CN115222902A - Stereoscopic domain hierarchical multi-scale agile space grid code method and system - Google Patents
Stereoscopic domain hierarchical multi-scale agile space grid code method and system Download PDFInfo
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Abstract
The invention relates to a method and a system for grading multi-scale agile space grid codes in a three-dimensional domain, which comprises the following steps of 1: acquiring high-speed field space-time data; step 2: the preliminary construction of a high-speed field three-dimensional field map is realized; and step 3: further loading and rendering the high-speed field geographic space data; and 4, step 4: encoding the high-speed field geographic space data; and 5: realizing the subdivision of the Beidou grid codes through an algorithm; step 6: constructing a coordinate system; and 7: and uniformly packaging different three-dimensional engine space interfaces of the high-speed field to form a uniform map API. By using a grid code encoding mechanism, the invention positions the object by adjusting the applicable positioning precision, thereby greatly saving the computational power of a computer. The invention adopts the composite binary positioning coordinate, further saves the computational power resource of the computer, and is particularly obvious when facing mass data. The Beidou grid code binary coordinate system can greatly improve the searching efficiency when the huge information retrieval is faced.
Description
Technical Field
The invention relates to a deep learning related algorithm, which realizes the hierarchical positioning precision of people, service vehicles and serviced vehicles by constructing a three-dimensional grid three-dimensional domain image through the actual measurement of an unmanned aerial vehicle.
Background
At present, the design of domestic highways mainly adopts the traditional CAD to provide three-dimensional positions for the design of highways by using the design data of planes, longitudinal sections and cross sections of the highways. Although the method can enable designers to quickly master key indexes of roads, the processing efficiency of the computer is influenced by huge decimal coordinate data, massive moving and non-moving objects in a balanced coordinate scale. This traditional design has slowly become incompatible with today's rapidly evolving road construction.
At present, the appearance and application of a grid code division system are promoted by the rapid development of a Beidou satellite system, the Beidou grid code not only solves the problem of the traditional geographic information technology by marking the whole world with one code, but also powerfully promotes the transformation of a quasi three-dimensional simulated earth in the concept of a digital earth to a true three-dimensional digital earth, exerts incomparable advantages in application layers such as information query indexing, data integration sharing, high-precision position service and the like, and has a wide development prospect.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a hierarchical multi-scale agile space grid code method of a three-dimensional domain;
according to the invention, a binary coordinate system is introduced into Beidou high-precision positioning to realize the rapid processing of complex data by a computer, and meanwhile, a grid code technology is introduced to establish hierarchical airspaces at two sides of a highway, so that multi-scale grid areas are divided to realize the positioning with different precisions, different requirements are met, the calculation efficiency is improved, and the algorithm is optimized, thereby being capable of being widely and practically applied.
The invention also provides a stereoscopic domain grading multi-scale agile space grid code system.
Interpretation of terms:
1. photogrammetry software VirtuoZo: the system is a full-digital photogrammetry system which is jointly developed by an applicable software company Limited and the remote sensing college of Wuhan university, and belongs to one of five large brands of similar products in the world. The system is a full-digital photogrammetry system based on Windows NT, and completes photogrammetry operation by using digital images or digitized images. The computer vision (the core of which is image matching and image recognition) replaces the stereo measurement and recognition of human eyes, and the traditional optical-mechanical instrument is not needed any more.
2. Three-dimensional engine OpenCV: an apache2.0 license (open source) based distributed cross-platform computer vision and machine learning software library may run on Linux, windows, android, and Mac OS operating systems. The method is light and efficient, is composed of a series of C functions and a small number of C + + classes, provides interfaces of languages such as Python, ruby, MATLAB and the like, and realizes a plurality of general algorithms in the aspects of image processing and computer vision.
The technical scheme of the invention is as follows:
a hierarchical multi-scale agile spatial grid coding method for a stereo domain comprises the following steps:
step 1: acquiring high-speed field space-time data; the high-speed field space-time data comprises vectors, images, terrains, buildings, oblique photography and biological information of the high-speed field;
step 2: the preliminary construction of the high-speed field three-dimensional field map is realized through the high-speed field space-time data obtained in the step 1;
and step 3: further loading and rendering the high-speed field space-time data;
and 4, step 4: coding the high-speed field geographic space data according to the Beidou grid code;
and 5: realizing the subdivision of the Beidou grid codes through an algorithm;
step 6: and (3) constructing a coordinate system, taking a certain point of the high-speed field as an origin of the three-dimensional coordinate system, using a binary coordinate system for an x axis and a y axis, and using a traditional coordinate system for a z axis.
And 7: and uniformly packaging different three-dimensional engine space interfaces of the high-speed field to form a uniform map API (application programming interface) for providing a uniform API for the outside.
