point elevation information, more accurate elevation information of the grid point is obtained, and the position of the grid point can be truly and accurately expressed.
Description
Technical Field
The invention relates to the field of grid point elevation calculation, in particular to a self-adaptive fitting method, equipment and medium for grid point elevation information.
Background
In the global satellite positioning field, early positioning is pseudo-range single-point positioning based on pseudo-range observation values, but because of the influence of various errors, the precision can only be in the order of 10m, in order to improve the positioning precision, a differential technology is developed, currently, the most widespread is a real-time dynamic carrier phase differential technology (RTK), the precision can reach centimeter level, but the action distance is limited, and because only one reference station provides differential information, once the reference station fails or generates gross error, a mobile station often cannot normally position, and the positioning reliability is reduced, in view of this, a Network RTK (Network RTK, NRTK) technology is developed, the NRTK technology is that a plurality of (three or more) permanent continuous operation reference stations are uniformly distributed in a certain range, the Internet is used as a communication link, the real-time observation values of the reference stations are sent to a main control station (a computing center), and according to the accurately known coordinate information of each reference station, resolving double-difference ambiguity of each base line of a network reference station in real time, then extracting atmospheric delay information on each base line, calculating errors such as an ionosphere, a troposphere, orbit errors and the like in a network range at a main control station, and generating correction item information of the position of a rover station in real time; the Virtual Reference Station (VRS) technology is currently the most mature and widespread NRTK technology, and generates a physically non-existent Reference Station at a location uploaded by a user and continuously generates differential data of the location, and the method depends on the location uploaded by the user and needs to generate a piece of Virtual Reference Station information for each user separately. The method is not suitable for accessing of massive terminal users. Therefore, the currently adopted method usually generates mesh points in advance according to a certain rule within the coverage area of the base station network, and generates differential correction data in real time at each mesh point, and after a user terminal logs in, the user terminal can search the nearest mesh point according to the position of the user, and broadcast the mesh point differential data to the user.
The elevation information of the traditional grid point is obtained by fitting the elevation information of the base stations arranged by the foundation enhancement system, because the base stations of the foundation enhancement system are usually dozens of kilometers away from each other, the elevation difference corresponding to the terrain with a distance of several kilometers in a region with large topographic relief can reach nearly kilometers or even kilometers, the elevation of the grid point is fitted by adopting the elevation of the base stations, so that the grid point difference data has large error, and the stable high-precision clothing can not be provided for a terminal user, in addition, the base station of the foundation enhancement system can not be changed under the non-special condition after the construction is finished, therefore, the grid point information arranged by the elevation information of the base station can not be changed, however, the topographic information in the region covered by the base station is very likely to have changed after the construction of the base station is finished, and the elevation information of the grid point originally arranged can not truly and accurately express the information of the position of the grid point, accurate differential information cannot be provided to the end user. In conclusion, the traditional fitting result of the grid point elevation information has a large error, and the information of the position of the grid point cannot be really and accurately expressed.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a method for adaptively fitting grid point elevation information, which can solve the problems that the conventional fitting result for grid point elevation information has a large error and cannot truly and accurately express information of the grid point position.
The second objective of the present invention is to provide an electronic device, which can solve the problem that the conventional fitting result for the elevation information of grid points has a large error and cannot truly and accurately express the information of the positions of the grid points.
The invention also aims to provide a computer readable storage medium, which can solve the problems that the traditional fitting result of grid point elevation information has large error and the information of the position of a grid point cannot be really and accurately expressed.
