阅读说明：本技术 坐标转换的方法以及装置 (method and device for coordinate conversion ) 是由 胡云岗 侯妙乐 宋青 信泰琦 于 2019-10-14 设计创作，主要内容包括：本发明提供了一种坐标转换装置,用于对两个空间中的坐标进行相互转换,其特征在于,包括：装置连接杆,其一端设有至少4个第一标靶中心,另一端设有至少4个第二标靶中心；其中,至少4个以上的所述第一标靶中心不共平面,至少4个以上的所述第二标靶中心不共平面,所述第一标靶中心、所述第二标靶中心位于两个不同的空间坐标系中,所述坐标传递装置用于对所述第一标靶中心、所述第二标靶中心对应的空间坐标进行转换。本发明还提供了应用前述坐标转换装置进行坐标转换的方法。本发明的装置与方法进行坐标转换所消耗的时间更少,效率更高,降低了误差传播。(The present invention provides a coordinate conversion apparatus for mutually converting coordinates in two spaces, characterized by comprising: the device connecting rod is provided with at least 4 first target centers at one end and at least 4 second target centers at the other end; the coordinate transmission device is used for converting the space coordinates corresponding to the first target center and the second target center. The invention also provides a method for converting coordinates by applying the coordinate conversion device. The device and the method of the invention consume less time for coordinate conversion, have higher efficiency and reduce error propagation.)

1. A coordinate conversion apparatus for converting point coordinates of two spaces to each other, comprising:

the device connecting rod is provided with at least 4 first target centers at one end and at least 4 second target centers at the other end;

the coordinate transmission device is used for converting space coordinates corresponding to the first target center and the second target center.

2. The coordinate conversion device of claim 1, wherein at least 4 rod-shaped protrusions extend from each end of the device connecting rod in different directions, the ends of the at least 4 rod-shaped protrusions at each end of the device connecting rod are not coplanar, the first target center is disposed on the rod-shaped protrusion at one end of the device connecting rod, and the second target center is disposed on the rod-shaped protrusion at the other end of the device connecting rod.

3. the coordinate conversion apparatus of claim 2 wherein the rod-shaped protrusion has a groove, and the center of the second target are inserted into the corresponding grooves.

4. The coordinate conversion apparatus according to claim 3, further comprising: the device comprises a device base and a device support, wherein the upper end of the device support is connected with the middle part of a device connecting rod, and the lower end of the device support is connected with the device base.

5. A method for performing coordinate conversion using the coordinate conversion apparatus according to any one of claims 1 to 4, comprising:

Acquiring a conversion coefficient of the coordinate conversion device;

installing the coordinate conversion apparatus in the first space and the second space;

Establishing a first space rectangular coordinate system related to a first space;

obtaining the coordinate of the center of the second target in the first space rectangular coordinate system according to the coordinate conversion coefficient;

establishing a second space rectangular coordinate system related to a second space;

acquiring conversion parameters between the first space rectangular coordinate system and the second space rectangular coordinate system according to the coordinates of the second target center in the first space rectangular coordinate system and the coordinates in the second space rectangular coordinate system;

And converting the point coordinates in the first space and the second space according to the conversion parameters.

6. the method of claim 5, wherein the obtaining of the coordinate conversion coefficients comprises:

Establishing a coordinate system between a third space rectangular coordinate system and a fourth space;

Installing the coordinate conversion device in the third space and the fourth space;

acquiring coordinates of the first target center in the third space rectangular coordinate system and coordinates of the second target center in the fourth space rectangular coordinate system;

Acquiring at least 4 homonymous points between the coordinate systems between the third space rectangular coordinate system and the fourth space, and respectively acquiring corresponding coordinates of the homonymous points in the coordinate systems between the third space rectangular coordinate system and the fourth space;

and solving the coordinate conversion coefficient according to the coordinate of the first target center in the third space rectangular coordinate system, the coordinate of the second target center in the fourth space rectangular coordinate system and the corresponding coordinate of the same-name point in a coordinate system between the third space rectangular coordinate system and the fourth space rectangular coordinate system.

