Method for calculating own direction based on multi-point coordinate planning

Abstract

The invention provides a method for calculating own direction based on multi-point coordinate planning, and the method comprises the steps: converting the longitude and latitude of a target point: obtaining the longitude and latitude of a plurality of groups of reference target points, and converting the longitude and latitude into an XY coordinate form under a radian or rectangular coordinate system through mathematical operation; and calculating the latitude and longitude of the own direction: according to the radian or XY coordinates of the latitude and longitude of the reference target point obtained by conversion, solving to obtain the latitude and longitude of the own direction. Different from single-point linear positioning, the multi-point coordinates are more accurate in the calculation method, so that the longitude and latitude of the own direction are more accurate. In addition, accurate positioning can be achieved only through multiple times of interaction between a terminal and a satellite in traditional positioning, the process is prone to being interfered, positioning is inaccurate or even failed, however, own positioning can be completed only by determining the longitude and latitude of two or three target points, and the positioning efficiency is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of software engineering and navigation and positioning, and in particular to a method for calculating one's own position based on multi-point coordinate planning. Background Art

[0002] At present, navigation and positioning technology is gradually becoming mature. In the civilian field, such as the selection of the optimal route for in-vehicle navigation, real-time location connection on WeChat, and the location check-in mechanism for learning software, navigation and positioning can play an important role. The traditional positioning function requires the terminal to exchange location information with the satellite multiple times in order to achieve extremely accurate positioning. However, when the terminal is in an area with weak or no signal, the traditional positioning will lose credibility because the location information is too biased compared to the actual location of the terminal. Therefore, the technology of predicting the terminal location through an algorithm using the location information of a certain reference object or (landmark) is applied.

[0003] When using the location information of a reference object or landmark to predict the terminal location through an algorithm, the terminal location cannot be accurately obtained because the landmark building is too large to accurately know the distance connecting it to the terminal location. Therefore, how to avoid the deviation of location information caused by algorithm errors caused by distance has become an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a method for calculating one's own position based on multi-point coordinate planning in order to solve the problems existing in the above-mentioned prior art.

[0005] The technical solution to achieve the purpose of the present invention is: a method for calculating one's own position based on multi-point coordinate planning, the method comprising:

[0006] Target point latitude and longitude conversion: obtain the latitude and longitude of multiple reference target points, and convert them into radians or XY coordinates in a rectangular coordinate system through mathematical operations;

[0007] Calculation of the longitude and latitude of one's own position: Based on the arc or XY coordinates of the longitude and latitude of the reference target point obtained by the above conversion, the longitude and latitude of one's own position is solved.

[0008] Further, the multiple groups of reference target points are two groups of reference target points, and the longitude and latitude conversion of the target points specifically includes:

[0009] Get the longitude and latitude of two sets of reference target points;

[0010] For each set of straight lines connecting the reference target points and the origin, the angle formed by the straight line and the true north direction is converted into a slope; the origin is the position of the party itself;

[0011] Based on the latitude and longitude of the reference target points and the corresponding slope, the constant term of the straight line equation corresponding to each set of reference target points is calculated according to the following formula:

[0012] constant1=lat1-slope1*lon1

[0013] constant2=lat2-slope2*lon2

[0014] Among them, slope1 and slope2 are the slopes corresponding to the first and second groups of reference target points, constant1 and constant2 are the constant terms of the straight line equations corresponding to the first and second groups of reference target points, lon1 and lat1 are the longitude and latitude corresponding to the first group of reference target points, and lon2 and lat2 are the longitude and latitude corresponding to the second group of reference target points.

[0015] Furthermore, the angle formed by the angle and the true north direction is converted into a slope, and the calculation formula is:

[0016] slope=tan((90-α)*Π / 180)

[0017] In the formula, slope represents the slope, α represents the angle between the straight line connecting a set of reference target points and the origin and the true north direction, and Π represents pi.

[0018] Furthermore, the calculation of the longitude and latitude of the own position specifically includes:

[0019] The latitude and longitude of the own position are calculated according to the constant term of the linear equation, and the calculation formula is:

[0020] intersectionLon=(constant2-constant1) / (slope1-slope2)

[0021] intersectionLat=slope1*intersectionLon+constant1

[0022] Where intersectionLon represents the longitude coordinate of one's own position, and intersectionLat represents the latitude coordinate of one's own position.

