CN118210421A

CN118210421A - Target track scaling method, apparatus and computer readable storage medium

Info

Publication number: CN118210421A
Application number: CN202410415408.9A
Authority: CN
Inventors: 陈磊
Original assignee: Shenzhen Saifang Technology Co ltd
Current assignee: Shenzhen Saifang Technology Co ltd
Priority date: 2024-04-08
Filing date: 2024-04-08
Publication date: 2024-06-18

Abstract

The embodiment of the application relates to the technical field of map scaling, and discloses a target track scaling method, target track scaling equipment and a computer-readable storage medium, wherein the method comprises the following steps: in response to a zoom operation performed on the map, determining a target track and a zoom parameter corresponding to the zoom operation, the target track being displayed on the map; acquiring a plurality of first coordinate points of a target track under a first coordinate system, wherein the first coordinate system is formed by taking a detection device as a coordinate origin, taking a detection direction of the detection device as a first coordinate axis and taking a normal direction of the detection direction as a second coordinate axis; scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points; and displaying the scaled target track on a map. Through the mode, the embodiment of the application realizes effective verification of the detection accuracy of the detection equipment.

Description

Target track scaling method, apparatus and computer readable storage medium

Technical Field

The embodiment of the application relates to the technical field of map scaling, in particular to a target track scaling method, target track scaling equipment and a computer readable storage medium.

Background

In order to evaluate the accuracy of detection by a detection device, a method is generally adopted in which a flight hand operates a unmanned aerial vehicle (or other moving object) to perform straight-line flight in a certain direction. The detection device system then tracks the flying drone and records its flight trajectory (i.e., track) through a detection algorithm. In view of the fact that the control commands of the flight hands are known, the degree of deviation between the flight path recorded by the detection device and the actual flight direction can be checked and analyzed. By the method, the accuracy of detection of the detection equipment can be quantitatively evaluated, and then the detection algorithm of the detection equipment is calibrated, so that the accuracy of detection of the detection equipment is improved.

However, when the track recorded by the detection device is displayed on the map, the degree of deviation between the track recorded by the detection device and the actual flight direction cannot be well observed, and even in the case of an enlarged view, it is difficult to effectively evaluate the accuracy of the track. This situation limits the verification of the accuracy of the detection by the detection device.

Therefore, how to effectively verify the accuracy of the detection device is a urgent problem to be solved.

Disclosure of Invention

In view of the above, embodiments of the present application provide a target track scaling method, apparatus, and computer-readable storage medium, for solving the problem in the prior art that the accuracy of detection by a detection apparatus cannot be effectively verified.

According to an aspect of an embodiment of the present application, there is provided a target track scaling method, the method including: determining a target track and a scaling parameter corresponding to a scaling operation in response to the scaling operation executed on the map, wherein the target track is a motion track of a target generated by detecting the target by the detecting equipment, and the target track is displayed on the map; acquiring a plurality of first coordinate points of a target track under a first coordinate system, wherein the first coordinate system is formed by taking a detection device as a coordinate origin, taking a detection direction of the detection device as a first coordinate axis and taking a normal direction of the detection direction as a second coordinate axis; scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points; and displaying the scaled target track on a map.

In an alternative way, in response to a zoom operation performed on a map, determining a target track and a zoom parameter corresponding to the zoom operation includes: in response to a zoom operation performed on the map, determining a target track corresponding to the zoom operation; acquiring an original scale of a map; determining a first scale and a second scale according to the scaling operation, wherein the second scale is the first scale or the original scale; determining a scaling parameter according to the proportional relation between the original scale and the first scale; displaying the scaled target track on a map, comprising: and scaling the map so that the scale of the scaled map is a second scale, and displaying the scaled target track on the scaled map.

In an alternative manner, the original scale is determined according to an original zoom level, the original zoom level being a zoom level of the map before the zoom operation; determining a first scale and a second scale according to a scaling operation, comprising: determining a first real-time scaling level according to the scaling operation, and determining a first scale according to the first real-time scaling level; and setting the second real-time scaling level as an original scaling level, and determining a second scale according to the second real-time scaling level so as to enable the second scale to be the original scale.

In an alternative manner, before determining the first real-time zoom level according to the zoom operation and determining the first scale according to the first real-time zoom level, the target track scaling method further includes: determining a scaling frame number n according to a scaling operation, wherein n is a positive integer, and the first real-time scaling level, the second real-time scaling level, the first scaling level, the second scaling level and the scaling parameters respectively comprise the first real-time scaling level, the second real-time scaling level, the first scaling level, the second scaling level and the scaling parameters of each frame in the n frames; scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points, wherein the scaling process comprises the following steps: scaling the plurality of first coordinate points under a first coordinate axis or a second coordinate axis according to the scaling parameters of the ith frame to obtain a plurality of second coordinate points of the ith frame, and determining a target track of the scaled ith frame according to the plurality of second coordinate points of the ith frame, wherein i is a positive integer and is smaller than or equal to n; scaling the map to make the scale of the scaled map be the second scale, and displaying the scaled target track on the scaled map, including: scaling the map according to the second real-time scaling level of the ith frame to obtain a scaled map of the ith frame, so that the scale of the scaled map of the ith frame is a second scale of the ith frame; and starting from i to 1, displaying the target track of the zoomed ith frame on the zoomed map of the ith frame in sequence until the target track of the zoomed nth frame is displayed on the zoomed map of the nth frame.

In an alternative manner, after determining the target track and the zoom parameter corresponding to the zoom operation in response to the zoom operation performed on the map, the target track zoom method further includes: determining a scaling mode according to the scaling operation, wherein the scaling mode comprises a first direction scaling mode and a second direction scaling mode; scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameter to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points, including: if the scaling mode is a first direction scaling mode, scaling the plurality of first coordinate points under a first coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points; and if the scaling mode is a second direction scaling mode, scaling the plurality of first coordinate points under a second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points.