According to the optimization of the invention, in step 1, high-speed field space-time data is acquired; the device for acquiring the high-speed field space-time data comprises an information acquisition end, an information calculation end, an infrared detection end and an information analysis end;
the information acquisition end is used for: collecting vectors, images, terrain, buildings and oblique photography; the information calculation end is used for: calculating information of the acquired terrain, including mountainous terrain and highway terrain; the infrared detection end is used for: emitting infrared energy and converting the infrared energy into an electric signal to detect biological information on a road section; the information analysis end is used for: the calculated terrain buildings are analyzed and the size scale scaling information of the highways and buildings is recorded.
Preferably, in step 2, the photogrammetry software VirtuoZo extracts each frame of image through pictures and video information at different angles, and performs preprocessing, where the preprocessing includes: image size, brightness, contrast and dynamic range are adjusted.
According to the optimization of the invention, in the step 2, preliminary construction of the high-speed field three-dimensional field map is realized through photogrammetry software VirtuoZo after preprocessing, and the method specifically comprises the following steps:
determining a predicted position of at least one two-dimensional line segment in a t-frame acquired image through VirtuoZo according to an observed position of the at least one two-dimensional line segment in the t-1-frame acquired image, wherein the acquired image is a two-dimensional image of a target environment, the two-dimensional line segment corresponds to a three-dimensional line segment in a three-dimensional line graph of the target environment, and t is an integer greater than 1;
respectively determining the observation position of each two-dimensional line segment in the t frame acquisition image through VirtuoZo according to the predicted position of at least one two-dimensional line segment in the t frame acquisition image;
and updating the three-dimensional field map of the target environment according to the observation position of each two-dimensional line segment in the t-th frame acquisition image.
According to the present invention, in step 3, the three-dimensional engine OpenCV is used to further load and render the high-speed field geographic space data, and specifically includes:
receiving a first input for switching the roaming observation point of the three-dimensional field map of the closed high-speed field preliminarily constructed according to VirtuoZo from a first observation point to a second observation point, and determining the storage state of a rendering material, namely determining whether the rendering material of the three-dimensional field map of the second observation point is stored in a local storage interval, namely determining the loading state of the rendering material of the three-dimensional field map of the second observation point;
determining a target rendering material for rendering a second observation point of the three-dimensional field map according to the storage state of the rendering material, and rendering the second observation point in the three-dimensional field map according to the target rendering material;
and responding to the first input, and displaying the virtual reality scene of the second observation point.
Preferably, the method further includes sending a material loading request to the cloud server to request loading of the rendering material, receiving the rendering material sent by the cloud server, and rendering the second observation point in the three-dimensional field map by using the rendering material as a target rendering material, so as to obtain the virtual reality scene of the second observation point.
Further preferably, after the rendering material sent by the cloud server is received, the rendering material is named according to the name keyword of the second observation point, a corresponding relation between the rendering material and the second observation point is established, and the rendering material is stored in the material database. So as to directly call the rendering material to render the three-dimensional model next time.
Preferably, in step 4, the high-speed field geospatial data is encoded according to the beidou grid code, specifically: on a closed high-speed field, a region is divided into a plurality of block regions through a grid with a fixed size, and the grid of each region is positioned through binary coding.
According to the optimization of the invention, in the step 5, the subdivision of the Beidou grid code is realized through an algorithm, which specifically comprises the following steps: and (4) further dividing the grids of the plurality of areas divided in the step (4) by equidistance.
Preferably, in step 6, a coordinate system (a three-dimensional coordinate system based on the beidou grid code) is constructed, specifically:
the binary coordinate system of the three-dimensional field diagram constructed on the basis of the grid codes is converted into a traditional coordinate system according to actual needs in an rounding mode;
let the x-axis side be a and the y-axis side be b, m 1 、m 2 …m k And n 1 、n 2 …n k The number of the grid division positioning distances in different levels of the x axis and the y axis is shown, and the side length is l 1 、l 2 …l k-1 K is the number of the levels of the divided grids, and the floor function represents the downward rounding; the side length calculation of each grid is shown in formulas (I) and (II):
the abscissa X and the ordinate Y of the conventional coordinate system are calculated as shown in formulas (iii) and (IV):
a hierarchical multi-scale agile spatial grid code system for a stereoscopic domain, comprising:
a high-speed field spatiotemporal data acquisition module configured to acquire high-speed field spatiotemporal data;
the three-dimensional field map preliminary construction module is configured to realize preliminary construction of the high-speed field three-dimensional field map through the acquired high-speed field space-time data;
the data loading module is configured to load and render the high-speed field space-time data by using a three-dimensional engine;
the data coding module is configured to code the high-speed field geographic space data according to the Beidou grid code;
the Beidou grid code subdivision module is configured to realize subdivision of the Beidou grid code through an algorithm;
the coordinate system construction module is configured to construct a coordinate system, a certain point of the high-speed field is used as an origin of the three-dimensional coordinate system, the x axis and the y axis use a binary coordinate system, and the z axis uses a traditional coordinate system;
the rewriting data module is configured to rewrite the coded geospatial data according to the accessed different three-dimensional engines;
the unified map API module is configured to uniformly package interfaces of different three-dimensional engines and provide a unified API interface for the outside;
the storage is configured to be used for storing high-speed geographic space data, and the high-speed geographic space data comprises space characteristic data, attribute characteristic data and temporal data; the spatial characteristic data is the position of the ground object in the geographic space, including the geographic position of the ground object and the position interrelation or spatial relationship among a plurality of ground objects; the attribute characteristic data is qualitative/quantitative index data describing natural or human attributes of the ground features; temporal data is the time/period of geospatial data collection/occurrence of a geographic phenomenon.