[0023] Further, the multiple groups of reference target points are three groups of reference target points, and the longitude and latitude conversion of the target points specifically includes:

[0024] Obtain the latitude and longitude of three sets of reference target points;

[0025] Convert the latitude and longitude of the three sets of reference target points into rectangular coordinate points;

[0026] Calculate the length of the X-axis and Y-axis under Miller projection;

[0027] Determine the Miller constant based on the latitude and longitude of the reference target point;

[0028] Convert the latitude and longitude of the reference target point to radians.

[0029] Furthermore, the calculating of the lengths of the X-axis and the Y-axis under the Miller projection specifically includes:

[0030] Calculate the Earth's circumference based on its radius;

[0031] Calculate the length of the X-axis and Y-axis under the Miller projection based on the circumference of the earth:

[0032] X_axis=L

[0033] Y_axis=L / 2

[0034] Where X_axis and Y_axis are the lengths of the X-axis and Y-axis respectively under the Miller projection, and L is the circumference of the earth.

[0035] Furthermore, the calculation of the longitude and latitude of the own position specifically includes:

[0036] Convert the latitude and longitude of the reference target point in radians into rectangular coordinates;

[0037] Calculate the coordinates of the midpoint of the triangle formed by the three sets of reference target points;

[0038] Calculate the circumference of the Earth;

[0039] According to the coordinates of the midpoint and the circumference of the earth, the longitude and latitude of one's position are calculated.

[0040] Furthermore, the converting of the longitude and latitude of the reference target point in radians into rectangular coordinates specifically includes:

[0041] The Ya parameter under the Miller projection is calculated according to the latitude and longitude of the reference target point. The calculation formula is:

[0042] millerYa=1.25*ln(tan(0.25*Π+0.4*latA))

[0043] Where, millerYa is the Ya parameter under Miller projection, and latA is the latitude of the reference target point in radians;

[0044] Based on the Ya parameter under the Miller projection, the latitude and longitude of the reference target point in radians are converted to rectangular coordinates using the following formula:

[0045] Xa=(X_axis / 2)+(X_axis / (2*PI))*lonA

[0046] Ya=(Y_axis / 2)-(Y_axis / (2*mill))*millerYa

[0047] Where Xa is the rectangular abscissa, Ya is the rectangular ordinate, mill is the Miller constant, and lonA is the longitude of the reference target point in radians.

[0048] Furthermore, the coordinates of the midpoint of the triangle formed by the three groups of reference target points are calculated using the following specific calculation formula:

[0049] intersectionX=(xa+xb+xc) / 3

[0050] intersectionY=(ya+yb+yc) / 3

[0051] Where intersectionX and intersectionY are the horizontal and vertical coordinates of the midpoint respectively; xa, xb, and xc are the horizontal coordinates of the three groups of reference target points respectively; ya, yb, and yc are the vertical coordinates of the three groups of reference target points respectively.

[0052] Furthermore, the longitude and latitude of the own position are calculated according to the coordinates of the midpoint and the circumference of the earth. The specific calculation formula is:

[0053] longitude=(intersectionX*1000-(L / 2))*360 / L

[0054] lattitude=(atan(e^(V / 1.25))-(0.25*Π)) / 0.4*180 / Π

[0055] in,

[0056] V=(L / 4-intersectionY*1000)*mill*2 / (L / 2)

[0057] In the formula, longitude and lattitude are the longitude and latitude coordinates of one's own position, L is the circumference of the earth, and V represents the longitude and latitude calculation parameters of Miller projection.

[0058] Compared with the prior art, the present invention has the following significant advantages:

[0059] (1) Different from single-point linear positioning, multi-point coordinates are more accurate in calculation method, making the longitude and latitude of one's own position more accurate.

[0060] (2) Traditional positioning requires multiple interactions between the terminal and the satellite to achieve accurate positioning. This process is susceptible to interference, resulting in inaccurate positioning or even failure. This method only requires the satellite to determine the longitude and latitude of the two target points to complete its own positioning, greatly improving positioning efficiency.