In an alternative manner, before displaying the scaled target track on the map, the target track scaling method further includes: acquiring longitude and latitude high coordinates of the detection equipment under a geographic coordinate system; converting the plurality of second coordinate points from the first coordinate system to the second coordinate system to obtain a plurality of third coordinate points, wherein the second coordinate system is formed by taking the detection equipment as a coordinate origin and taking the true north direction and the normal direction of the true north direction as coordinate axes; converting a plurality of third coordinate points in the second coordinate system into a geographic coordinate system according to longitude and latitude high coordinates of the detection equipment so as to obtain a scaled target track in the geographic coordinate system; displaying the scaled target track on a map, comprising: and displaying the target track under the scaled geographic coordinate system on a map.

In an alternative way, the normal direction of the detection direction is a direction on the horizontal plane; the normal direction of the true north direction is the true east direction; converting the plurality of second coordinate points from the first coordinate system to the second coordinate system, comprising: and converting the plurality of second coordinate points from the first coordinate system to the second coordinate system according to the included angle between the detection direction of the detection device and the true north direction.

In an alternative manner, acquiring a plurality of first coordinate points of the target track in the first coordinate system includes: acquiring pitch angles, azimuth angles and distances of a plurality of track points of a target track, wherein the pitch angles are included angles between finger lines of the detection equipment pointing to the target and a horizontal plane, the azimuth angles are included angles between the finger lines of the detection equipment pointing to the target and the true north direction, and the distances are the length of line segments of connecting lines between the detection equipment and the target; determining a plurality of fourth coordinate points of the target track under a second coordinate system according to pitch angles, azimuth angles and distances of a plurality of track points of the target track, wherein the plurality of track points correspond to the plurality of fourth coordinate points one by one; and converting the fourth coordinate points from the second coordinate system to the first coordinate system to obtain the first coordinate points.

According to another aspect of an embodiment of the present application, there is provided a target track scaling apparatus including: a processor and a memory having stored therein executable instructions executable by the processor to implement a target track scaling method as claimed in any one of the preceding claims.

According to another aspect of an embodiment of the present application, there is provided a computer-readable storage medium having stored therein executable instructions that, when run on a target track scaling device, cause the target track scaling device to perform the operations of the target track scaling method as set forth in any one of the above.

According to the embodiment of the application, the first coordinate point of the target track under the first coordinate system is scaled under the first coordinate axis or the second coordinate axis of the first coordinate system, so that the difference between the target track detected by the detection equipment and the real track of the target is highlighted on the map through the change of the coordinate scale, and the detection accuracy of the detection equipment is effectively verified.

The foregoing description is only an overview of the technical solutions of the embodiments of the present application, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present application can be more clearly understood, and the following specific embodiments of the present application are given for clarity and understanding.

Drawings

The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 illustrates a schematic diagram of several target track scaling provided by embodiments of the present application;

fig. 2 is a schematic flow chart of a target track scaling method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a fourth coordinate point in an EON coordinate system according to an embodiment of the present application;

FIG. 4 illustrates a schematic diagram of a transformation of coordinate points from an EON coordinate system to an XOY coordinate system provided by an embodiment of the present application;

FIG. 5 is a schematic flow chart of converting a scaled target track in a first coordinate system into a geographic coordinate system according to an embodiment of the present application;

FIG. 6 is a flowchart illustrating a target track scaling method according to another embodiment of the present application;

FIG. 7 is a flowchart illustrating a target track scaling method according to another embodiment of the present application;

Fig. 8 is a schematic structural diagram of a target track scaling apparatus according to an embodiment of the present application;

fig. 9 shows a schematic structural diagram of a target track scaling apparatus according to an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein.

The unmanned aerial vehicle is operated by a flying hand to navigate along the normal direction of the detection device, fig. 1 shows a schematic diagram for scaling a plurality of target tracks provided by the embodiment of the application, a dotted line in fig. 1 is a real route of the unmanned aerial vehicle operated by the flying hand to fly, a circle in fig. 1 is the position of the target detected by the detection device, a plurality of end-to-end solid arrows in fig. 1 represent the motion track of the target detected by the detection device, a dotted line arrow in fig. 1 represents the normal direction of the real route of the unmanned aerial vehicle (namely the detection direction of the detection device), a view in fig. 1 shows the initial condition that the track of the unmanned aerial vehicle recorded by the detection device is displayed on a map, as shown in a view in fig. 1, the track recorded by the detection device is too fit with the real route, and the accuracy detected by the detection device is difficult to quantitatively evaluate; the view B is obtained after the view A is enlarged on the map, and as shown in the view B in fig. 1, although the view of the map is enlarged, the view on the map is enlarged simultaneously from the true north direction and the true east direction, so that the track recorded by the detection device still fits the true route, and the deviation degree between the track recorded by the detection device and the true route is still too small.

Based on this, the present inventors found that the deviation of the flight path recorded by the detection device from the real course can be enlarged in the normal direction of the real course of the unmanned aerial vehicle (the direction indicated by the dotted arrow in fig. 1) to highlight the error detected by the detection device. Specifically, the unmanned aerial vehicle is operated by the fly hand to navigate along the normal direction of the detection device, so that the detection direction of the detection device is perpendicular to the heading of the unmanned aerial vehicle, coordinate values of track points recorded by the detection device under a coordinate axis corresponding to the detection direction of the detection device can be amplified under the coordinate system established based on the detection direction of the detection device, and then the amplified track points are converted into a geographic coordinate system of a map from the coordinate system established based on the detection direction of the detection device, so that the track points amplified in the detection direction of the detection device are displayed on the map. Intuitively, referring to view C in fig. 1, after the track recorded by the detecting device is amplified in the detecting direction of the detecting device, an error between the track recorded by the detecting device and the real track is obvious, so that the accuracy of detection by the detecting device can be quantitatively evaluated accurately, and further, the detecting algorithm of the detecting device can be calibrated effectively, so that the accuracy of detection by the detecting device is improved.

