阅读说明：本技术 获取雷达探测目标大地坐标的方法、装置、系统及介质 (Method, device, system and medium for acquiring geodetic coordinates of radar detection target ) 是由 冯涛 贺越 于 2020-12-23 设计创作，主要内容包括：本发明公开了一种获取雷达探测目标大地坐标的方法、装置、系统及介质,方法包括以下步骤：采集至少两个标定点的雷达坐标与大地坐标；将雷达坐标和大地坐标分别转换为雷达几何坐标和大地几何坐标；根据雷达几何坐标和大地几何坐标确定旋转矩阵和平移参数；根据探测目标的雷达坐标和所述旋转矩阵及平移参数确定探测目标的大地几何坐标,对大地几何坐标转换进行逆处理,确定探测目标的大地坐标,还可以将探测目标的大地坐标转换为适用于不同定位软件的大地坐标。本发明只需预先获取至少两个标定点的雷达坐标和大地坐标,便可将雷达坐标转换为大地坐标,为获取雷达探测目标大地坐标提供了新思路,还可使大地坐标能够被不同的定位软件精确检测。(The invention discloses a method, a device, a system and a medium for acquiring geodetic coordinates of a radar detection target, wherein the method comprises the following steps: collecting radar coordinates and geodetic coordinates of at least two calibration points; respectively converting the radar coordinates and the geodetic coordinates into radar geometric coordinates and geodetic geometric coordinates; determining a rotation matrix and translation parameters according to the radar geometric coordinates and the geodetic geometric coordinates; and determining the geodetic geometric coordinates of the detection target according to the radar coordinates of the detection target, the rotation matrix and the translation parameters, performing inverse processing on the geodetic geometric coordinate conversion to determine the geodetic coordinates of the detection target, and converting the geodetic coordinates of the detection target into geodetic coordinates suitable for different positioning software. According to the method, the radar coordinates and the geodetic coordinates of at least two calibration points are obtained in advance, the radar coordinates can be converted into the geodetic coordinates, a new thought is provided for obtaining the geodetic coordinates of the radar detection target, and the geodetic coordinates can be accurately detected by different positioning software.)

1. A method for acquiring geodetic coordinates of a radar detection target is characterized by comprising the following steps:

s10, collecting radar coordinates and geodetic coordinates of at least two calibration points;

s20, converting the radar coordinates of at least two calibration points, and converting the spherical coordinates into radar geometric coordinates;

s30, converting the acquired geodetic coordinates of the at least two calibration points into geodetic geometric coordinates;

s40, determining a rotation matrix and translation parameters according to the converted radar geometric coordinate set and the geodetic geometric coordinate set;

and S50, determining the geodetic geometric coordinate of the detection target according to the radar coordinate, the rotation matrix and the translation parameter of the detection target, and performing inverse processing on the geodetic geometric coordinate conversion to determine the geodetic coordinate of the detection target.

2. The method for acquiring geodetic coordinates of a radar detection target according to claim 1, wherein the geodetic coordinate systems for acquiring the at least two calibration points may be different, and finally the obtained geodetic coordinates of the detection target are consistent with the geodetic coordinate systems for acquiring the at least two calibration points.

3. The method for acquiring geodetic coordinates of a radar detection target according to claim 2, wherein the geodetic coordinate system comprises a WGS-84 coordinate system, a CGSC2000 coordinate system, a beijing 54 coordinate system or a sienna 80 coordinate system.

4. The method for obtaining geodetic coordinates of a radar detection target according to claim 3, wherein the coordinate system is WGS-84, comprising the steps of:

s101, collecting a radar coordinate set and a geodetic coordinate set of at least two calibration points; wherein the radar coordinate format isd is the distance between the target and the radar, theta is the radar measurement azimuth,measuring a pitch angle for a radar, wherein the geodetic coordinate format is (B, L and H), B is latitude, L is longitude and H is altitude;

s102, radar coordinates are calculatedConversion to radar geometry (x1, y1, z 1); the radar geometric coordinate system is a space rectangular coordinate system corresponding to the radar coordinates, and the calculation is carried out according to the conversion relation between the spherical coordinates and the space rectangular coordinate system;