[0061] (3) Effectively avoids the deviation of location information caused by algorithm errors due to distance.

[0062] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 The figure is a schematic diagram of auxiliary positioning of two groups of reference target points in an embodiment.

[0064] Figure 2 The figure is a schematic diagram of auxiliary positioning of three groups of reference target points in an embodiment.

[0065] Figure 3 The figure is a structural diagram of auxiliary positioning of two groups of reference target points in an embodiment.

[0066] Figure 4 The figure is a diagram of an auxiliary positioning structure of three groups of reference target points in an embodiment. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0068] In one embodiment, a method for calculating one's own position based on multi-point coordinate planning is provided, the method comprising:

[0069] Target point latitude and longitude conversion: obtain the latitude and longitude of multiple reference target points, and convert them into radians or XY coordinates in a rectangular coordinate system through mathematical operations;

[0070] Calculation of the longitude and latitude of one's own position: Based on the arc or XY coordinates of the longitude and latitude of the reference target point obtained by the above conversion, the longitude and latitude of one's own position is solved.

[0071] Furthermore, in one embodiment, in combination Figure 1 , two sets of reference target points are used to assist positioning.

[0072] Here, in some embodiments, the target point longitude and latitude conversion specifically includes:

[0073] Get the longitude and latitude of two sets of reference target points;

[0074] For each set of straight lines connecting the reference target points and the origin, the angle formed by the straight line and the true north direction is converted into a slope; the origin is the position of the party itself;

[0075] Preferably, the angle formed by the angle and the true north direction is converted into a slope, and the calculation formula is:

[0076] slope1=tan((90-α)*Π / 180)

[0077] slope2=tan((90-β)*Π / 180)

[0078] Where α represents the angle between the straight line connecting the first set of reference target points and the origin and the true north direction, β represents the angle between the straight line connecting the second set of reference target points and the origin and the true north direction, Π is pi, slope1 is the slope converted from angle α, and slope2 is the slope converted from angle β;

[0079] Based on the latitude and longitude of the reference target points and the corresponding slope, the constant term of the straight line equation corresponding to each set of reference target points is calculated according to the following formula:

[0080] constant1=lat1-slope1*lon1

[0081] constant2=lat2-slope2*lon2

[0082] Among them, slope1 and slope2 are the slopes corresponding to the first and second groups of reference target points, constant1 and constant2 are the constant terms of the straight line equations corresponding to the first and second groups of reference target points, lon1 and lat1 are the longitude and latitude corresponding to the first group of reference target points, and lon2 and lat2 are the longitude and latitude corresponding to the second group of reference target points.

[0083] Here, in some embodiments, the calculation of the longitude and latitude of the own position specifically includes:

[0084] The latitude and longitude of the own position are calculated according to the constant term of the linear equation, and the calculation formula is:

[0085] intersectionLon=(constant2-constant1) / (slope1-slope2)

[0086] intersectionLat=slope1*intersectionLon+constant1

[0087] Where intersectionLon represents the longitude coordinate of one's own position, and intersectionLat represents the latitude coordinate of one's own position.

[0088] Further, in one embodiment, in combination Figure 2 , three sets of reference target points are used to assist positioning.

[0089] Here, in some embodiments, the target point longitude and latitude conversion specifically includes:

[0090] Obtain the latitude and longitude of three sets of reference target points;

[0091] Convert the latitude and longitude of the three sets of reference target points into rectangular coordinate points;

[0092] Calculate the length of the X-axis and Y-axis under Miller projection;

[0093] Determine the Miller constant based on the latitude and longitude of the reference target point;

[0094] Convert the latitude and longitude of the reference target point to radians.

[0095] Preferably, the calculating the lengths of the X-axis and the Y-axis under the Miller projection specifically includes:

[0096] The formula for calculating the circumference of the earth based on the radius of the earth is: L = R*Π*2, where R is the radius of the earth, which is 6371000m;

[0097] Calculate the length of the X-axis and Y-axis under the Miller projection based on the circumference of the earth:

[0098] X_axis=L

[0099] Y_axis=L / 2

[0100] Where X_axis and Y_axis are the lengths of the X-axis and Y-axis respectively under the Miller projection, and L is the circumference of the earth.