Technical Field

The invention relates to the field of surveying and mapping, in particular to a coordinate conversion method and a coordinate conversion device.

Background

in the field of engineering, it is often necessary to measure the interior of high-rise buildings or ancient buildings (such as the budalagong ancient building group) and to introduce a geodetic coordinate system into the interior of the building. In the measuring process, due to the complexity of the structure and layout of a high-rise building or an ancient building and the influence of the external environment, it is sometimes difficult to transmit an external coordinate system to the interior of the building. The general method is that a set of independent coordinate systems are respectively established indoors and outdoors of a high-rise building or an ancient building, then the respective spaces are expressed through the indoor coordinate system and the outdoor coordinate system, and finally, the point coordinates in the two independent coordinate systems are converted, so that the expression of the points in the indoor space in the outdoor coordinate system can be obtained, and the complete description of the coordinate system on the internal space of the high-rise building or the ancient building is completed. In the step of coordinate transformation, there is a key step to find the transformation parameters between two independent coordinate systems. The conversion parameters are obtained by a mainstream method of converting the plane coordinates and the elevation coordinates of the space points separately. The efficiency of the method needs to be improved, and if the building needs to be scanned by the three-dimensional laser with higher precision, great inconvenience is brought to the construction of a three-dimensional integrated control coordinate system.

disclosure of Invention

An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.

It is still another object of the present invention to provide a method and apparatus for coordinate transformation, which is more efficient and reduces error propagation when performing coordinate transformation.

to achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a coordinate transformation apparatus for transforming point coordinates of two spaces into each other, comprising:

the device connecting rod is provided with at least 4 first target centers at one end and at least 4 second target centers at the other end;

the coordinate conversion device is used for converting space coordinate systems corresponding to the first target center and the second target center.

preferably, the coordinate transformation device, wherein at least 4 or more rod-shaped protrusions extend from two ends of the device connecting rod along different directions, the ends of the at least 4 or more rod-shaped protrusions at each end of the device connecting rod are not coplanar, the first target center is disposed on the rod-shaped protrusion at one end of the device connecting rod, and the second target center is disposed on the rod-shaped protrusion at the other end of the device connecting rod.

Preferably, in the coordinate transformation device, a groove is formed on the rod-shaped protrusion, and the center of the second target are inserted into the corresponding groove.

Preferably, the coordinate transformation apparatus further includes: the device comprises a device base and a device support, wherein the upper end of the device support is connected with the middle part of a device connecting rod, and the lower end of the device support is connected with the device base.

Further, the invention provides a method for converting coordinates based on the coordinate conversion device, which comprises the following steps:

acquiring a conversion coefficient of the coordinate conversion device;

installing the coordinate conversion apparatus in the first space and the second space;

establishing a first space rectangular coordinate system related to a first space;

Obtaining the coordinate of the center of the second target in the first space rectangular coordinate system according to the coordinate conversion coefficient;

Establishing a second space rectangular coordinate system related to a second space;

Acquiring conversion parameters between the first space rectangular coordinate system and the second space rectangular coordinate system according to the coordinates of the second target center in the first space rectangular coordinate system and the coordinates in the second space rectangular coordinate system;

And converting the point coordinates in the first space and the second space according to the conversion parameters.

Further, in the method, the obtaining of the coordinate conversion coefficient includes:

Establishing a coordinate system between a third space rectangular coordinate system and a fourth space;

installing the coordinate conversion device in the third space and the fourth space;

Acquiring coordinates of the first target center in the third space rectangular coordinate system and coordinates of the second target center in the fourth space rectangular coordinate system;

acquiring at least 4 homonymous points between the coordinate systems between the third space rectangular coordinate system and the fourth space, and respectively acquiring corresponding coordinates of the homonymous points in the coordinate systems between the third space rectangular coordinate system and the fourth space;

and solving the coordinate conversion coefficient according to the coordinate of the first target center in the third space rectangular coordinate system, the coordinate of the second target center in the fourth space rectangular coordinate system and the corresponding coordinate of the same-name point in a coordinate system between the third space rectangular coordinate system and the fourth space rectangular coordinate system.