The method is suitable for scaling the target track, wherein the target track is a motion track generated by continuously monitoring the moving object by the detection equipment; the target can be a moving object such as an unmanned plane, a pedestrian, a vehicle, a cruise ship, an animal and the like; the detection device can be a sensor which can acquire target position data, such as a radar, a laser range finder, an infrared sensor, a sonar, a camera and the like.

Fig. 2 shows a flowchart of a target track scaling method according to an embodiment of the present application, where the method is performed by a target track scaling device. The target track scaling device may be a computing device with a display function, such as a mobile device including a smart phone and a tablet computer, or may be a computing device that communicates with a device with a display function, such as a server. As shown in fig. 2, the method comprises the steps of:

S110, in response to the zooming operation executed on the map, determining a target track and zooming parameters corresponding to the zooming operation, wherein the target track is a movement track of the target generated by detecting the target by the detecting equipment, and the target track is displayed on the map.

The target track is displayed on the map, and when the user needs to zoom the map, the user can input zoom instructions through various zoom operations to adjust the zoom level of the view as required, including sliding operations with a finger on a touch screen, scrolling a mouse wheel, or using a zoom tool provided on a map interface.

When the map is presented on the target track scaling device, the display device of the map is the target track scaling device, and the target track scaling device can directly respond to the scaling operation of the user, determine the target track and the scaling parameters corresponding to the scaling operation, and perform subsequent scaling processing on the target track. When the map is presented on a display device in communication with the target track scaling device, the display device responds to a scaling operation of a user and after determining a target track and scaling parameters corresponding to the scaling operation, sends information of the target track and the scaling parameters to the target track scaling device, so that the target track scaling device responds to the scaling operation of the user indirectly and performs subsequent scaling processing on the target track.

After the user performs the zoom operation, the display device of the map determines a target track and a zoom parameter corresponding to the user zoom operation.

In an alternative way, the user may be allowed to directly input the zoom parameter on the display device of the map; in another alternative way, the user can zoom the target track on the map on the display device of the map so as to determine the zoom parameter according to the change of the scale of the view of the target track on the map; in an alternative manner, the user may zoom the map on the display device of the map to determine the zoom parameter of the target track according to the scale change of the map view, specifically, S110 further includes the following sub-steps to determine the zoom parameter:

s113, acquiring an original scale of the map.

In an alternative manner, if the display device of the map is a target track scaling device, the target track scaling device may directly read the original scale of the map; in another alternative, the target track scaling device obtains the original scale of the map by communicating with the display device of the map.

Wherein, the original Scale (Origin Scale) represents the ratio of a unit length displayed on the map to a corresponding length in the real world before the user performs the zoom operation. For example, if 1 centimeter on the map represents 100 kilometers in the real world, then the original scale is 1:10000000. The smaller the original scale, the smaller the object display on the map, but the wider the visible area; the larger the original scale, the larger the object display on the map, but the narrower the visible area.

S115, determining a first scale and a second scale according to the scaling operation, wherein the second scale is the first scale or the original scale.

The first scale is a scale which the user wants to reach the map view through zooming operation; the second scale is the scale that the target track scaling device finally reaches for the map view. If the map view is scaled normally according to the scaling operation of the user, the value of the second scale is consistent with that of the first scale; if the map view is controlled by the target track scaling device, so that the map view is kept unchanged all the time, the numerical value of the second scale is consistent with the original scale.

In an optional manner, if the display device of the map is a target track scaling device, the target track scaling device may directly calculate a first scale corresponding to a scaling operation on the map; in another alternative, the target track scaling device obtains the first scale determined by the display device of the map by communicating with the display device of the map; in another alternative, the target track scaling device communicates with the display device of the map to obtain the scaling operation recorded by the display device of the map, and the first scale is calculated by the target track scaling device.

S117, determining a scaling parameter according to the proportional relation between the original scale and the first scale.

In an alternative, the zoom parameter is the scale change ratio of the map view before and after zooming. For example, if the original scale size scale1 of the map is 1:100,000 and the scaled first scale size scale2 is 1:200,000 before the zooming operation, the zooming parameter may be calculated as scale2/scale 1=1/2.

One or more target tracks may be displayed on the map. When only one item target track is displayed on the map, the target track corresponding to the zooming operation is the item target track. When the map presents a plurality of target tracks and one of the target tracks is selected by a user to perform zooming operation, the display equipment of the map determines the target track corresponding to the zooming operation of the user as the target track selected by the user. If the user does not select the multi-item target track, the multi-item target track on the map can be regarded as the target track to be scaled. The user may select, click on, or otherwise perform a zoom operation directly adjacent to the target track of the map interface via a button to achieve the selected target track.

S130, acquiring a plurality of first coordinate points of the target track in a first coordinate system, wherein the first coordinate system is formed by taking the detection equipment as a coordinate origin, the detection direction of the detection equipment as a first coordinate axis and the normal direction of the detection direction as a second coordinate axis.

In an alternative manner, if the motion direction of the target is the normal direction of the detection direction, the first coordinate system is constructed by taking the motion direction of the target as one axial direction of the first coordinate system, taking the detection direction of the detection device as the other axial direction of the first coordinate system, and taking the detection device as the origin of coordinates, so as to obtain the plane coordinate system. Further, a stereoscopic coordinate system may be constructed on the basis of the constructed planar coordinate system with the normal direction on the coordinate plane of the constructed planar coordinate system as another axial direction. The coordinate system mentioned in the embodiment of the present application may be a planar coordinate system or a stereoscopic coordinate system, which is not particularly limited.