s103, converting the geodetic coordinates (B, L, H) into geodetic geometric coordinates (x2, y2, z 2); wherein, the conversion formula for converting (B, L, H) in WGS-84 coordinate system into geodetic geometrical coordinates (x2, y2, z2) is as follows:

x2＝(N+H)*cosB*cosL

y2＝(N+H)*cosB*sinL

z2＝[N*(1-e²)+H]*sinB

wherein N is the curvature radius of the ellipsoidal unitary-ground ring, e is the first eccentricity of the ellipsoid, a and b are the long and short radii of the ellipsoid, f is the oblateness of the ellipsoid, W is the first auxiliary coefficient,or

S104, determining a rotation matrix and translation parameters; the transformation of points in one spatial rectangular coordinate system to another spatial rectangular coordinate system is realized by the following formula:

wherein Δ x, Δ y, and Δ z are translation parameters, R is a rotation matrix, R ═ R (α) R (β) R (γ), α is an angle of rotation around the x axis, β is an angle of rotation around the y axis, and γ is an angle of rotation around the z axis;

wherein, there are 6 unknown parameters to be determined, which are respectively Δ x, Δ y, Δ z, α, β, γ, and the 6 unknown parameters are calculated by passing at least two calibration points through the radar geometric coordinate set determined in S102 and the geodetic geometric coordinate set determined in S103;

s105, determining the geodetic coordinates of the detection target according to the determined rotation matrix and translation parameters and the geodetic geometrical coordinate inverse processing; converting the radar coordinates of the detected target into radar geometric coordinates (x 1) through S102_new，y1_new，z1_new) Using the formula, the rotation matrix and the translation parameters determined in S104The geometric coordinates (x 2) of the earth of the detected target under the WGS-84 coordinate system are calculated_new，y2_new，z2_new) (ii) a Will (x 2)_new，y2_new，z2_new) The geodetic coordinate (B) of the detection target under the WGS-84 coordinate system is obtained through the inverse processing of S103_new，L_new，H_new)。

5. The method for obtaining geodetic coordinates of a radar-sensing target according to claim 4, wherein the formula for converting geodetic geometric coordinates in WGS-84 coordinate system into geodetic coordinates is as follows:

wherein the content of the first and second substances,a. b is the major and minor radii of the ellipsoid, e is the first eccentricity of the ellipsoid,

6. an apparatus for acquiring geodetic coordinates of a radar detection target, wherein the method for acquiring geodetic coordinates of a radar detection target according to any one of claims 1 to 5 is employed, and the apparatus comprises:

the data acquisition module is used for acquiring a radar coordinate set and a geodetic coordinate set;

the radar geometric coordinate conversion module is connected with the data acquisition module and is used for converting radar coordinates into corresponding geometric coordinates;

the geodetic geometrical coordinate conversion module is connected with the data acquisition module and is used for converting the geodetic coordinates into corresponding geodetic geometrical coordinates;

the conversion parameter determining module is connected with the radar geometric coordinate conversion module and the geodetic geometric coordinate conversion module and is used for determining conversion parameters, namely a rotation matrix and translation parameters according to the radar geometric coordinate and the geodetic geometric coordinate;

and the detection target geodetic coordinate determination module is connected with the conversion parameter determination module and is used for determining the geodetic coordinate of the detection target according to the rotation matrix, the translation parameter and the geodetic geometric coordinate conversion inverse processing.

7. The apparatus for acquiring geodetic coordinates of a radar detection target according to claim 6, further comprising a coordinate conversion module connected to the detection target geodetic coordinate determination module for converting the geodetic coordinates of the detection target into geodetic coordinates suitable for different coordinate systems by different conversion algorithms.

8. A system for obtaining geodetic coordinates of a radar-detected target, comprising at least one radar and processing means, said processing means being coupled to the at least one radar, said processing means comprising one or more processors and memory for storing one or more computer programs; wherein the one or more computer programs, when executed by the one or more processors, cause the processors to implement the method of acquiring geodetic coordinates of a radar detection target of one of claims 1-5 for radar.

9. The system for acquiring geodetic coordinates of a radar-sensing target of claim 8, wherein the processing device further comprises an internal bus, an I/O interface, and a network adapter, the processor communicatively coupled to the I/O interface and the network adapter via the internal bus.