[0101] Preferably, converting the longitude and latitude of the reference target point into radians specifically includes:

[0102] latA=latitude*Π / 180

[0103] lonA=longitude*Π / 180

[0104] Wherein, latA represents the latitude of the reference target point converted into radians through mathematical operations, lonA represents the longitude of the target point converted into radians through mathematical operations, latitude represents the latitude of the target point, and longitude represents the longitude of the reference target point.

[0105] Here, in some embodiments, the calculation of the longitude and latitude of the own position specifically includes:

[0106] Convert the latitude and longitude of the reference target point in radians into rectangular coordinates;

[0107] Calculate the coordinates of the midpoint of the triangle formed by the three sets of reference target points;

[0108] Calculate the circumference of the Earth;

[0109] According to the coordinates of the midpoint and the circumference of the earth, the longitude and latitude of one's position are calculated.

[0110] Preferably, converting the longitude and latitude of the reference target point in radians into rectangular coordinates specifically includes:

[0111] The Ya parameter under the Miller projection is calculated according to the latitude and longitude of the reference target point. The calculation formula is:

[0112] millerYa=1.25*ln(tan(0.25*Π+0.4*latA))

[0113] Where, millerYa is the Ya parameter under Miller projection, and latA is the latitude of the reference target point in radians;

[0114] Based on the Ya parameter under the Miller projection, the latitude and longitude of the reference target point in radians are converted to rectangular coordinates using the following formula:

[0115] Xa=(X_axis / 2)+(X_axis / (2*PI))*lonA

[0116] Ya=(Y_axis / 2)-(Y_axis / (2*mill))*millerYa

[0117] Wherein, Xa is the rectangular abscissa, Ya is the rectangular ordinate, mill is the Miller constant (between ±2.3, preferably, mill=2.3), and lonA is the longitude of the reference target point in radians.

[0118] Preferably, the coordinates of the midpoint of the triangle formed by the three groups of reference target points are calculated using the following specific calculation formula:

[0119] intersectionX=(xa+xb+xc) / 3

[0120] intersectionY=(ya+yb+yc) / 3

[0121] Where intersectionX and intersectionY are the horizontal and vertical coordinates of the midpoint respectively; xa, xb, and xc are the horizontal coordinates of the three groups of reference target points respectively; ya, yb, and yc are the vertical coordinates of the three groups of reference target points respectively.

[0122] Preferably, the longitude and latitude of the own position are calculated according to the coordinates of the midpoint and the circumference of the earth, and the specific calculation formula is:

[0123] longitude=(intersectionX*1000-(L / 2))*360 / L

[0124] lattitude=(atan(e^(V / 1.25))-(0.25*Π)) / 0.4*180 / Π

[0125] in,

[0126] V=(L / 4-intersectionY*1000)*mill*2 / (L / 2)

[0127] In the formula, longitude and lattitude are the longitude and latitude coordinates of one's own position, L is the circumference of the earth, and V represents the longitude and latitude calculation parameters of Miller projection.

[0128] In one embodiment, a system for calculating one's own position based on multi-point coordinate planning is provided, the system comprising:

[0129] The target point longitude and latitude conversion module is used to obtain the longitude and latitude of multiple target points and convert them into radians or XY coordinates in a rectangular coordinate system through mathematical operations.

[0130] The latitude and longitude calculation module of the own position is used to obtain the arc or XY coordinates of the longitude and latitude of the target point calculated by the longitude and latitude conversion part of the target point, so as to obtain the longitude and latitude of the own position through mathematical calculation.

[0131] Further, in one embodiment, in combination Figure 3 , two sets of reference target points are used to assist positioning.

[0132] In some embodiments, the target point longitude and latitude conversion module includes:

[0133] A target point longitude and latitude acquisition unit is used to acquire the longitude and latitude of two sets of reference target points;

[0134] An angle-to-slope unit is used to convert the angle formed by the straight line connecting the reference target point and the origin (i.e., its own position) and the true north direction into a slope;

[0135] The straight line equation constant term calculation unit is used to combine the longitude and latitude of multiple reference target points with the slope output by the angle-to-slope unit to calculate the constant term of the formula.