One of the purposes of the invention is realized by adopting the following technical scheme:
a self-adaptive fitting method for grid point elevation information comprises the following steps:
dividing a square grid, dividing a preset regular square grid according to the acquired base station coverage area information and longitude and latitude intervals to obtain a target square grid and grid point plane coordinates corresponding to each grid in the target square grid;
performing initial fitting, namely fitting initial grid point elevations corresponding to grid points in a target square grid according to the grid point plane coordinates to obtain initial grid point elevation information containing a plurality of initial grid point elevations;
receiving high-precision position information, receiving the high-precision position information of a plurality of user terminals in the coverage area of the target square grid, and inputting the high-precision position information of the plurality of user terminals into a preset high-precision position database;
and refining the initial grid point elevation information, wherein the grid point plane coordinates are right according to the high-precision position data of the user terminal in a preset high-precision position database and each initial grid point elevation in the initial grid point elevation information is subjected to refining processing to obtain the accurate grid point elevation information containing a plurality of accurate grid point elevations.
Further, the refining of the elevation information of the initial grid points specifically includes the following steps:
screening position data, randomly screening any grid point in a target square grid as a target grid point, and screening high-precision position data of a preset screening quantity and user terminals adjacent to the target grid point from a preset high-precision progress position database according to grid point plane coordinates corresponding to the target grid point;
calculating a surface fitting coefficient, and calculating all high-precision position data by adopting a surface fitting model to obtain the surface fitting coefficient;
fitting the initial grid point elevation information, and calculating to obtain an accurate elevation corresponding to the target grid point according to the grid point plane coordinates of the target grid point and the curved surface fitting coefficient;
and correcting the initial grid point elevation, correcting the initial grid point elevation according to the accurate elevation, obtaining the accurate grid point elevation corresponding to the target grid point, returning to the step of circularly executing, screening position data until the initial grid point elevation corresponding to all grid points in the target grid is corrected, and finally obtaining the accurate grid point elevation information containing a plurality of accurate grid point elevations.
Further, before the receiving the high-precision position information, the method further comprises: and selecting a grid point closest to the user terminal from the target square grid according to the general position information uploaded by the user terminal, broadcasting grid point differential information of the grid point to the corresponding user terminal, and performing differential correction processing on the general position information by the user terminal according to the grid point differential information to obtain high-precision position information of the user terminal.
Further, the initialization fitting specifically includes the following steps:
screening target initialization grid points, and randomly screening any grid point in a target square grid as the target initialization grid point;
extracting DEM data, namely extracting a preset amount of DEM data of grid points adjacent to the initialized grid points from a DEM data packet according to grid point plane coordinates corresponding to the target grid points;
and fitting the initial grid point elevation, inputting DEM data of grid points adjacent to the initialized grid points and grid point plane coordinates of the initialized grid points into a bilinear interpolation model for fitting to obtain the initial grid point elevation corresponding to the initialized grid points, and returning to the circulating execution step to screen the target initialized grid points until the initial grid point elevations of all grid points in the target square grid are fitted.
Further, the preset number is 4.
Further, the dividing of the square grid also includes calculating grid point plane coordinates, and calculating grid point plane coordinates of each grid point in the target square grid according to the left lower corner starting longitude and latitude coordinates of the target square grid, the grid point latitude division index and the grid point longitude division index.
Further, the receiving of the high-precision position information further includes data updating, and the high-precision position information in the preset high-precision position database is updated regularly according to the activity range of the user corresponding to the user terminal and the preset updating period.
Further, the data update specifically includes: when the activity range of the user corresponding to the user of the user terminal changes, the high-precision position information of the user terminal received in real time is recorded into the preset high-precision position database to replace the original high-precision position information in the preset high-precision position database.
The second purpose of the invention is realized by adopting the following technical scheme:
an electronic device, characterized by comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing an adaptive fitting method of grid point elevation information.
The third purpose of the invention is realized by adopting the following technical scheme:
a computer-readable storage medium having stored thereon a computer program for executing, by a processor, a method for adaptive fitting of grid elevation information.