10. A medium for acquiring geodetic coordinates of a radar detection target, characterized in that the medium is a computer-readable storage medium on which a computer program is stored, which program, when being executed by a processor, carries out the method for acquiring geodetic coordinates of a radar detection target according to one of claims 1 to 5.

Technical Field

The invention belongs to the technical field of radars, and particularly relates to a method, a device, a system and a medium for acquiring geodetic coordinates of a radar detection target.

Background

Wireless positioning has become an indispensable important key technology in modern society, wherein satellite positioning technology has been widely applied to military, maritime and civil navigation services, and basically meets the requirements of people on outdoor positioning. However, due to the nature of satellite positioning, the positioning signal is easily affected by weather, current layers, troposphere, air, electromagnetic waves, shielding objects and the like, so that positioning cannot be performed in special weather or in some occasions. In the case of failure of the satellite positioning signal, the radar coordinates of the detection target can be converted into geodetic coordinates that can be recognized by the positioning system, while the radar coordinates acquired by the radar are generally in a spherical coordinate format, so that the radar coordinates acquired by the radar need to be converted into geodetic coordinates that can be recognized by the positioning system, including longitude and latitude and altitude. Alternatively, geodetic coordinates obtained from different sources may not be applicable to all positioning software, such as a Goodpasture map, Tencent map, and Google China area map using the GCJ-02 coordinate system, a Baidu map using the BD-09 coordinate system, and coordinates obtained by a GPS device using the WGS-84 coordinate system. Inputting geodetic coordinates of the same location obtained from the same positioning system into different positioning software may result in an offset of several tens to several hundreds of meters.

At present, aiming at the problem of conversion between a radar coordinate and a geodetic coordinate, the existing solution is to determine the position information of a radar detection target by adopting a grid division method, but the method has larger error and consumes longer time. Meanwhile, at least four non-coplanar points are used for determining a conversion matrix of the radar coordinates and the geodetic coordinates, so that the geodetic coordinates of the radar detection target are determined.

Disclosure of Invention

In view of this, the method and the device make up for the defects of a satellite positioning system, convert the radar coordinates of the detection target into geodetic coordinates, can determine the geodetic coordinates of the detection target by using at least two calibration points, and can enable the geodetic coordinates to be accurately detected by different positioning software. The method for acquiring the geodetic coordinates of the radar detection target comprises the following steps:

s10, collecting radar coordinates and geodetic coordinates of at least two calibration points;

s20, converting the radar coordinates of at least two calibration points, and converting the spherical coordinates into radar geometric coordinates;

s30, converting the acquired geodetic coordinates of the at least two calibration points into geodetic geometric coordinates;

s40, determining a rotation matrix and translation parameters according to the converted radar geometric coordinate set and the geodetic geometric coordinate set;

and S50, determining the geodetic geometric coordinate of the detection target according to the radar coordinate, the rotation matrix and the translation parameter of the detection target, and performing inverse processing on the geodetic geometric coordinate conversion to determine the geodetic coordinate of the detection target.

Preferably, the geodetic coordinate systems for acquiring the at least two calibration points may be different, and finally the obtained geodetic coordinate of the detection target is consistent with the geodetic coordinate systems for acquiring the at least two calibration points.

Preferably, the geodetic coordinate system comprises a WGS-84 coordinate system, a CGSC2000 coordinate system, a Beijing 54 coordinate system or a Xian 80 coordinate system.

Preferably, when the coordinate system is WGS-84, the method comprises the following steps:

s101, collecting a radar coordinate set and a geodetic coordinate set of at least two calibration points; wherein the radar coordinate format isd is the distance between the target and the radar, theta is the radar measurement azimuth,measuring a pitch angle for a radar, wherein the geodetic coordinate format is (B, L and H), B is latitude, L is longitude and H is altitude;

s102, radar coordinates are calculatedConversion to radar geometry (x1, y1, z 1); the radar geometric coordinate system is a space rectangular coordinate system corresponding to the radar coordinates, and the calculation is carried out according to the conversion relation between the spherical coordinates and the space rectangular coordinate system;