[0136] In some embodiments, the latitude and longitude calculation module of the own position includes:

[0137] The intersection point longitude and latitude calculation unit is used to calculate the longitude and latitude coordinates of the own position based on the data output by the target point longitude and latitude conversion module.

[0138] Further, in one embodiment, in combination Figure 4 , three sets of reference target points are used to assist positioning.

[0139] In some embodiments, the target point longitude and latitude conversion module includes:

[0140] Ya conversion unit under Miller projection, used to calculate Ya parameters under Miller projection according to the latitude and longitude of the reference target point;

[0141] The radian to rectangular coordinate unit is used to convert the radian system of the reference target point into rectangular coordinates based on the Ya parameter under the Miller projection;

[0142] The midpoint coordinate calculation unit is used to calculate the horizontal and vertical coordinates of the midpoint of the triangle formed by three reference target points.

[0143] In some embodiments, the latitude and longitude calculation module of the own position includes:

[0144] The own latitude and longitude calculation unit is used to calculate the own longitude and latitude according to the data output by the target point longitude and longitude conversion module.

[0145] For the specific definition of the system for calculating one's own position based on multi-point coordinate planning, please refer to the definition of the method for calculating one's own position based on multi-point coordinate planning above, which will not be repeated here. Each module in the above-mentioned system for calculating one's own position based on multi-point coordinate planning can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0146] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following is achieved:

[0147] Target point latitude and longitude conversion: obtain the latitude and longitude of multiple reference target points, and convert them into radians or XY coordinates in a rectangular coordinate system through mathematical operations;

[0148] Calculation of the longitude and latitude of one's own position: Based on the arc or XY coordinates of the longitude and latitude of the reference target point obtained by the above conversion, the longitude and latitude of one's own position is solved.

[0149] For the specific limitations of each step, please refer to the limitations of the method for calculating one's own position based on multi-point coordinate planning in the above text, which will not be repeated here.

[0150] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements:

[0151] Target point latitude and longitude conversion: obtain the latitude and longitude of multiple reference target points, and convert them into radians or XY coordinates in a rectangular coordinate system through mathematical operations;

[0152] Calculation of the longitude and latitude of one's own position: Based on the arc or XY coordinates of the longitude and latitude of the reference target point obtained by the above conversion, the longitude and latitude of one's own position is solved.

[0153] For the specific limitations of each step, please refer to the limitations of the method for calculating one's own position based on multi-point coordinate planning in the above text, which will not be repeated here.

[0154] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calculating one's own position based on multi-point coordinate planning, characterized in that: The method comprises: Target point latitude and longitude conversion: obtain the latitude and longitude of multiple reference target points, and convert them into radians or XY coordinates in a rectangular coordinate system through mathematical operations; Calculation of the longitude and latitude of one's own position: Based on the arc or XY coordinates of the longitude and latitude of the reference target point obtained by the above conversion, the longitude and latitude of one's own position is solved.

2. The method for calculating one's own position based on multi-point coordinate planning according to claim 1, characterized in that: The multiple groups of reference target points are two groups of reference target points, and the latitude and longitude conversion of the target points specifically includes: Get the longitude and latitude of two sets of reference target points; For each set of straight lines connecting the reference target points and the origin, the angle formed by the straight line and the true north direction is converted into a slope; the origin is the position of the party itself; Based on the latitude and longitude of the reference target points and the corresponding slope, the constant term of the straight line equation corresponding to each set of reference target points is calculated according to the following formula: constant1=lat1-slope1*lon1 constant2=lat2-slope2*lon2 Among them, slope1 and slope2 are the slopes corresponding to the first and second groups of reference target points, constant1 and constant2 are the constant terms of the straight line equations corresponding to the first and second groups of reference target points, lon1 and lat1 are the longitude and latitude corresponding to the first group of reference target points, and lon2 and lat2 are the longitude and latitude corresponding to the second group of reference target points.

3. The method for calculating one's own position based on multi-point coordinate planning according to claim 2, characterized in that: The angle formed by it and the true north direction is converted into a slope, and the calculation formula is: slope=tan((90-α)*Π / 180) In the formula, slope represents the slope, α represents the angle between the straight line connecting a set of reference target points and the origin and the true north direction, and Π represents pi.