The invention has the beneficial effects that:
1. unlike the general coordinate division which pursues high-precision positioning, the present invention positions an object by adjusting the applicable positioning precision by using a trellis code encoding mechanism. Compared with the traditional GPS high-precision positioning object, the method greatly saves the computational power of a computer.
2. Compared with the traditional coordinate system, the invention adopts the composite binary positioning coordinate, does not need to convert the decimal coordinate into the binary coordinate and then store and transform the binary coordinate, further saves the computational resources of the computer, and is particularly obvious when facing mass data.
3. According to the Beidou grid code binary coordinate system, accuracy is improved by increasing grid levels for objects needing high-accuracy positioning according to an application principle, and only a small amount of level resources are not needed, so that the search efficiency can be greatly improved in the face of huge information retrieval.
Drawings
FIG. 1 is a schematic diagram of a comparison between a binary coordinate of a trellis code and a conventional longitude and latitude coordinate of a lookup time scale;
FIG. 2 is a schematic diagram of a construction process of a three-dimensional coordinate system based on Beidou grid codes;
FIG. 3 is a schematic diagram of a module connection relationship of the construction of the Beidou grid code-based three-dimensional coordinate system of the invention;
FIG. 4 is a schematic flow chart of a preliminary construction of a three-dimensional field map;
FIG. 5 is a schematic flow chart of further construction and rendering of a three-dimensional field map;
FIG. 6 is a top view of a three-dimensional binary trellis code for a closed high-speed field;
FIG. 7 is a cross-sectional view of a three-dimensional binary trellis code for a closed high-speed field;
FIG. 8 is a side view of a three-dimensional binary trellis code for a closed high-speed field.
Detailed Description
The invention is further defined in the following, but not limited to, the figures and examples in the description.
Example 1
A hierarchical multi-scale agile spatial grid coding method for a stereo domain comprises the following steps:
step 1: scanning by an unmanned aerial vehicle to obtain high-speed field space-time data; the high-speed field space-time data comprises vectors, images, terrains, buildings, oblique photography and biological information of the high-speed field;
step 2: the method comprises the steps that 1, high-speed field geographic information scanned by an unmanned aerial vehicle is subjected to preliminary construction of a high-speed field three-dimensional field map on photogrammetry software VirtuoZo through high-speed field space-time data obtained in the step 1;
and step 3: further loading and rendering the high-speed field space-time data by using a three-dimensional engine OpenCV;
and 4, step 4: coding the high-speed field geographic space data according to the Beidou grid code;
and 5: realizing the subdivision of the Beidou grid codes through an algorithm;
step 6: constructing a coordinate system, taking a certain point of a high-speed field as an origin of a three-dimensional coordinate system, using a binary coordinate system for an x axis and a y axis, and using a traditional coordinate system for a z axis;
and 7: and uniformly packaging different three-dimensional engine space interfaces of the high-speed field to form a uniform map API (application programming interface) for providing a uniform API interface for the outside.
According to the invention, the Beidou grid code and a composite coordinate system are firstly used for carrying out spatial analysis on the highway, and the geographic spatial information data are lightened, discretized and gridded, and then are subjected to coding and warehousing after being fused, so that the efficient spatial analysis capability is effectively provided, and meanwhile, a special coordinate system is constructed and divided into an x-axis, y-axis and z-axis three-dimensional agile space consisting of a binary coordinate system and a traditional coordinate system; and packaging a brand new spatial analysis interface for data after the three-dimensional engine and the Beidou grid code rule are coded, and establishing a unified map API through data coding, data loading and data rewriting.