The invention at least comprises the following beneficial effects:

the invention can quickly and conveniently set the target center at a proper position for coordinate conversion, and compared with the traditional technology in which the coordinate conversion is carried out by using a single target center, the invention has the advantages of less time consumption, higher efficiency and reduced error propagation.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

drawings

FIG. 1 is a schematic diagram of one of the structures of the coordinate transferring apparatus of the present invention;

FIG. 2 is a schematic flow chart of a coordinate transformation method according to the present invention;

fig. 3 is another schematic flow chart of the coordinate transformation method of the present invention.

Detailed Description

The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.

as shown in fig. 1, the present invention discloses a coordinate conversion apparatus, comprising:

a coordinate conversion apparatus for converting point coordinates of two spaces to each other, comprising:

the device connecting rod 1 is provided with at least 4 first target centers 201 at one end and at least 4 second target centers 202 at the other end;

at least more than 4 first target centers 201 are not coplanar, at least more than 4 second target centers 202 are not coplanar, the first target centers 201 and the second target centers 202 are located in two different spaces, and the coordinate transformation device is used for transforming the spatial coordinates corresponding to the first target centers 201 and the second target centers 202.

In the above technical scheme: the first space and the second space are separated, but at least one part of the junction between the first space and the second space is communicated, and the coordinate conversion device is installed; such as an indoor space and an outdoor space of a high-rise building (if the outdoor space is taken as the first space, the indoor space is taken as the second space), the indoor space is generally provided with at least one window for communicating the indoor space with the outdoor space, the aforementioned coordinate conversion device is generally mounted on the window, the first target center 201 is disposed in the indoor space, and the second target center 202 is disposed in the outdoor space; an indoor coordinate system and an outdoor coordinate system are respectively established, so that the spatial coordinates corresponding to the first target center 201 and the second target center 202 can be measured from an indoor space and an outdoor space respectively. In a more specific implementation, the first target center 201 or the second target center 202 may be a target ball or a target prism, and when acquiring the spatial coordinates, the center of the target ball or the target prism may be measured. As for the coordinate transformation described in the scheme, it mainly refers to: the spatial coordinate system corresponding to the first target center 201 is converted to the second target center 202, or the spatial coordinate system corresponding to the second target center 202 is converted to the first target center 201. A detailed description will be given below with respect to a method of using the coordinate conversion apparatus.

in another technical solution, in the coordinate transformation device, at least 4 rod-shaped protrusions 101 extend from two ends of the device connecting rod 1 along different directions, the ends of the at least 4 rod-shaped protrusions 101 at each end of the device connecting rod 1 are not coplanar, the first target center 201 is disposed on the rod-shaped protrusion 101 at one end of the device connecting rod 1, and the second target center 202 is disposed on the rod-shaped protrusion 101 at the other end of the device connecting rod 1. The design of the stud bumps 101 is such that the arrangement of the spatial positions of the first target center 201 and the second target center 202 is precisely achieved.

in another technical solution, in the coordinate transformation apparatus, a groove is formed on the rod-shaped protrusion 101, and the second target center 202 are inserted into the corresponding groove. So that the connection between the second target center 202 and the stem projection 101 is precisely achieved.

In another technical solution, the coordinate transformation apparatus further includes: the device comprises a device base 4 and a device support 3, wherein the upper end of the device support 3 is connected with the middle part of a device connecting rod 1, and the lower end of the device support 3 is connected with the device base 4. The coordinate transformation apparatus is easy to install. And the device base, the device support must be rigid, i.e. not deformable.

further, the present invention also discloses a method for converting coordinates based on the above coordinate conversion device, and as shown in fig. 2, the method for converting coordinates includes:

S100, obtaining a conversion coefficient of the coordinate conversion device, and specifically describing a solving principle in detail later;

S200, installing the coordinate conversion device in the first space and the second space;

s300, establishing a first space rectangular coordinate system related to a first space; acquiring coordinates of the first target center 201 in a first space rectangular coordinate system;