s103, converting the geodetic coordinates (B, L, H) into geodetic geometric coordinates (x2, y2, z 2); wherein, the conversion formula for converting (B, L, H) in WGS-84 coordinate system into geodetic geometrical coordinates (x2, y2, z2) is as follows:

x2＝(N+H)*cosB*cosL

y2＝(N+H)*cosB*sinL

z2＝[N*(1-e²)+H]*sinB

wherein N is the curvature radius of the ellipsoidal unitary-ground ring, e is the first eccentricity of the ellipsoid, a and b are the long and short radii of the ellipsoid, f is the oblateness of the ellipsoid, W is the first auxiliary coefficient,or

S104, determining a rotation matrix and translation parameters; the transformation of points in one spatial rectangular coordinate system to another spatial rectangular coordinate system is realized by the following formula:

wherein Δ x, Δ y, and Δ z are translation parameters, R is a rotation matrix, R ═ R (α) R (β) R (γ), α is an angle of rotation around the x axis, β is an angle of rotation around the y axis, and γ is an angle of rotation around the z axis;

wherein, there are 6 unknown parameters to be determined, which are respectively Δ x, Δ y, Δ z, α, β, γ, and the 6 unknown parameters are calculated by passing at least two calibration points through the radar geometric coordinate set determined in S102 and the geodetic geometric coordinate set determined in S103;

s105, determining the geodetic coordinates of the detection target according to the determined rotation matrix and translation parameters and the geodetic geometrical coordinate inverse processing; converting the radar coordinates of the detected target into radar geometric coordinates (x 1) through S102_new，y1_new，z1_new) Using the formula, the rotation matrix and the translation parameters determined in S104The geometric coordinates (x 2) of the earth of the detected target under the WGS-84 coordinate system are calculated_new，y2_new，z2_new) (ii) a Will (x 2)_new，y2_new，z2_new) The geodetic coordinate (B) of the detection target under the WGS-84 coordinate system is obtained through the inverse processing of S103_new，L_new，H_new)。

Preferably, the formula for converting the geometric coordinates of the earth under the WGS-84 coordinate system into the geodetic coordinates is as follows:

wherein the content of the first and second substances,a. b is the major and minor radii of the ellipsoid, e is the first eccentricity of the ellipsoid,

based on the above purpose, the present invention also provides a device for obtaining the geodetic coordinates of the radar detection target, and by adopting the above method, the device comprises:

the data acquisition module is used for acquiring a radar coordinate set and a geodetic coordinate set;

and the radar geometric coordinate conversion module is connected with the data acquisition module and is used for converting the radar coordinates into corresponding geometric coordinates.

And the geodetic geometrical coordinate conversion module is connected with the data acquisition module and is used for converting the geodetic coordinates into corresponding geodetic geometrical coordinates.

And the conversion parameter determination module is connected with the radar geometric coordinate conversion module and the geodetic geometric coordinate conversion module and is used for determining conversion parameters, namely a rotation matrix and translation parameters according to the radar geometric coordinate and the geodetic geometric coordinate.

And the detection target geodetic coordinate determination module is connected with the conversion parameter determination module and is used for determining the geodetic coordinate of the detection target according to the rotation matrix, the translation parameter and the geodetic geometric coordinate conversion inverse processing.

Preferably, the system further comprises a coordinate conversion module connected with the detection target geodetic coordinate determination module and used for converting the geodetic coordinates of the detection target into geodetic coordinates suitable for different positioning software coordinate systems through different conversion algorithms.

In view of the above objects, the present invention also provides a system for acquiring geodetic coordinates of a radar detection target, comprising at least one radar and a processing device, the processing device being connected to the at least one radar, the processing device comprising one or more processors and memory for storing one or more computer programs; wherein the one or more computer programs, when executed by the one or more processors, cause the processors to implement the above-described method of obtaining geodetic coordinates of a radar detection target for radar.

Preferably, the processing device further comprises an internal bus, an I/O interface and a network adapter, the processor being communicatively connected to the I/O interface and the network adapter via the internal bus.

In view of the above object, the present invention further provides a medium for acquiring geodetic coordinates of a radar detection target, wherein the medium is a computer-readable storage medium on which a computer program is stored, and the computer program, when executed by the processor, implements the above method for acquiring geodetic coordinates of a radar detection target.