Compared with the prior art, the invention has the beneficial effects that: according to the self-adaptive fitting method for grid point elevation information, initial fitting is firstly carried out to obtain initial grid point elevation information, then each initial grid point elevation in the initial grid point elevation information is subjected to refinement processing according to high-precision position data of a user terminal in a preset high-precision position database and grid point plane coordinates, and accurate grid point elevation information containing a plurality of accurate grid point elevations is obtained; according to the high-precision position information uploaded by the user terminal, the elevation information of all grid points is fitted, the accuracy of the fitted elevation information of the grid points is high and can be better than a decimeter level, the high-precision positioning requirement of the terminal can be met even in an area with large topographic relief, and the information of the positions of the grid points can be truly and accurately expressed.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic method flow chart of a method for adaptively fitting grid point elevation information according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
A method for adaptively fitting elevation information of a grid point as shown in fig. 1, includes the following steps:
dividing the square grids, and dividing preset regular square grids according to the acquired base station coverage area information and longitude and latitude intervals to obtain target square grids and grid point plane coordinates corresponding to each grid point in the target square grids. The method further comprises the step of calculating grid point plane coordinates after the target square grid is obtained in the step, and calculating grid point plane coordinates of each grid point in the target square grid according to the left lower corner starting longitude and latitude coordinates, the grid point latitude division index and the grid point longitude division index of the target square grid.
And performing initial fitting, namely fitting an initial grid point elevation corresponding to a grid point in the target square grid according to the grid point plane coordinates to obtain initial grid point elevation information containing a plurality of initial grid point elevations. In this embodiment, the initial fitting includes the following steps:
and screening the target initialization grid points, and randomly screening any grid point in the target square grid as the target initialization grid point.
Extracting DEM data, namely extracting a preset amount of DEM data of grid points adjacent to the initialized grid points from a stored DEM data packet according to grid point plane coordinates corresponding to the target grid points; in this embodiment, the preset number is 4, that is, DEM data of 4 mesh points nearest to the initialized mesh point is extracted.
And fitting the initial grid point elevation, inputting DEM data of grid points adjacent to the initialized grid points and grid point plane coordinates of the initialized grid points into a bilinear interpolation model for fitting to obtain the initial grid point elevation corresponding to the initialized grid points, and returning to the circulating execution step to screen the target initialized grid points until the initial grid point elevations of all grid points in the target square grid are fitted.
Receiving high-precision position information, receiving the high-precision position information of a plurality of user terminals in the coverage area of the target square grid, and inputting the high-precision position information of the user terminals into a preset high-precision position database. The method also comprises the following steps: and selecting a grid point closest to the user terminal from the target square grid according to the general position information uploaded by the user terminal, broadcasting grid point differential information of the grid point to the corresponding user terminal, and performing differential correction processing on the general position information by the user terminal according to the grid point differential information to obtain high-precision position information of the user terminal. In this embodiment, the method further includes updating data, and when the activity range of the user corresponding to the user at the user terminal changes, the high-precision position information of the user terminal received in real time is entered into the preset high-precision position database to replace the original high-precision position information in the preset high-precision position database.
And refining the elevation information of the initial grid points, and refining each initial grid point elevation in the elevation information of the initial grid points according to the high-precision position data of the user terminal in the preset high-precision position database and the grid point plane coordinates to obtain the elevation information of the accurate grid points containing a plurality of accurate grid point elevations. In this embodiment, when the activity range that user terminal corresponds the user changes, carry out the initial graticule mesh point elevation information of step refinement again, the high accuracy positional information and the graticule mesh point plane coordinate that are about to the user terminal who has updated carry out the refinement to the accurate graticule mesh point elevation of every graticule mesh point in the target square grid that obtains once more and handle, the realization is to lasting the correction and the update of the accurate graticule mesh point elevation of graticule mesh point, the accuracy nature of the positional information of graticule mesh point has been guaranteed, thereby can adapt to the change of the regional earth's surface of graticule mesh point, generate comparatively accurate graticule mesh point elevation information in real time, provide more accurate difference service for user terminal. In this embodiment, refining the elevation information of the initial grid point specifically includes the following steps:
screening position data, randomly screening any grid point in the target square grid as a target grid point, and screening high-precision position data of a preset screening quantity and user terminals adjacent to the target grid point from a preset high-precision progress position database according to grid point plane coordinates corresponding to the target grid point. In this embodiment, the preset screening number is greater than or equal to 6, and the high-precision position data of the screened user terminal, that is, the coordinate of the screened user terminal is PiThen P isi＝(Bi,Li,Hi)，BiAs longitudinal coordinates, LiAs latitude coordinate, HiElevation coordinates, i, represent the ith high precision position data.