In another alternative, a plane is formed by the detection direction, the movement direction of the object and the detection device, the normal direction of the plane is taken as the normal direction of the detection direction, the normal direction of the plane is taken as one axial direction of the first coordinate system, the detection direction is taken as the other axial direction of the first coordinate system, and the detection device is taken as the origin of coordinates, so that the first coordinate system is constructed.

In another alternative, the first coordinate system XOY coordinate system is constructed with the normal direction of the detection direction on the horizontal plane as one axial Y axis of the first coordinate system, with the detection direction of the detection device as the other axial X axis of the first coordinate system, and with the detection device as the origin O point of coordinates.

The method comprises the steps of obtaining a plurality of first coordinate points of the target track under a first coordinate system, in an alternative mode, obtaining longitude and latitude height information of the target track under a geographic coordinate system of a map on the map, and then converting the longitude and latitude height information of the target track into the first coordinate system through geographic coordinate system transformation according to the longitude and latitude height information of the detection device to obtain the plurality of first coordinate points. In another alternative way, acquiring a plurality of first coordinate points of the target track in the first coordinate system includes the following substeps:

S132, obtaining pitch angles, azimuth angles and distances of a plurality of track points of the target track, wherein the pitch angles are included angles between finger lines of the detection equipment pointing to the target and a horizontal plane, the azimuth angles are included angles between finger lines of the detection equipment pointing to the target and the true north direction, and the distances are the length of line segments of connecting lines between the detection equipment and the target.

The method comprises the steps of obtaining original data obtained by detecting a target by detecting equipment: pitch angle, azimuth angle and distance of a plurality of track points. The original data of the multi-item target track displayed on the map can be obtained from the detection device or pre-stored on the target track scaling device.

S134, determining a plurality of fourth coordinate points of the target track under a second coordinate system according to pitch angles, azimuth angles and distances of the plurality of track points of the target track, wherein the plurality of track points correspond to the plurality of fourth coordinate points one by one, and the second coordinate system is a coordinate system formed by taking the detection equipment as a coordinate origin and taking the true north direction and the normal direction of the true north direction as coordinate axes.

In an alternative manner, fig. 3 shows a schematic diagram of a fourth coordinate point in the EON coordinate system according to an embodiment of the present application. The EON coordinate system in fig. 3 is a second coordinate system EON coordinate system constructed by taking the true eastern direction as an axial E axis and the true north direction as another axial N axis on a horizontal plane, and taking the detection device as a point of origin O of coordinates. Step S134 will be described using the second coordinate system as an EON coordinate system as an example. As shown in fig. 3, α is a pitch angle of one track point a, β is an azimuth angle of the point a, S is a distance between the point a and the detection device, and a coordinate value n=s×cos α×cos β of the point a in the N axis can be obtained by using a trigonometric function; coordinate value e=s×cos α×sin β of the point a in the E axis. Therefore, the fourth coordinate point of the track point a in the EON coordinate system may be expressed as (e, n) = (s×cos α×sin β, s×cos α×cos β).

And S136, converting the fourth coordinate points from the second coordinate system to the first coordinate system to obtain the first coordinate points.

In the embodiment of the present application, step S136 is described by taking the transformation of the fourth coordinate point from the EON coordinate system to the XOY coordinate system as an example, fig. 4 shows a schematic diagram of the transformation of the coordinate point from the EON coordinate system to the XOY coordinate system, and as shown in fig. 4, θ is a rotation angle required for rotating the E axis to the X axis, and then the following formula may be adopted: x=ecos θ+nsin θ, y=ncos θ—esin θ, and the fourth coordinate point (e, n) of the EON coordinate system is transformed into the XOY coordinate system to obtain the first coordinate point (x, y).

And S150, scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points so as to determine the scaled target track.

In order to determine whether to zoom in the first coordinate axis or the second coordinate axis, in an alternative way, the target track zooming device may estimate an included angle between the target track and the first coordinate axis, an included angle between the target track and the second coordinate axis, and then use a coordinate axis corresponding to the coordinate axis with a larger included angle value in the included angles formed between the target track and the target track as a coordinate axis for zooming processing, so as to highlight deviation degrees of a plurality of track points of the target track and a real track of the target on the map as much as possible; in another alternative, S120 is performed before S150, and a zoom mode is determined according to a zoom operation, wherein the zoom mode includes a first direction zoom mode and a second direction zoom mode.

And determining a scaling mode according to the scaling operation of the user so as to enable the user to select to scale in a first coordinate axis or a second coordinate axis, if the user selects the first direction scaling mode, scaling in the first coordinate axis, and if the user selects the second direction scaling mode, scaling in the second coordinate axis. Thus, S150 may further comprise the sub-steps of:

s151, judging whether the zoom mode is a first direction zoom mode or a second direction zoom mode; if the zoom mode is the first direction zoom mode, jumping to S153; if the zoom mode is the second direction zoom mode, the process goes to S155.

And S153, scaling the plurality of first coordinate points under the first coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points.

S153 will be described with reference to the first coordinate axis as the X axis and the XOY coordinate system as an example, and a second coordinate point (X2, y 2) = (X1/scale, y 1) obtained by scaling the first coordinate point (X1, y 1) in the X axis according to the scaling parameter scale will be described.

And S155, scaling the plurality of first coordinate points under a second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points.

S155 is described by taking the second coordinate axis as the Y axis and taking the XOY coordinate system as an example, and the scaling parameter scale is used to scale the first coordinate point (x 1, Y1) to obtain a second coordinate point (x 2, Y2) = (x 1, Y1/scale) in the Y axis.