By constructing the hierarchical multi-scale space grid codes of the three-dimensional domain, the grid codes corresponding to different objects can be hierarchically corresponding to different precisions, and compared with the same positioning precision of a balanced coordinate system, the method greatly saves the storage resources of a computer and improves the running speed. And the combination of the binary three-dimensional coordinate system converts the positioning coordinate into the special language of the computer, thereby further improving the efficiency. The feasibility and the advancement of the stereoscopic domain hierarchical multi-scale agile space grid code are well applied and explained in the actual highway project.
Example 2
The method for hierarchical multi-scale agile spatial grid code of the stereo domain according to embodiment 1 is characterized by:
in the step 1, scanning by an unmanned aerial vehicle to obtain high-speed field space-time data;
the unmanned aerial vehicle is used as an aerial platform, and airborne remote sensing equipment such as a high-resolution CCD digital camera, a light optical camera, an infrared scanner, a laser scanner, a magnetic measuring instrument and the like is used for acquiring high-speed field space-time data.
The device for acquiring the high-speed field space-time data comprises an information acquisition end, an information calculation end, an infrared detection end and an information analysis end;
the information acquisition end is used for: collecting vectors, images, terrain, buildings and oblique photography; vectors, e.g., directional landmarks; the image refers to shadows of people, vehicles and buildings; the terrain refers to mountain terrain and road surface conditions; oblique photography refers to photographing people, vehicles and buildings from different angles;
the information calculation end is used for: calculating information of the acquired terrain, including mountainous terrain and highway terrain; the mountain land terrain comprises mountain land shapes, colors and the distribution of all objects; highway topography including appearance, signal representation, course and degree of curvature of the highway;
the infrared detection end is used for: emitting infrared energy and converting the infrared energy into an electric signal to detect biological information on a road section; biological information refers to the location of people and living beings;
the information analysis end is used for: the calculated terrain buildings are analyzed and the size scale scaling information of the highways and buildings is recorded.
In step 2, the photogrammetry software VirtuoZo replaces the stereo measurement and identification of human eyes through computer vision (the core of which is image matching and image identification), and extracts each frame of image through pictures and video information at different angles for preprocessing, wherein the preprocessing comprises the following steps: image size, brightness, contrast and dynamic range are adjusted.
In step 2, preliminary construction of a high-speed field three-dimensional field map is realized through photogrammetry software VirtuoZo after preprocessing, and as shown in fig. 4, the preliminary construction specifically comprises the following steps:
determining a predicted position of at least one two-dimensional line segment in the t-1 th frame of acquired image through VirtuoZo according to the observed position of the at least one two-dimensional line segment in the t-1 th frame of acquired image, wherein the acquired image is a two-dimensional image of a target environment acquired by image acquisition equipment, the two-dimensional line segment corresponds to a three-dimensional line segment in a three-dimensional line graph of the target environment, and t is an integer larger than 1;
respectively determining the observation position of each two-dimensional line segment in the t-th frame acquisition image through VirtuoZo according to the predicted position of at least one two-dimensional line segment in the t-th frame acquisition image;
and updating the three-dimensional field map of the target environment according to the observation position of each two-dimensional line segment in the t-th frame acquisition image.
In step 3, the three-dimensional engine OpenCV is used to further load and render the high-speed field geographic space data, as shown in fig. 5, specifically including:
receiving a first input for switching the roaming observation point of the three-dimensional field map of the closed high-speed field preliminarily constructed according to VirtuoZo from a first observation point to a second observation point, and determining the storage state of a rendering material, namely determining whether the rendering material of the three-dimensional field map of the second observation point is stored in a local storage interval, namely determining the loading state of the rendering material of the three-dimensional field map of the second observation point;
determining a target rendering material for rendering a second observation point of the three-dimensional field map according to the storage state of the rendering material, and rendering the second observation point in the three-dimensional field map according to the target rendering material;
and responding to the first input, and displaying the virtual reality scene of the second observation point.
When the closed high-speed field real scene is displayed in a three-dimensional model roaming mode, the display interface of the three-dimensional field graph comprises a plurality of roaming observation points, different roaming observation points correspond to different three-dimensional scenes, and a user can check the three-dimensional scenes at different positions by switching different roaming observation points. The method comprises the steps that a first observation point indicates a first-position three-dimensional scene, a second observation point indicates a second-position three-dimensional scene, the roaming observation point of a three-dimensional field map is switched from the first observation point to the second observation point, the display position of the three-dimensional scene is switched from the first position to the second position, first input is input operation of a user on a target observation point, namely the second observation point, in a three-dimensional field map display interface, and the target observation point corresponds to the three-dimensional scene under the target position.
And sending a material loading request to the cloud server to request loading of the rendering material, receiving the rendering material sent by the cloud server, taking the rendering material as a target rendering material, and rendering a second observation point in the three-dimensional field map, so as to obtain a virtual reality scene of the second observation point.