Calculating a surface fitting coefficient, and calculating all high-precision position data by adopting a surface fitting model to obtain the surface fitting coefficient; the specific calculation is shown in formula (1):
H＝H0+x0*B+y0*L+x1*B2+y1*L2+z1*B*L (1)
h is an elevation coordinate in the high-precision position data, B is a longitude coordinate in the high-precision position data, and L is a latitude coordinate in the high-precision position data; h0、x0、y0、x1、y1、z1All are surface fitting coefficients; substituting all coordinates in the high-precision position data into the formula (1) can calculate the surface fitting coefficient by adopting the least square principle: h0、x0、y0、x1、y1、z1。
And fitting the initial grid point elevation information, and calculating to obtain the accurate elevation corresponding to the target grid point according to the grid point plane coordinate and the curved surface fitting coefficient of the target grid point. In an embodiment, let the grid point plane coordinate of the target grid point be GnThen G isn＝(bn,ln). Substituting the surface fitting coefficient and the grid point plane coordinate into the formula (2):
hn＝H0+x0*bn+y0*ln+x1*bn 2+y1*ln 2+z1*bn*ln (2)
wherein H0、x0、y0、x1、y1、z1Are all surface fitting coefficients, hnTarget grid point GnCorresponding precise elevation, bnIs the abscissa value, l, of the grid point plane coordinates of the target grid pointnIs the longitudinal coordinate value of the grid point plane coordinate of the target grid point.
Correcting the initial grid point elevation, correcting the initial grid point elevation according to the accurate elevation, obtaining the accurate grid point elevation corresponding to the target grid point, returning to the circulating execution step to filter the position data until the initial grid point elevations corresponding to all grid points in the target grid are all corrected, and finally obtaining the accurate grid point elevation information containing a plurality of accurate grid point elevations.
The present application also provides an electronic device, characterized by including: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing an adaptive fitting method of grid point elevation information.
The present application also provides a computer-readable storage medium having stored thereon a computer program for execution by a processor of a method for adaptive fitting of grid point elevation information.
According to the self-adaptive fitting method for grid point elevation information, initial fitting is firstly carried out to obtain initial grid point elevation information, then each initial grid point elevation in the initial grid point elevation information is subjected to refinement processing according to high-precision position data of a user terminal in a preset high-precision position database and grid point plane coordinates, and accurate grid point elevation information containing a plurality of accurate grid point elevations is obtained; according to the high-precision position information uploaded by the user terminal, the elevation information of all grid points is fitted, the accuracy of the elevation information of the fitted grid points is high and can be better than a decimeter level, the high-precision positioning requirement of the terminal can be met even in an area with large topographic relief, and the positions of the grid points can be really and accurately expressed.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. A self-adaptive fitting method for grid point elevation information is characterized in that: the method comprises the following steps:
dividing a square grid, dividing a preset regular square grid according to the acquired base station coverage area information and longitude and latitude intervals to obtain a target square grid and grid point plane coordinates corresponding to each grid in the target square grid;
performing initial fitting, namely fitting initial grid point elevations corresponding to grid points in a target square grid according to the grid point plane coordinates to obtain initial grid point elevation information containing a plurality of initial grid point elevations;
receiving high-precision position information, receiving the high-precision position information of a plurality of user terminals in the coverage area of the target square grid, and inputting the high-precision position information of the plurality of user terminals into a preset high-precision position database;
and refining the initial grid point elevation information, wherein the grid point plane coordinates are right according to the high-precision position data of the user terminal in a preset high-precision position database and each initial grid point elevation in the initial grid point elevation information is subjected to refining processing to obtain the accurate grid point elevation information containing a plurality of accurate grid point elevations.