And S170, displaying the scaled target track on a map.

Before displaying the scaled target track on the map, the target track in the first coordinate system needs to be converted into the geographic coordinate system, and then the target track in the geographic coordinate system is displayed on the map. The transformation of the target trajectory in the first coordinate system into the geographic coordinate system requires a series of coordinate system transformations. Fig. 5 is a schematic flow chart of converting a scaled target track in a first coordinate system into a geographic coordinate system, and specifically referring to fig. 5, fig. 5 includes the following steps:

s210, acquiring longitude and latitude high coordinates of the detection equipment in a geographic coordinate system.

The target track scaling device may acquire longitude and latitude high coordinates preset by the detection device under a geographic coordinate system, for example, the longitude and latitude high coordinates of the detection device are preset as parameter information in a program of the target track scaling method; it is also possible that the target track scaling device receives an external input to obtain preset longitude and latitude coordinates of the detection device in the geographic coordinate system, for example, the user inputs the longitude and latitude coordinates of the detection device to the target track scaling device.

S220, converting the plurality of second coordinate points from the first coordinate system to the second coordinate system to obtain a plurality of third coordinate points, wherein the second coordinate system is formed by taking the detection equipment as a coordinate origin and taking the true north direction and the normal direction of the true north direction as coordinate axes.

Wherein, the implementation of S220 is similar to the implementation of S136. Similarly, in the embodiment of the present application, S220 is described by taking the transformation of the second coordinate point from the XOY coordinate system to the EON coordinate system as an example, and θ is set as a rotation angle required for rotating the X axis to the E axis, where θ may be determined according to an angle between a detection direction of the radar detection device (i.e., a forward direction of the X axis) and a true north direction (i.e., a forward direction of the N axis), and specifically, an angle value of θ represents an azimuth angle of the track point. The formula may be based on: e=xcos θ+ysin θ, n=ycos θ—xsin θ, and the second coordinate point (x, y) of the XOY coordinate system is transformed into the EON coordinate system to obtain a third coordinate point (e, n).

S230, converting a plurality of third coordinate points in the second coordinate system into a geographic coordinate system according to longitude and latitude high coordinates of the detection equipment so as to obtain a scaled target track in the geographic coordinate system.

The longitude and latitude coordinates of the probe device are expressed as (λ1, Φ1, h 1), λ1 represents longitude information of the probe device, Φ1 represents latitude information of the probe device, and h1 represents altitude information of the probe device. Then a third coordinate point (e, n) in the EON coordinate system is converted to the geographic coordinate system to obtain (λ2, Φ2, h 2) = (λ1+e, Φ1+n, h 1).

And S240, displaying the target track in the scaled geographic coordinate system on the map.

Before the target track is displayed on the map, the longitude and latitude high coordinates of the track point need to be adjusted according to the scale of the map, and then the adjusted longitude and latitude high coordinates are displayed on the map. Wherein the scale represents the ratio of a unit length displayed on the map to the corresponding length in the real world.

If the user can zoom the map on the display device of the map and determine the zoom parameter of the target track according to the change of the scale of the map view, that is, the zoom parameter is determined by the manners of S113-S117 in S110, the map will also be correspondingly zoomed along with the zoom operation of the user, that is, the map view is the original scale size scale1 before zooming, and after zooming, the size of the map view will be adjusted to the first scale size scale2. And if the map is scaled according to the first scale, displaying the target track under the scaled geographic coordinate system on the scaled map.

The user can zoom the map and determine the zoom parameter of the target track according to the change of the scale of the map view, so that the map is easily zoomed, and the map zoom can interfere with the observation of the target track. Accordingly, in order to control the map not to be scaled according to the user's scaling operation, the second scale corresponding to the map may be set to an original scale, which is determined according to an original scale level, which is a scale level of the map before the scaling operation. Thus, S115 further comprises the sub-steps of:

S115a, determining a first real-time zoom level according to the zoom operation, and determining a first scale according to the first real-time zoom level.

The Zoom Level (Zoom Level) of the map represents the number of levels from the most overview to the most detail of the map, and the value range is usually 1-24; the scale of the map describes the ratio between the distance on the map and the actual ground distance. In general, the scale of a map can be deduced by scaling the level.

The original zoom level of the map is the zoom level of the map before the user performs zoom operation; the original scale of the map is the scale of the map view before the user performs the zooming operation.

The first target zoom level of the map is a zoom level which the user wants to reach through zoom operation; the first scale of the map is the scale that the user wants to reach for the map view through a zoom operation.

In an alternative method, the scale of the map is expressed as a function of the zoom level by the formula pow (2, zoom), where zoom is the zoom level of the map, pow (2, zoom) =2 ^zoom.

And S115b, setting the second real-time scaling level as an original scaling level, and determining a second scale according to the second real-time scaling level so that the second scale is the original scale.

To set the second scale corresponding to the map to the original scale, the second real-time scale level may be set to the original scale level.

The zoom animation of the map is realized by continuously displaying a series of zoom frames, and in order to ensure that the second real-time zoom level of the map can be set successfully by setting the second real-time zoom level of the map to the original zoom level, the second real-time zoom level corresponding to each zoom frame of the map needs to be set. Specifically, fig. 6 shows a flowchart of a target track scaling method according to another embodiment of the present application, as shown in fig. 6, the method includes the following steps:

S310, in response to a zoom operation performed on the map, determining a target track corresponding to the zoom operation, and acquiring a plurality of first coordinate points of the target track in a first coordinate system.

The implementation of S310 may refer to the implementation of S110 and S130, which are not described herein.

S320, acquiring an original zoom level of the map, and determining an original scale of the map according to the original zoom level.