After receiving the rendering material sent by the cloud server, naming the rendering material according to the name keyword of the second observation point, establishing a corresponding relation between the rendering material and the second observation point, and further storing the rendering material into a material database. So that the rendering material is directly called to render the three-dimensional model next time.
It will be appreciated that the resolution of the rendered material is inversely proportional to the quality of the rendered material, that the quality of the rendered material is proportional to the quality of the virtual reality scene, and that the quality of the virtual reality scene is in turn proportional to the rendering time of the three-dimensional model. That is, the higher the resolution of the rendering material, the longer the time required for rendering the three-dimensional model by the rendering material, and the lower the resolution of the rendering material, the shorter the time required for rendering the three-dimensional model by the rendering material.
And when the roaming observation point of the three-dimensional model is switched from the first observation point to the first input of the second observation point, determining the storage state of the rendering material through the processing unit, further determining a target rendering material for rendering the second observation point of the three-dimensional model according to the storage state of the rendering material, and rendering the second observation point in the three-dimensional model according to the target rendering material so as to display the scene of the second observation point through the display unit. Therefore, the corresponding target rendering material rendering three-dimensional model is obtained according to the storage state of the rendering material, the rendering time of the three-dimensional model can be effectively reduced, the time for a user to wait for loading the deficiency-type simulated reality scene is further reduced, and the user can be ensured to view the virtual reality scene of the target observation point in time.
According to the method, when the first input of switching the roaming observation point of the three-dimensional model is received, the corresponding target rendering material rendering three-dimensional model is obtained according to the storage state of the rendering material, the rendering time of the three-dimensional model can be effectively reduced, the time of waiting for loading the virtual reality scene by a user is further reduced, and the user can be ensured to timely view the virtual reality scene of the target observation point.
The three-dimensional engine OpenCV is used as VirtuoZo to construct a high-speed field three-dimensional stereo field map, is biased to supplement abstract point, line and surface expressions and insufficient fine rendering capability, is used for reproducing a high-speed field environment in a more specific mode and meets the actual requirement. The refined rendering can reproduce the actual environment more truly, and more data is needed to perfect the environment, so that a database needs to be established.
In step 4, encoding the high-speed field geographic space data according to the Beidou grid code, specifically comprising the following steps: on a closed high-speed field, a region is divided into a plurality of block regions through a grid with a fixed size, and the grid of each region is positioned through binary coding.
In step 5, the subdivision of the Beidou gridding code is realized through an algorithm, which specifically comprises the following steps: and (4) further dividing the grids of the plurality of areas divided in the step (4) by equidistance. And then represented by a binary complex coordinate system.
For each divided grid, positioning coding is carried out for realizing the differentiation requirements of different objects on the positioning accuracy, and compared with the balanced positioning accuracy of each object, the running speed and the information lookup efficiency of a computer can be greatly improved.
1cm is taken as the minimum grid side length to divide the space from large to small according to the 1:5 proportion, differential positioning precision processing is carried out through different volumes, rates and special application scenes, and positioning information is expressed through a binary system composite coordinate system. The efficiency and the speed of the computer for processing the high-speed field positioning information are improved by the aid of the composite coordinate system of the binary language which is easier to process by the computer and the resource optimization utilization brought by the differential positioning precision positioning.
In step 6, a coordinate system (a three-dimensional coordinate system based on the beidou grid code) is constructed, as shown in fig. 2, a certain point of the high-speed field is taken as an origin of the three-dimensional coordinate system, a binary coordinate system is used for an x axis and a y axis, and a traditional coordinate system is used for a z axis, specifically:
the binary coordinate system of the three-dimensional field diagram constructed on the basis of the grid codes is converted into a traditional coordinate system according to actual needs in an rounding mode;
let the x-axis side be a and the y-axis side be b, m 1 、m 2 …m k And n 1 、n 2 …n k The number of the grid division positioning distances in different levels of the x axis and the y axis is shown, and the side length is l 1 、l 2 …l k-1 K is the number of the divided grid levels, and floor function represents rounding-down; the side length calculation of each grid is shown in formulas (I) and (II):
the abscissa X and the ordinate Y of the conventional coordinate system are calculated as shown in formulas (iii) and (IV):
the length of the side of the grid with different levels is multiplied by the number of the grid, and then the length is accumulated, so that the obtained length is approximate to the actual positioning distance of the object, and the error between the obtained numerical value and the real numerical value is smaller and the precision is higher along with the larger number of the grid division levels. The three-dimensional binary coordinate system is constructed to replace the traditional longitude and latitude coordinate system, and the positioning information is converted into the computer general language to further improve the operation efficiency of the computer.