Compared with the prior art, the method, the device, the system and the medium for acquiring the geodetic coordinates of the radar detection target disclosed by the invention can make up for the defects of a satellite positioning system, and can quickly convert the radar coordinates into the geodetic coordinates subsequently only by acquiring the radar coordinate set and the geodetic coordinate set of at least two calibration points in advance, thereby providing a new idea for acquiring the geodetic coordinates of the radar detection target and enabling the geodetic coordinates to be accurately detected by different positioning software.

Drawings

In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:

FIG. 1 is a flow chart illustrating the steps of a method for acquiring geodetic coordinates of a radar detection target according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating another step of the method for obtaining geodetic coordinates of a radar detection target according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating a further step of the method for obtaining geodetic coordinates of a radar detection target according to an embodiment of the present invention;

FIG. 4 is a block diagram of a device for acquiring geodetic coordinates of a radar detection target according to an embodiment of the present invention;

FIG. 5 is a block diagram of a system for acquiring geodetic coordinates of a radar detection target according to an embodiment of the present invention.

Detailed Description

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Examples of the methods are illustrated in FIGS. 1-3

Method example 1

A method for acquiring geodetic coordinates of a radar detection target comprises the following steps:

s10, collecting radar coordinates and geodetic coordinates of at least two calibration points;

s20, converting the radar coordinates of at least two calibration points, and converting the spherical coordinates into radar geometric coordinates;

s30, converting the acquired geodetic coordinates of the at least two calibration points into geodetic geometric coordinates;

s40, determining a rotation matrix and translation parameters according to the converted radar geometric coordinate set and the geodetic geometric coordinate set;

and S50, determining the geodetic geometric coordinate of the detection target according to the radar coordinate, the rotation matrix and the translation parameter of the detection target, and performing inverse processing on the geodetic geometric coordinate conversion to determine the geodetic coordinate of the detection target.

In a specific embodiment, the geodetic coordinate systems for acquiring the at least two calibration points may be different, and finally the obtained geodetic coordinate of the probe target is consistent with the geodetic coordinate systems for acquiring the at least two calibration points.

The geodetic coordinate system comprises a WGS-84 coordinate system, a CGSC2000 coordinate system, a Beijing 54 coordinate system or a Xian 80 coordinate system and the like.

Method example 2

Referring to fig. 2, when the coordinate system is WGS-84 coordinate system, the method includes the following steps:

s101, collecting a radar coordinate set and a geodetic coordinate set of at least two calibration points; wherein the radar coordinate format isd is the distance between the target and the radar, theta is the radar measurement azimuth,measuring a pitch angle for a radar, wherein the geodetic coordinate format is (B, L and H), B is latitude, L is longitude and H is altitude; the number of the calibration points required by the embodiment is at least two, and all the calibration points can be collected by the radar. Geodetic coordinates are acquired by a positioning system, and the bagThe Positioning System includes latitude, longitude, altitude, and the like, and may be a Global Positioning Satellite System (GPS), a Global Navigation Satellite System (GNSS), a BeiDou Navigation Satellite System (BDS), and the like. In the embodiment, a GPS is taken as an example, and a coordinate system adopted by the GPS is a WGS-84 coordinate system;

s102, radar coordinates are calculatedConversion to radar geometry (x1, y1, z 1); the radar geometric coordinate system is a space rectangular coordinate system corresponding to the radar coordinates, and the calculation is carried out according to the conversion relation between the spherical coordinates and the space rectangular coordinate system;

s103, converting the geodetic coordinates (B, L, H) into geodetic geometric coordinates (x2, y2, z 2); wherein, the conversion formula for converting (B, L, H) in WGS-84 coordinate system into geodetic geometrical coordinates (x2, y2, z2) is as follows:

x2＝(N+H)*cosB*cosL

y2＝(N+H)*cosB*sinL

z2＝[N*(1-e²)+H]*sinB

wherein N is the curvature radius of the ellipsoidal unitary-ground ring, e is the first eccentricity of the ellipsoid, a and b are the long and short radii of the ellipsoid, f is the oblateness of the ellipsoid, W is the first auxiliary coefficient,or The parameters of the WGS-84 coordinate system are as follows: the major half axis a is 6378137, the minor half axis b is 6356752.3142, and the ellipsoidal ellipticity f is 1/298.257223563.