The original zoom level of the map is obtained in a similar manner to the original scale of the map, and the description of the original scale of the map obtained in S113 may be referred to, and will not be repeated here. The original scale of the map can be obtained first, and then the original zoom level of the map can be obtained through calculation according to the original scale of the map.

S330, determining a scaling frame number n and a first real-time scaling level of an ith frame according to the scaling operation, wherein n is a positive integer, i is a positive integer and is smaller than or equal to n, and sequentially taking values of i from 1 to n.

The zoom animation of a map is achieved by continuously exhibiting a series of zoom frames, each frame representing an intermediate state in the map zoom process. For a single zoom operation by the user, the map system will calculate and determine a series of zoom frames. The frames are sequentially rendered one by one onto the interface, thereby presenting a smooth and continuous map zoom effect to the user. Therefore, the scaling process of the target track needs to be divided into multiple frames to correspond to the scaled frames of the map, so that the visual effect that the scaling of the target track is synchronized with the scaling of the map is presented. If the map requires n zoom frames to achieve a zoom corresponding to the user zoom operation, then the zoom frame number of the target track is determined to be n.

If scaling is performed by dividing the frame into n frames, the first target scaling level is also required to be divided, and the real-time scaling level corresponding to each frame is determined. For example, if the original zoom level z ₀ =15, the first target zoom level z _n =15.3 corresponding to the zoom operation, and the map requires 3 frames of zoom in total, i.e., n=3, then the first real-time zoom levels z ₁＝15.1,z₂＝15.2,z₃ =15.3 of the 1 st frame to the 3 rd frame may be sequentially determined.

S340, determining a first scale of the ith frame according to the first real-time zoom level of the ith frame.

In an alternative manner, the first scale of the i frame, e.g., the first scales of the 1 st to 3 rd frames, s ₁＝pow(2,z1),s₂＝pow(2,z2),s₃ =pow (2, z 3), may be sequentially determined according to the formula pow (2, boom).

Since the first real-time scale z _i of the i-th frame and the first scale s _i of the i-th frame are non-linearly changed under the formula pow (2, boom), that is, the change of s _i is non-linear when z _i is linearly changed so that the degree of change between the multi-frame scales of the target track is not uniform, in order to make the scale as smooth as possible, in an alternative manner, the first scale s _i+1 of the i+1th frame corresponding to the first real-time scale z _i+1 of the i+1th frame is calculated by the formula h _i+1＝z_i+1-z₀+h_i and the formula s _i+1＝pow(2,h_i+1), wherein h ₁＝z_i+1.s₁＝pow(2,h₁. The i differences between the first real-time zoom levels of the i+1 frames from the 1 st frame to the i+1 th frame can be effectively recorded by the formula h _i+1＝z_i+1-z₀+h_i, so that the change in s _i is as linear as possible when z _i is linearly changed.

S350, setting the second real-time zoom level of the ith frame as an original zoom level, so that the second scale of the ith frame is the original scale, wherein the second scale of the ith frame is determined according to the second real-time zoom level of the ith frame.

The second real-time zoom level is a zoom level that zooms the map. And scaling the map according to the second real-time scaling level of the ith frame to obtain a scaled map of the ith frame, so that the scale of the scaled map of the ith frame is the second scale of the ith frame, and scaling of the map is realized.

In order to make the view of the map not respond to the scaling operation of the user visually when the target track is scaled, the second real-time scaling level of the ith frame is set to be the original scaling level, so that the second scaling level of the ith frame is set to be the original scaling level, and therefore when the program for presenting the map responds to the scaling operation of the user, although the program for scaling the map is correspondingly called by a thread, after the program for scaling is executed, the scaling level of the map is still the original scaling level, so that the visual effect that only the scaling of the target track is presented to the user and the view of the map is not changed after the scaling operation of the user is formed.

S360, determining the scaling parameter of the ith frame according to the original scale and the first scale of the ith frame.

And S370, scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameters of the ith frame to obtain a plurality of second coordinate points of the ith frame, and determining the target track of the scaled ith frame according to the plurality of second coordinate points of the ith frame.

The implementation of S360 is similar to the implementation of S117, the implementation of S370 is similar to the implementation of S150, and reference may be made to the foregoing descriptions of S117 and S150, which are not repeated here.

The scaling is performed in n frames, i.e. the first real-time scale level, the second real-time scale level, the first scale, the second scale and the scaling parameters for each of the n frames respectively comprise the first real-time scale level, the second real-time scale level, the first scale, the second scale and the scaling parameters.

And S380, zooming the map according to the second real-time zooming level of the ith frame to obtain a zoomed map of the ith frame, so that the scale of the zoomed map of the ith frame is the second scale of the ith frame.

In an optional manner, the target track scaling device determines a second scale of the ith frame according to the second real-time scale level of the ith frame, and sets the second scale of the ith frame as the scale of the scaled map of the ith frame so as to scale the view of the map of the ith frame; in another alternative, when the user performs a zoom operation on the display device of the map, the target track zoom device communicates with the display device of the map to control the display device of the map to zoom the map, the target track zoom device sends the second real-time zoom level of the i-th frame to a thread on the display device of the map for executing a zoom program of the map, so that the zoom program of the map determines the second scale of the i-th frame according to the second real-time zoom level of the i-th frame, and the second scale of the i-th frame is set as the scale of the zoomed map of the i-th frame to realize zooming of the view of the map of the i-th frame.

S390, starting from i to 1, displaying the target track of the scaled ith frame on the scaled map of the ith frame in sequence until the target track of the scaled nth frame is displayed on the scaled map of the nth frame.

And displaying the scaled target track of the ith frame on the scaled map of the ith frame in sequence to realize the scaling synchronization of the map and the scaling of the target track, namely, to enable the scaling program of the map to run synchronously with the scaling program for scaling the target track on the target track scaling equipment.