As shown in the top view of fig. 6, the conventional coordinate of the house H1 with 1 km as the coordinate precision is (50,50), if the primary coordinate of the grid code coordinate system is a square grid with a side length of 20km, the secondary coordinate system is to divide one grid of the primary coordinate system into 25 grids equally, and the side length of each square grid is 4km, according to this method, the map grid can be divided infinitely.
After the binary grid code coordinate system is constructed, the call of the coded geospatial data is rewritten, interception and replacement are carried out when the space type is carried out, unified API is used for uniformly taking charge of the call, and the responsible and time-consuming processing is given to Beidou grid data coding for taking charge.
In step 7, the interface name, the interface request type, the sample request parameter and the sample return parameter of the API interface are automatically obtained by reading the first interface configuration file of the API interface. And adding the overtime and interception mode corresponding to the interface request type in the local configuration file into the first interface configuration file to generate a second interface configuration file. Adding API directory information in the configuration file into the API directory file, scanning and matching the calling mode, the interface name and the interface request type of the API interface to be called in the API directory file, calling the API interface according to the sample request parameter after the scanning information is successfully matched, matching the return parameter of the API interface with the sample return parameter, and taking the second interface configuration file as a new configuration file if the matching is successful, and finishing the packaging and calling.
In the Innovative research institute of aerospace information of Chinese academy of sciences in Jinnan, data is consulted and collected through a stereo-domain multi-scale binary system coordinate system Beidou grid code established in Shandong province, and the time magnitude consulted by GPS traditional coordinate system positioning data of a certain platform is compared, so that the result is shown in figure 1, and the comparison of the two system consulting time magnitudes can find that the time consumed by the traditional GPS longitude and latitude coordinate system positioning is far longer than that of the stereo-domain hierarchical multi-scale binary system coordinate system Beidou grid code positioning, thereby ensuring the hypothesis of the system function.
Fig. 6 is a top view of a three-dimensional binary trellis code of a closed highway field, and fig. 6 constructs a closed highway field consisting of a highway region having a length of 100 km, a length after a turn of 100 km, and a width of 4.7 m. The coordinates of the x axis and the y axis of the high-speed field are coded in a binary mode, the binary coding commonly used by a computer is used, transcoding is not needed during calculation, calculation can be carried out, the calculation speed of the computer is greatly improved, and the calculation time is saved.
In fig. 6, there is a car C1 on the expressway at 45 km, and the actual coordinate should be (45,0). The high-speed field is divided by a 20-kilometer grid code with a side length, and in the third grid of the grid code, the coordinate is (3,0), and then binary coding is used as a main coordinate to represent the coordinate is (11,0).
In fig. 6, H1 represents a resident house, and represents (11,11) in 20km grid coordinates and binary code, and positioning information with higher accuracy is required because the accuracy is not sufficient in practice. Dividing the (11,11) grid by a 4km side length grid, reestablishing an x-axis y-axis coordinate system by the (11,11) grid, and also expressing coordinates in binary coding, so as to obtain a composite coordinate system { (11,11), (11,11) } divided by two layers of grids to further determine the accurate positions of the coordinates according to actual needs. In summary, by continuously dividing the size of the grid code (theoretically, the grid code can be divided into grids with 1cm as the side length infinitely), the position of the object can be located by determining the required location precision according to actual needs, so that resource utilization is maximally realized, and the operating efficiency of the computer is improved.
Fig. 7 is a cross-sectional view of a three-dimensional binary grid code for a closed express field, in fig. 7, an expressway cross section with a width L =4.7m is shown on a y-axis, a unmanned aerial vehicle D is arranged at a position 13 km forward on the y-axis and 50m forward on a z-axis, and the unmanned aerial vehicle is positioned by a grid code with a side length of 1 km on the y-axis, and coordinates of the unmanned aerial vehicle in the three-dimensional solid field map are (0,1101,50). The coordinate on the z-axis uses a traditional coordinate system because the amount of resources occupied by the high positioning information is not large according to actual needs.
Fig. 8 is a side view of a three-dimensional binary trellis code for a closed highway, in fig. 8, the x-axis represents a highway, a private car C is located on the x-axis, and the trellis is divided by the trellis code with a side length of 1 km to obtain coordinates (111110100,0,0).