In the embodiment, different transformation algorithms are provided for different coordinate systems, such as transformation algorithm for transforming WGS-84 coordinate system into geometric coordinates, and transformation algorithm for transforming CGSC2000 coordinate system into geometric coordinates.

If the acquired geodetic coordinates belong to the CGSC2000 coordinate system, the values of a and b are modified at the moment, and finally the determined geodetic coordinates are also the CGSC2000 coordinate system.

If the acquired geodetic coordinates are in the Beijing 54 coordinate system, the conversion formula for converting the geometric coordinates of the geodetic coordinates in the WGS-84 coordinate system into the geodetic coordinates needs to be modified.

S104, determining a rotation matrix and translation parameters; the transformation of points in one spatial rectangular coordinate system to another spatial rectangular coordinate system is realized by the following formula:

wherein Δ x, Δ y, and Δ z are translation parameters, R is a rotation matrix, R ═ R (α) R (β) R (γ), α is an angle of rotation around the x axis, β is an angle of rotation around the y axis, and γ is an angle of rotation around the z axis;

wherein, there are 6 unknown parameters to be determined, which are respectively Δ x, Δ y, Δ z, α, β, γ, and the 6 unknown parameters are calculated by passing at least two calibration points through the radar geometric coordinate set determined in S102 and the geodetic geometric coordinate set determined in S103; in a specific embodiment, when the number of the calibration points is greater than two, the two calibration points can be combined at will to obtain multiple sets of calibration points, each set of calibration point can determine one set of unknown parameters, and multiple sets of unknown parameters can be further optimized to obtain an optimal solution.

S105, determining the geodetic coordinates of the detection target according to the determined rotation matrix and translation parameters and the geodetic geometrical coordinate inverse processing; converting the radar coordinates of the detected target into radar geometric coordinates (x 1) through S102_new,y1_new,z1_new) Using the formula, the rotation matrix and the translation parameters determined in S104The geometric coordinates (x 2) of the earth of the detected target under the WGS-84 coordinate system are calculated_new，y2_new，z2_new) (ii) a Will (x 2)_new，y2_new，z2_new) The geodetic coordinate (B) of the detection target under the WGS-84 coordinate system is obtained through the inverse processing of S103_new，L_new，H_new)。

The conversion formula for converting the geometric coordinates of the earth under the WGS-84 coordinate system into the geodetic coordinates is as follows:

wherein the content of the first and second substances,a. b is the major and minor radii of the ellipsoid, e is the first eccentricity of the ellipsoid,

in an embodiment, there are different transformation algorithms for different coordinate systems, such as transformation algorithm for transforming the geometric coordinates into WGS-84 coordinate system, transformation algorithm for transforming the geometric coordinates into CGSC2000 coordinate system, and so on.

Algorithms may be used to convert the geodetic coordinates of the probe target to geodetic coordinates suitable for different positioning software. The conversion algorithm can be realized by converting the WGS-84 coordinate system into the BD-09 coordinate system, or converting the WGS-84 coordinate system into the GCJ-02 coordinate system, and the like.

Method example 3

Referring to fig. 3, on the basis of the method embodiment 2, the method further includes S106, converting the geodetic coordinates of the detection target determined in S105 into geodetic coordinates suitable for different positioning software.

And converting the geodetic coordinates of the detection target into geodetic coordinates suitable for different positioning software through different conversion algorithms. The geodetic coordinates of the probe target located in the WGS-84 coordinate system determined in S105 are converted into BD-09 geodetic coordinates suitable for a hundred-degree map.

The conversion algorithm may be from WGS-84 to BD-09, from WGS-84 to GCJ-02, etc.

The method is suitable for coordinate systems of different positioning software, such as a GCJ-02 coordinate system, a BD-09 coordinate system, a WGS-84 coordinate system, a dog searching coordinate system, a MapBar coordinate system and the like.