In the embodiment of the application, the second real-time scaling level of the ith frame is set as the original scaling level, so that the program for presenting the map can correspondingly call the thread to execute the scaling program of the map when responding to the scaling operation of the user, but after the scaling program is executed to scale the map, the scaling of the map is still the original scaling level, so that the visual effect that only the scaling of the target track is presented to the user and the view of the map is not changed after the scaling operation of the user is formed.

In order to enable the user to normally zoom the view of the map, the application scene of the target track zooming device is enriched. Fig. 7 is a flow chart of a target track scaling method according to another embodiment of the present application, as shown in fig. 7, the method includes the following steps:

S410, in response to a zoom operation performed on the map, determining a target track and a zoom parameter corresponding to the zoom operation.

S420, determining a scaling mode according to the scaling operation, wherein the scaling mode comprises a first-direction scaling mode, a second-direction scaling mode and a third-direction scaling mode, and the scaling direction of the third-direction scaling mode comprises two directions which are perpendicular to each other in a geographic coordinate system.

Setting three scaling modes, and if a user selects a first direction scaling mode, scaling a target track under a first coordinate axis; if the user selects the second direction scaling mode, scaling the target track under a second coordinate axis; if the user selects the third-direction zoom mode, the view of the map is zoomed normally, that is, the map is zoomed in two directions perpendicular to each other in the geographic coordinate system, and the target track is zoomed in two directions perpendicular to each other in the geographic coordinate system.

S430, judging whether the zoom mode is a first-direction zoom mode, a second-direction zoom mode or a third-direction zoom mode; if the zoom mode is the first direction zoom mode, jumping to S441; if the zoom mode is the second direction zoom mode, then jump to S442; if the zoom mode is the third-direction zoom mode, the process goes to S443.

S441, a plurality of first coordinate points of the target track in the first coordinate system are obtained, and the plurality of first coordinate points are scaled in the first coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, so as to determine the scaled target track.

S442, obtaining a plurality of first coordinate points of the target track under the first coordinate system, and scaling the plurality of first coordinate points under the second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points so as to determine the scaled target track.

S443, zooming the map according to the zooming parameters to finish zooming the target track.

When the scaling parameter represents the scale change ratio of the map view before and after scaling, the target scale to which the view of the map after scaling should be set is determined according to the scaling parameter and the original scale of the map view before scaling, and the map is scaled according to the target scale. When the map is scaled according to the target scale, the map is scaled in two directions perpendicular to each other under the geographic coordinate system. Typically, the coordinates of the map in the geographic coordinate system are scaled in both the longitudinal and latitudinal directions so that the view of the map corresponds to the target scale.

S450, displaying the scaled target track on the map, and completing scaling of the target track.

The implementation manners of S410 and S110, S441 and S153, S442 and S155, and S450 and S170 are the same, and thus reference may be made to the foregoing description, and thus, the description is omitted herein.

According to the embodiment of the application, by setting three scaling modes, the application scene of the target track scaling method is enriched, so that a user can still scale the view of the ground map normally.

Fig. 8 shows a schematic structural diagram of a target track scaling apparatus according to an embodiment of the present application. As shown in fig. 8, the apparatus 500 includes: a determination module 510, an acquisition module 520, a scaling module 530, and a display module 540.

The determining module 510 is configured to determine, in response to a scaling operation performed on the map, a target track and a scaling parameter corresponding to the scaling operation, where the target track is a motion track of a target generated by detecting the target by the radar detection device, and the target track is displayed on the map;

the acquiring module 520 is configured to acquire a plurality of first coordinate points of the target track in a first coordinate system, where the first coordinate system is a coordinate system formed by taking the radar detection device as a coordinate origin, taking a detection direction of the radar detection device as a first coordinate axis, and taking a normal direction of the detection direction as a second coordinate axis;

The scaling module 530 is configured to scale the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameter to obtain a plurality of second coordinate points, and determine a scaled target track according to the plurality of second coordinate points;

the display module 540 is configured to display the scaled target track on a map.

The target track scaling apparatus 500 according to the embodiment of the present application further includes other modules for executing the steps of the above-described target track scaling method embodiment, which are not described herein in detail.

Fig. 9 is a schematic structural diagram of a target track scaling device according to an embodiment of the present application, and the specific embodiment of the present application is not limited to the specific implementation of the target track scaling device.

As shown in fig. 9, the target track scaling apparatus may include: a processor 602, a communication interface Communications Interface, a memory 606, and a communication bus 608.

Wherein: processor 602, communication interface 604, and memory 606 perform communication with each other via communication bus 608. Communication interface 604 is used to communicate with network elements of other devices, such as clients or other servers. The processor 602 is configured to execute the program 610, and may specifically perform the relevant steps in the embodiment of the target track scaling method described above.

In particular, program 610 may include program code comprising computer-executable instructions.

The processor 602 may be a central processing unit CPU, or an Application-specific integrated Circuit ASIC (Application SPECIFIC INTEGRATED Circuit), or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors comprised by the target track scaling device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.

Memory 606 for storing program 610. The memory 606 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.

An embodiment of the present application provides a computer readable storage medium storing executable instructions that, when executed on a target track scaling device, cause the target track scaling device to perform the target track scaling method in any of the method embodiments described above.

Embodiments of the present application provide a computer program that is callable by a processor to cause a target track scaling device to perform the target track scaling method of any of the method embodiments described above.

Embodiments of the present application provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when run on a computer, cause the computer to perform the target track scaling method of any of the method embodiments described above.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, embodiments of the present application are not directed to any particular programming language. It will be appreciated that the teachings of the present application described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present application.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the above description of exemplary embodiments of the application, various features of the embodiments of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed application requires more features than are expressly recited in each claim.

Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component, and they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specifically stated.