Example 3
A hierarchical multi-scale agile spatial grid code system for a stereoscopic domain, comprising:
a high-speed field spatiotemporal data acquisition module configured to acquire high-speed field spatiotemporal data;
the three-dimensional field map preliminary construction module is configured to realize preliminary construction of the high-speed field three-dimensional field map through the acquired high-speed field space-time data;
the data loading module is configured to load and render the high-speed field space-time data by using a three-dimensional engine;
the data coding module is configured to code the high-speed field geographic space data according to the Beidou grid code;
the Beidou grid code subdivision module is configured to realize subdivision of the Beidou grid code through an algorithm;
the coordinate system construction module is configured to construct a coordinate system, a certain point of the high-speed field is used as an origin of a three-dimensional coordinate system, a binary coordinate system is used for an x axis and a y axis, and a traditional coordinate system is used for a z axis;
the rewriting data module is configured to rewrite the coded geospatial data according to the accessed different three-dimensional engines;
the unified map API module is configured to uniformly package interfaces of different three-dimensional engines and provide a unified API interface for the outside;
the storage is configured to be used for storing high-speed geographic space data, and the high-speed geographic space data comprises space characteristic data, attribute characteristic data and temporal data; the spatial characteristic data is the position of the ground object in the geographic space, including the geographic position of the ground object and the position interrelation or spatial relationship among a plurality of ground objects; the attribute characteristic data is qualitative/quantitative index data describing natural or human attributes of the ground features; temporal data is the time/period of occurrence of geospatial data collection/geographic phenomenon.
The connection relation among the memory, the data coding module, the data loading module, the rewriting data module and the unified map API module constructed by the three-dimensional coordinate system based on the Beidou grid code is shown in FIG. 3. Fig. 3 is a system structure schematic diagram of a three-dimensional coordinate system based on the beidou grid code.
Claims (10)
1. A hierarchical multi-scale agile spatial grid coding method for a stereo domain is characterized by comprising the following steps:
step 1: acquiring high-speed field space-time data; the high-speed field space-time data comprises vectors, images, terrains, buildings, oblique photography and biological information of the high-speed field;
step 2: the preliminary construction of the high-speed field three-dimensional field map is realized through the high-speed field space-time data obtained in the step 1;
and step 3: further loading and rendering the high-speed field space-time data;
and 4, step 4: coding the high-speed field geographic space data according to the Beidou grid code;
and 5: realizing the subdivision of the Beidou grid codes through an algorithm;
step 6: constructing a coordinate system, taking a certain point of a high-speed field as an origin of a three-dimensional coordinate system, using a binary coordinate system for an x axis and a y axis, and using a traditional coordinate system for a z axis;
and 7: and uniformly packaging different three-dimensional engine space interfaces of the high-speed field to form a uniform map API (application programming interface) for providing a uniform API interface for the outside.
2. The method of claim 1, wherein in step 1, high-speed field spatiotemporal data is obtained; the device for acquiring the high-speed field space-time data comprises an information acquisition end, an information calculation end, an infrared detection end and an information analysis end;
the information acquisition end is used for: collecting vectors, images, terrains, buildings and oblique photography; the information calculation end is used for: calculating information of the acquired terrain, including mountainous terrain and highway terrain; the infrared detection end is used for: emitting infrared energy and converting the infrared energy into an electric signal to detect biological information on a road section; the information analysis end is used for: the calculated terrain buildings are analyzed and the size scale scaling information of the highways and buildings is recorded.
3. The method as claimed in claim 1, wherein in step 2, the photogrammetry software VirtuoZo extracts each frame of image from the pictures and video information at different angles, and performs preprocessing, the preprocessing includes: image size, brightness, contrast and dynamic range are adjusted.
4. The method for hierarchical multiscale agile spatial grid code of a stereo domain according to claim 1, wherein in step 2, preliminary construction of a high-speed field three-dimensional field map is realized by photogrammetry software VirtuoZo after preprocessing, which specifically comprises:
determining a predicted position of at least one two-dimensional line segment in the t-1 th frame acquisition image through VirtuoZo according to an observation position of the at least one two-dimensional line segment in the t-1 th frame acquisition image, wherein the acquisition image is a two-dimensional image of a target environment, the two-dimensional line segment corresponds to a three-dimensional line segment in a three-dimensional line graph of the target environment, and t is an integer greater than 1;
respectively determining the observation position of each two-dimensional line segment in the t-th frame acquisition image through VirtuoZo according to the predicted position of at least one two-dimensional line segment in the t-th frame acquisition image;
and updating the three-dimensional field map of the target environment according to the observation position of each two-dimensional line segment in the t-th frame acquisition image.