The coordinate systems of S101-S105 belong to the geodetic coordinate system, while the coordinate system of S106 is the coordinate system after algorithm encryption of the different coordinate systems. The conversion of S101-S105 is performed by a formula, such as a conversion formula of converting geometric coordinates of the earth into coordinates of the earth in the WGS-84 coordinate system, and the formula can be written as an algorithm. The conversion of S106 is a conversion after decryption by an algorithm, for example: the GCJ-02 coordinate system is obtained by performing nonlinear encryption on the WGS-84 coordinate system, and the BD-09 coordinate system is obtained by performing nonlinear encryption on the GCJ-02 coordinate system.

According to the method, the rotation matrix and the translation parameters can be determined only by acquiring the radar coordinate set and the geodetic coordinate set of at least two calibration points in advance, the radar coordinates can be rapidly converted into the geodetic coordinates subsequently, a new thought is provided for acquiring the geodetic coordinates of a radar detection target, and the defects of a satellite positioning system can be overcome.

Device embodiment

Referring to fig. 4, a data acquisition module 301 is included for acquiring a radar coordinate set and a geodetic coordinate set;

and a radar geometric coordinate conversion module 302, connected to the data acquisition module 301, for converting radar coordinates into corresponding geometric coordinates.

And the geodetic geometric coordinate conversion module 303 is connected with the data acquisition module 301 and is used for converting the geodetic coordinates into corresponding geodetic geometric coordinates.

And a conversion parameter determination module 304, connected to the radar geometric coordinate conversion module 302 and the geodetic geometric coordinate conversion module 303, for determining conversion parameters, i.e. a rotation matrix and translation parameters, according to the radar geometric coordinate and the geodetic geometric coordinate.

And a geodetic coordinate determination module 305 connected to the conversion parameter determination module 304, for determining the geodetic coordinate of the detection target according to the rotation matrix, the translation parameter and the inversion of the geodetic geometry coordinate conversion.

In a specific embodiment, a coordinate conversion module may be further included, connected to the geodetic coordinate determination module 305, for converting the geodetic coordinates of the detection target into geodetic coordinates suitable for different positioning software coordinate systems through different conversion algorithms.

System embodiment

Referring to fig. 5, the system includes at least one radar 41 and a processing device 40, and the processing device 40 is connected to each radar 41, and the processing device 40 includes one or more processors 401 and a memory 403. In an embodiment, the system further includes an internal bus 402, an I/O interface 405, and a network adapter 406, wherein the Memory 403 may include a Memory 404, such as a random-Access Memory (RAM), and may further include a Non-Volatile Memory (Non-Volatile Memory), such as at least one disk Memory. Of course, the processing device may also include hardware required for other services.

The processor 401, the memory 403, the I/O interface 405, and the network adapter 406 may be interconnected via an internal bus 402, which may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 5, but this does not represent only one bus or one type of bus.

Processing device 40 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by processing device 40 and includes both volatile and nonvolatile media, removable and non-removable media.

A memory 403 for storing a computer program. In particular, the computer program may comprise program code comprising computer operating instructions. The Memory 403 may include a Memory 404, such as a random-Access Memory (RAM), and may also include a Non-Volatile Memory (Non-Volatile Memory), such as at least one Non-removable disk Memory, a removable Non-Volatile disk drive for reading from and writing to, and providing instructions and data to the processor.

Processing device 40 may communicate with one or more external devices (e.g., a display, a keyboard, etc.) via I/O interface 405, as well as with one or more devices that enable a user to interact with the device. Also, processing device 40 may communicate with one or more networks through network adapter 406.

The processor 401 reads a corresponding computer program from the memory 403 into the memory and then runs the computer program. For example, the method for acquiring the geodetic coordinates of the radar detection target provided by the embodiment of the invention is implemented for each radar.

Media embodiments

The invention also provides a medium for acquiring geodetic coordinates of a radar detection target, and the computer storage medium of the embodiment of the invention can adopt any combination of one or more computer-readable media. Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes or other magnetic storage devices, or any other non-transmission medium or any suitable combination of the foregoing, which can be used to store information that can be accessed by a computing device. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, as part of a carrier wave in baseband.

Program code embodied on a computer readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, fiber optic cable, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, such as Julia, Java, C + +, or the like.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.