Claims

1. A method of scaling a target trajectory, the method comprising:

Determining a target track and a scaling parameter corresponding to a scaling operation in response to the scaling operation executed on a map, wherein the target track is a motion track of a target generated by detecting the target by a detecting device, and the target track is displayed on the map;

Acquiring a plurality of first coordinate points of the target track under a first coordinate system, wherein the first coordinate system is a coordinate system formed by taking the detection equipment as a coordinate origin, taking the detection direction of the detection equipment as a first coordinate axis and taking the normal direction of the detection direction as a second coordinate axis;

scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points;

and displaying the scaled target track on the map.

2. The method of claim 1, wherein the determining, in response to a zoom operation performed on a map, a target trajectory and a zoom parameter corresponding to the zoom operation comprises:

In response to a zoom operation performed on a map, determining a target track corresponding to the zoom operation;

Acquiring an original scale of the map;

Determining a first scale and a second scale according to the scaling operation, wherein the second scale is the first scale or the original scale;

determining a scaling parameter according to the proportional relation between the original scale and the first scale;

the displaying the scaled target track on the map includes:

and scaling the map to enable the scale of the scaled map to be a second scale, and displaying the scaled target track on the scaled map.

3. The method of claim 2, wherein the original scale is determined from an original zoom level, the original zoom level being a zoom level of the map prior to the zoom operation;

The determining the first scale and the second scale according to the scaling operation includes:

Determining the first real-time zoom level according to the zoom operation, and determining the first scale according to the first real-time zoom level;

and setting the second real-time scaling level as the original scaling level, and determining the second scale according to the second real-time scaling level so as to enable the second scale to be the original scale.

4. A method according to claim 3, wherein prior to said determining said first real-time scale level from said scaling operation, said method further comprises:

determining a scaling frame number n according to the scaling operation, wherein n is a positive integer, and the first real-time scaling level, the second real-time scaling level, the first scale, the second scale and the scaling parameter respectively comprise a first real-time scaling level, a second real-time scaling level, a first scale, a second scale and a scaling parameter of each frame in n frames;

the scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameter to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points, including:

Scaling the plurality of first coordinate points under the first coordinate axis or the second coordinate axis according to the scaling parameter of the ith frame to obtain a plurality of second coordinate points of the ith frame, and determining a target track of the scaled ith frame according to the plurality of second coordinate points of the ith frame, wherein i is a positive integer and is smaller than or equal to n;

The zooming the map to make the scaled map scale as a second scale, and displaying the scaled target track on the scaled map includes:

Scaling the map according to the second real-time scaling level of the ith frame to obtain a scaled map of the ith frame, so that the scale of the scaled map of the ith frame is a second scale of the ith frame;

And starting from i to 1, displaying the target track of the scaled ith frame on the scaled map of the ith frame in sequence until the target track of the scaled nth frame is displayed on the scaled map of the nth frame.

5. The method of claim 1, wherein after the determining of the target trajectory and zoom parameters corresponding to the zoom operation in response to the zoom operation performed on the map, the method further comprises:

determining a scaling mode according to the scaling operation, wherein the scaling mode comprises a first direction scaling mode and a second direction scaling mode;

If the scaling mode is the first direction scaling mode, scaling the plurality of first coordinate points under the first coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points;

and if the scaling mode is the second direction scaling mode, scaling the plurality of first coordinate points under the second coordinate axis according to the scaling parameters to obtain a plurality of second coordinate points, and determining a scaled target track according to the plurality of second coordinate points.

6. The method of claim 1, wherein prior to said displaying the scaled target trajectory on the map, the method further comprises:

acquiring longitude and latitude high coordinates of the detection equipment under a geographic coordinate system;

converting the plurality of second coordinate points from the first coordinate system to a second coordinate system to obtain a plurality of third coordinate points, wherein the second coordinate system is a coordinate system formed by taking the detection equipment as a coordinate origin and taking a true north direction and a normal direction of the true north direction as coordinate axes;

Converting a plurality of third coordinate points in the second coordinate system into the geographic coordinate system according to the longitude and latitude high coordinates of the detection equipment so as to obtain a scaled target track in the geographic coordinate system;

the displaying the scaled target track on the map includes:

and displaying the target track under the scaled geographic coordinate system on the map.

7. The method according to claim 6, wherein the normal direction of the detection direction is a direction on a horizontal plane; the normal direction of the true north direction is the true east direction;

The converting the plurality of second coordinate points from the first coordinate system to a second coordinate system includes:

And converting the plurality of second coordinate points from the first coordinate system to a second coordinate system according to an included angle between the detection direction of the detection equipment and the true north direction.

8. The method of claim 6, wherein the acquiring a plurality of first coordinate points of the target track in a first coordinate system comprises:

Acquiring pitch angles, azimuth angles and distances of a plurality of track points of the target track, wherein the pitch angles are included angles between finger lines of the detection equipment pointing to the target and a horizontal plane, the azimuth angles are included angles between finger lines of the detection equipment pointing to the target and the true north direction, and the distances are the length of line segments of connecting lines between the detection equipment and the target;

Determining a plurality of fourth coordinate points of the target track under the second coordinate system according to pitch angles, azimuth angles and distances of the plurality of track points of the target track, wherein the plurality of track points correspond to the plurality of fourth coordinate points one by one;

And converting the fourth coordinate points from the second coordinate system to the first coordinate system to obtain a plurality of first coordinate points.

9. A target track scaling apparatus, comprising: a processor and a memory having stored therein executable instructions that are executable by the processor to implement the method of any one of claims 1 to 8.

10. A computer readable storage medium, characterized in that the storage medium has stored therein executable instructions, which when run on a target track scaling device, cause the target track scaling device to perform the operations of the target track scaling method of any one of claims 1-8.