2. A method for adaptive fitting of grid point elevation information as claimed in claim 1, wherein: the method for refining the elevation information of the initial grid points specifically comprises the following steps:
screening position data, randomly screening any grid point in a target square grid as a target grid point, and screening high-precision position data of a preset screening quantity and user terminals adjacent to the target grid point from a preset high-precision progress position database according to grid point plane coordinates corresponding to the target grid point;
calculating a surface fitting coefficient, and calculating all high-precision position data by adopting a surface fitting model to obtain the surface fitting coefficient;
fitting the initial grid point elevation information, and calculating to obtain an accurate elevation corresponding to the target grid point according to the grid point plane coordinates of the target grid point and the curved surface fitting coefficient;
and correcting the initial grid point elevation, correcting the initial grid point elevation according to the accurate elevation, obtaining the accurate grid point elevation corresponding to the target grid point, returning to the step of circularly executing, screening position data until the initial grid point elevation corresponding to all grid points in the target grid is corrected, and finally obtaining the accurate grid point elevation information containing a plurality of accurate grid point elevations.
3. A method for adaptive fitting of grid point elevation information as claimed in claim 1, wherein: before the receiving the high-precision position information, the method further comprises the following steps: and selecting a grid point closest to the user terminal from the target square grid according to the general position information uploaded by the user terminal, broadcasting grid point differential information of the grid point to the corresponding user terminal, and performing differential correction processing on the general position information by the user terminal according to the grid point differential information to obtain high-precision position information of the user terminal.
4. A method for adaptive fitting of grid point elevation information as claimed in claim 1, wherein: the initial fitting specifically comprises the following steps:
screening target initialization grid points, and randomly screening any grid point in a target square grid as the target initialization grid point;
extracting DEM data, namely extracting a preset amount of DEM data of grid points adjacent to the initialized grid points from a DEM data packet according to grid point plane coordinates corresponding to the target grid points;
and fitting the initial grid point elevation, inputting DEM data of grid points adjacent to the initialized grid points and grid point plane coordinates of the initialized grid points into a bilinear interpolation model for fitting to obtain the initial grid point elevation corresponding to the initialized grid points, and returning to the circulating execution step to screen the target initialized grid points until the initial grid point elevations of all grid points in the target square grid are fitted.
5. A method for adaptive fitting of grid point elevation information as claimed in claim 4, wherein: the preset number is 4.
6. A method for adaptive fitting of grid point elevation information as claimed in claim 1, wherein: and the step of dividing the square grid also comprises calculating grid point plane coordinates, and calculating the grid point plane coordinates of each grid point in the target square grid according to the initial longitude and latitude coordinates of the lower left corner of the target square grid, the grid point latitude division index and the grid point longitude division index.
7. A method for adaptive fitting of grid point elevation information as claimed in claim 1, wherein: and the receiving of the high-precision position information also comprises data updating, and the high-precision position information in the preset high-precision position database is regularly updated according to the activity range of the user corresponding to the user terminal and the preset updating period.
8. A method for adaptive fitting of grid point elevation information as claimed in claim 7, wherein: the data updating specifically comprises the following steps: when the activity range of the user corresponding to the user of the user terminal changes, the high-precision position information of the user terminal received in real time is recorded into the preset high-precision position database to replace the original high-precision position information in the preset high-precision position database.
9. An electronic device, characterized by comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the adaptive fitting method of grid point elevation information of any of claims 1-8.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor to perform the method of adaptive fitting of elevation information for a mesh point of any of claims 1 to 8.
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| CN116626725A (en) * | 2023-07-24 | 2023-08-22 | 武汉大学 | User distribution grid correction generation method, device, equipment and storage medium |
| CN116912320A (en) * | 2023-09-13 | 2023-10-20 | 齐鲁空天信息研究院 | Positioning method and device of object elevation coordinate, electronic equipment and medium |
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