S400, obtaining the coordinates of the second target center 202 in the first space rectangular coordinate system according to the coordinate conversion coefficient; specifically, the coordinates of the first target center 201 in the first spatial rectangular coordinate system are processed by the coordinate conversion coefficient, and then the coordinates of the second target center 202 in the first spatial rectangular coordinate system are obtained; the working principle is as follows: because the coordinate transformation device is a rigid structure, the spatial position relationship between the first target center 201 and the second target center 202 established at the two ends of the coordinate transformation device is relatively stable, which is equivalent to the mathematical relationship of the relative positions between two different point sets in the same coordinate system, and the coordinate transformation coefficient can be obtained according to the stable spatial position relationship; accordingly, when the coordinate system of any one of the first target center 201 and the second target center 202 is known, the coordinate system of the known one can be transferred to the other by using the coordinate transfer device, so that the other obtains the coordinates in the coordinate system of the known one.

S500, establishing a second space rectangular coordinate system related to a second space; obtaining coordinates of the second target center 202 in a second spatial rectangular coordinate system;

s600, obtaining coordinate conversion parameters between the first space rectangular coordinate system and the second space rectangular coordinate system according to the coordinates of the second target center 202 in the first space rectangular coordinate system and the coordinates in the second space rectangular coordinate system; when the coordinates of the second target center 202 in the first spatial rectangular coordinate system and the coordinates of the second target center 202 in the second spatial rectangular coordinate system are obtained, the second target center 202 at this time is equivalent to a common point between the first spatial rectangular coordinate system and the second spatial rectangular coordinate system, and a conversion parameter between the two spatial rectangular coordinate systems can be obtained by using a boolean sa model (seven-parameter coordinate conversion theory); in general, when solving the transformation parameters between two rectangular spatial coordinate systems, the coordinates of 3 common points between the two rectangular spatial coordinate systems need to be used, and the number of the second targets is set to be at least 4, so as to improve the measurement accuracy of the device.

S700, converting the point coordinates in the first space and the second space according to the conversion parameters. Once the transformation parameters are determined, the first spatial cartesian coordinate system can be transformed to points in the second space other than the second target center 202. The concrete solving formula is shown as the following formula (1),

TX, TX in the formula (1) are three coordinate displacement parameters in the coordinate transfer coefficients, ω X, ω Y, ω Z are three rotation angle parameters in the coordinate transfer coefficients, m is a scaling parameter in the coordinate transfer coefficients, (XA, YA, ZA) represents known coordinates, and (XB, YB, ZB) represents coordinates to be solved.

If the coordinates (represented by XA, YA, ZA) of the point in the second space in the second rectangular space coordinate system are known, the coordinates (represented by XB, YB, ZB) of the point in the second space in the first rectangular space coordinate system can be obtained by the formula (1).

in another technical solution, the method for obtaining the coordinate transformation coefficient includes (see fig. 3 for a reference):

s101, establishing a coordinate system between a third space rectangular coordinate system and a fourth space; a coordinate system between the third space rectangular coordinate system and the fourth space is generally established in a laboratory;

s102, installing the coordinate conversion device in the third space and the fourth space; specifically, the first target center 201 is located in the third space, and the second target center 202 is located in the fourth space;

s103, obtaining coordinates of the first target center 201 in the third spatial rectangular coordinate system and coordinates of the second target center 202 in the fourth spatial rectangular coordinate system;

S104, acquiring at least 4 homonymous points between coordinate systems between the third space rectangular coordinate system and the fourth space, and respectively acquiring corresponding coordinates of the homonymous points in the coordinate systems between the third space rectangular coordinate system and the fourth space; the homonymous point refers to a common point between the coordinate systems of the third space rectangular coordinate system and the fourth space;

and S105, obtaining the coordinate conversion coefficient according to the coordinate of the first target center 201 in the third space rectangular coordinate system, the coordinate of the second target center 202 in the fourth space rectangular coordinate system, and the corresponding coordinate of the same-name point in the coordinate system between the third space rectangular coordinate system and the fourth space rectangular coordinate system. The coordinate transformation coefficients are also determined here in conjunction with the boolean sha model.

while embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.