5. The method for hierarchical multi-scale agile spatial grid code of a stereo domain according to claim 1, wherein in step 3, the high-speed field geographic space data is further loaded and rendered by using a three-dimensional engine OpenCV, specifically comprising:
receiving a first input for switching the roaming observation point of the three-dimensional field map of the closed high-speed field preliminarily constructed according to VirtuoZo from a first observation point to a second observation point, and determining the storage state of a rendering material, namely determining whether the rendering material of the three-dimensional field map of the second observation point is stored in a local storage interval, namely determining the loading state of the rendering material of the three-dimensional field map of the second observation point;
determining a target rendering material for rendering a second observation point of the three-dimensional field map according to the storage state of the rendering material, and rendering the second observation point in the three-dimensional field map according to the target rendering material;
responding to the first input, and displaying a virtual reality scene of the second observation point;
preferably, the method further includes sending a material loading request to the cloud server to request loading of the rendering material, receiving the rendering material sent by the cloud server, and rendering the second observation point in the three-dimensional field map by using the rendering material as a target rendering material, so as to obtain the virtual reality scene of the second observation point.
6. The method of claim 5, wherein after receiving the rendering material from the cloud server, naming the rendering material according to the name keyword of the second observation point, establishing a correspondence between the rendering material and the second observation point, and storing the rendering material in a material database.
7. The method for hierarchical multi-scale agile spatial grid code of a stereo domain according to claim 1, wherein in step 4, the high-speed field geospatial data is encoded according to Beidou grid code, specifically: on a closed high-speed field, a region is divided into a plurality of block regions through a grid with a fixed size, and the grid of each region is positioned through binary coding.
8. The method for hierarchical multi-scale agile spatial grid code of a stereo domain according to claim 1, wherein in step 5, the subdivision of the beidou grid code is realized by an algorithm, specifically: and (4) further dividing the grids of the plurality of areas divided in the step (4) by equidistance.
9. The method according to any one of claims 1 to 8, wherein in step 6, a coordinate system is constructed, specifically:
the binary coordinate system of the three-dimensional field diagram constructed on the basis of the grid codes is converted into a traditional coordinate system according to actual needs in an rounding mode;
let the x-axis side be a and the y-axis side be b, m 1 、m 2 …m k And n 1 、n 2 …n k The number of grid partition positioning distances at different levels of the x axis and the y axis is shown, and the side length is l 1 、l 2 …l k-1 K is the number of the levels of the divided grids, and the floor function represents the downward rounding; the side length calculation of each grid is shown in formulas (I) and (II):
the abscissa X and the ordinate Y of the conventional coordinate system are calculated as shown in formulas (iii) and (IV):
10. a hierarchical multi-scale agile spatial grid code system for a stereo domain, comprising:
a high-speed field spatiotemporal data acquisition module configured to acquire high-speed field spatiotemporal data;
the three-dimensional field map preliminary construction module is configured to realize preliminary construction of the high-speed field three-dimensional field map through the acquired high-speed field space-time data;
the data loading module is configured to load and render the high-speed field space-time data by using a three-dimensional engine;
the data coding module is configured to code the high-speed field geographic space data according to the Beidou grid code;
the Beidou gridding code re-segmentation module is configured to realize re-segmentation of the Beidou gridding code through an algorithm;
the coordinate system construction module is configured to construct a coordinate system, a certain point of the high-speed field is used as an origin of a three-dimensional coordinate system, a binary coordinate system is used for an x axis and a y axis, and a traditional coordinate system is used for a z axis;
the rewriting data module is configured to rewrite the coded geospatial data according to the accessed different three-dimensional engines;
the unified map API module is configured to uniformly package interfaces of different three-dimensional engines and provide a unified API interface for the outside;
the storage is configured to be used for storing high-speed geographic space data, and the high-speed geographic space data comprises space characteristic data, attribute characteristic data and temporal data; the spatial characteristic data is the position of the ground object in the geographic space, including the geographic position of the ground object and the position interrelation or spatial relationship among a plurality of ground objects; the attribute characteristic data is qualitative/quantitative index data describing natural or human attributes of the ground features; temporal data is the time/period of geospatial data collection/occurrence of a geographic phenomenon.
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| CN116342825A (en) * | 2023-05-24 | 2023-06-27 | 广东电网有限责任公司江门供电局 | Construction method and related device of three-dimensional visualization system of power grid |
| CN117312479A (en) * | 2023-12-01 | 2023-12-29 | 星杓(成都)信息科技有限公司 | Space position analysis method and system based on Beidou grid position code |
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| CN116342825A (en) * | 2023-05-24 | 2023-06-27 | 广东电网有限责任公司江门供电局 | Construction method and related device of three-dimensional visualization system of power grid |
| CN116342825B (en) * | 2023-05-24 | 2023-08-18 | 广东电网有限责任公司江门供电局 | Construction method and related device of three-dimensional visualization system of power grid |
| CN117312479A (en) * | 2023-12-01 | 2023-12-29 | 星杓(成都)信息科技有限公司 | Space position analysis method and system based on Beidou grid position code |
| CN117312479B (en) * | 2023-12-01 | 2024-01-26 | 星杓(成都)信息科技有限公司 | Space position analysis method and system based on Beidou grid position code |
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