4. The method for calculating one's own position based on multi-point coordinate planning according to claim 2, characterized in that: The latitude and longitude calculation of the own position specifically includes: The latitude and longitude of the own position are calculated according to the constant term of the linear equation, and the calculation formula is: intersectionLon=(constant2-constant1) / (slope1-slope2) intersectionLat=slope1*intersectionLon+constant1 Where intersectionLon represents the longitude coordinate of one's own position, and intersectionLat represents the latitude coordinate of one's own position.

5. The method for calculating one's own position based on multi-point coordinate planning according to claim 1, characterized in that: The multiple groups of reference target points are three groups of reference target points, and the latitude and longitude conversion of the target points specifically includes: Obtain the latitude and longitude of three sets of reference target points; Convert the latitude and longitude of the three sets of reference target points into rectangular coordinate points; Calculate the length of the X-axis and Y-axis under Miller projection; Determine the Miller constant based on the latitude and longitude of the reference target point; Convert the latitude and longitude of the reference target point to radians.

6. The method for calculating one's own position based on multi-point coordinate planning according to claim 5, characterized in that: The calculating of the lengths of the X-axis and the Y-axis under the Miller projection specifically includes: Calculate the Earth's circumference based on its radius; Calculate the length of the X-axis and Y-axis under the Miller projection based on the circumference of the earth: X_axis=L Y_axis=L / 2 Where X_axis and Y_axis are the lengths of the X-axis and Y-axis respectively under the Miller projection, and L is the circumference of the earth.

7. The method for calculating one's own position based on multi-point coordinate planning according to claim 6, characterized in that: The latitude and longitude calculation of the own position specifically includes: Convert the latitude and longitude of the reference target point in radians into rectangular coordinates; Calculate the coordinates of the midpoint of the triangle formed by the three sets of reference target points; Calculate the circumference of the Earth; According to the coordinates of the midpoint and the circumference of the earth, the longitude and latitude of one's position are calculated.

8. The method for calculating one's own position based on multi-point coordinate planning according to claim 7, characterized in that: The converting the longitude and latitude of the reference target point in radians into rectangular coordinates specifically includes: The Ya parameter under the Miller projection is calculated according to the latitude and longitude of the reference target point. The calculation formula is: millerYa=1.25*ln(tan(0.25*Π+0.4*latA)) Where, millerYa is the Ya parameter under Miller projection, and latA is the latitude of the reference target point in radians; Based on the Ya parameter under the Miller projection, the latitude and longitude of the reference target point in radians are converted to rectangular coordinates using the following formula: Xa=(X_axis / 2)+(X_axis / (2*PI))*lonA Ya=(Y_axis / 2)-(Y_axis / (2*mill))*millerYa Where Xa is the rectangular abscissa, Ya is the rectangular ordinate, mill is the Miller constant, and lonA is the longitude of the reference target point in radians.

9. The method for calculating one's own position based on multi-point coordinate planning according to claim 7, characterized in that: The coordinates of the midpoint of the triangle formed by the three groups of reference target points are calculated using the following specific calculation formula: intersectionX=(xa+xb+xc) / 3 intersectionY=(ya+yb+yc) / 3 Where intersectionX and intersectionY are the horizontal and vertical coordinates of the midpoint respectively; xa, xb, and xc are the horizontal coordinates of the three groups of reference target points respectively; ya, yb, and yc are the vertical coordinates of the three groups of reference target points respectively.

10. The method for calculating one's own position based on multi-point coordinate planning according to claim 8, characterized in that: The latitude and longitude of the position are calculated according to the coordinates of the midpoint and the circumference of the earth. The specific calculation formula is: longitude=(intersectionX*1000-(L / 2))*360 / L lattitude=(atan(e^(V / 1.25))-(0.25*Π)) / 0.4*180 / Π in, V=(L / 4-intersectionY*1000)*mill*2 / (L / 2) In the formula, longitude and lattitude are the longitude and latitude coordinates of one's own position, L is the circumference of the earth, and V represents the longitude and latitude calculation parameters of Miller projection.

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