A self-adaptive fitting method, device and medium for grid point elevation information

Abstract

The present invention provides an adaptive fitting method for grid point elevation information, including dividing a preset regular square grid according to the acquired base station coverage area information and longitude and latitude intervals to obtain a target square grid and grid point plane coordinates; fitting the initial grid point elevation according to the grid point plane coordinates, receiving high-precision location information of several user terminals in the target square grid coverage area, and entering the high-precision location information of several user terminals into a preset high-precision location database; refining each initial grid point elevation in the initial grid point elevation information according to the high-precision location data of the user terminals in the preset high-precision location database and the grid point plane coordinates to obtain accurate grid point elevation information containing several accurate grid point elevations. The adaptive fitting method for grid point elevation information of the present invention obtains more accurate grid point elevation information, and can truly accurately express the location of the grid point.

Description

Technical Field

[0001] The invention relates to the field of grid point elevation calculation, and in particular to a self-adaptive fitting method, equipment and medium for grid point elevation information. Background Art

[0002] In the field of global satellite positioning, early positioning was based on pseudo-range single-point positioning based on pseudo-range observation values. However, due to the influence of various errors, its accuracy was only at the order of 10m. In order to improve the positioning accuracy, differential technology emerged. Currently, the most widely used is real-time dynamic carrier phase differential technology (RTK), which can achieve centimeter-level accuracy, but the effective range is limited. In addition, since there is only one reference station to provide differential information, once the reference station fails or produces gross errors, the mobile station often cannot position normally, reducing the reliability of positioning. In view of this, Network RTK (Network RTK) is widely used. RTK, NRTK) technology came into being. NRTK technology refers to the uniform deployment of multiple (three or more) permanent and continuously operating reference stations within a certain range, using the Internet as a communication link to send the real-time observation values ​​of the reference stations to the master control station (computing center). According to the precisely known coordinate information of each reference station, the double difference ambiguity of each baseline of the network reference station is solved in real time, and then the atmospheric delay information on each baseline is extracted. The errors such as ionosphere, troposphere, and orbit error within the network range are calculated at the master control station, and the correction information of the mobile station position is generated in real time; Virtual Reference Station (VRS) technology is the most mature and widely used NRTK technology. Virtual Reference Station technology generates a physically non-existent reference station at the location uploaded by the user, and continuously generates differential data at the location. This method depends on the location uploaded by the user, and needs to generate a virtual reference station information for each user separately. This method is not suitable for the access of massive terminal users. Therefore, the current method is usually to generate grid points in advance according to certain rules within the coverage area of ​​the base station network, and generate differential correction data in real time at each grid point. After the user terminal logs in, it can find the nearest grid point according to the user's location and broadcast the differential data of the grid point to the user.

[0003] The elevation information of traditional grid points is obtained by fitting the elevation information of base stations deployed by the ground-based augmentation system. Since the base stations of the ground-based augmentation system are usually tens of kilometers apart, in areas with large terrain undulations, the elevation difference corresponding to terrains several kilometers apart may reach nearly one kilometer or even several thousand meters. There is a large error in fitting the grid point elevation using the base station elevation, which leads to a large error in the grid point differential data and cannot provide stable high-precision services to end users. In addition, the base station of the ground-based augmentation system is usually not changed unless there are special circumstances after the construction is completed, so the grid point information laid out with the base station elevation information will not change again. However, some time after the base station is built, the terrain information in the area covered by the base station is very likely to have changed. At this time, the elevation information of the grid points initially laid out cannot truly and accurately express the information of the location of the grid points, and cannot provide accurate differential information to the end users. In summary, the traditional fitting results of the grid point elevation information have large errors and cannot truly and accurately express the information of the location of the grid points. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, one of the objects of the present invention is to provide an adaptive fitting method for grid point elevation information, which can solve the problem that the traditional fitting results of grid point elevation information have large errors and cannot truly and accurately express the information of the location of the grid points.

[0005] A second object of the present invention is to provide an electronic device that can solve the problem that the traditional fitting results of grid point elevation information have large errors and cannot truly and accurately express the information of the location of the grid points.

[0006] The third object of the present invention is to provide a computer-readable storage medium, which can solve the problem that the traditional fitting results of grid point elevation information have large errors and cannot truly and accurately express the information of the location of the grid points.

[0007] One of the purposes of the present invention is achieved by the following technical solution:

[0008] An adaptive fitting method for grid point elevation information comprises the following steps:

[0009] Divide the grid, divide the preset regular grid according to the acquired base station coverage area information and longitude and latitude intervals, and obtain the target grid and the grid point plane coordinates corresponding to each grid point in the target grid;

[0010] Initializing fitting, fitting the initial grid point elevations corresponding to the grid points in the target square grid according to the grid point plane coordinates, and obtaining initial grid point elevation information containing a plurality of initial grid point elevations;

[0011] Receiving high-precision location information, receiving high-precision location information of a number of user terminals within the target grid coverage area, and entering the high-precision location information of the number of user terminals into a preset high-precision location database;

[0012] The initial grid point elevation information is refined, and each initial grid point elevation in the initial grid point elevation information is refined according to the high-precision location data of the user terminal in a preset high-precision location database and the plane coordinates of the grid points to obtain precise grid point elevation information containing several precise grid point elevations.

[0013] Furthermore, the refining of the initial grid point elevation information specifically includes the following steps:

[0014] Filtering location data, randomly selecting any grid point in the target grid as the target grid point, and filtering a preset number of high-precision location data of user terminals adjacent to the target grid point from a preset high-precision progress location database according to the plane coordinates of the grid point corresponding to the target grid point;

[0015] Calculate the surface fitting coefficient, use the surface fitting model to calculate all high-precision position data, and obtain the surface fitting coefficient;

[0016] Fitting the initial grid point elevation information, and calculating the precise elevation corresponding to the target grid point according to the grid point plane coordinates of the target grid point and the surface fitting coefficient;

[0017] Correct the initial grid point elevation, correct the initial grid point elevation according to the precise elevation, obtain the precise grid point elevation corresponding to the target grid point, return to the loop execution step to filter the position data until the initial grid point elevations corresponding to all grid points in the target square grid are corrected, and finally obtain the precise grid point elevation information containing several precise grid point elevations.

[0018] Furthermore, before receiving the high-precision location information, it also includes: selecting a grid point closest to the user terminal from the target grid according to the approximate location information uploaded by the user terminal, broadcasting the grid point differential information of the grid point to the corresponding user terminal, and the user terminal performing differential correction processing on the approximate location information according to the grid point differential information to obtain the high-precision location information of the user terminal.

[0019] Furthermore, the initialization fitting specifically includes the following steps:

[0020] Select the target initialization grid point, and randomly select any grid point in the target square grid as the target initialization grid point;

[0021] Extracting DEM data, extracting a preset number of DEM data of grid points adjacent to the initialization grid point from the DEM data packet according to the plane coordinates of the grid points corresponding to the target grid points;

[0022] Fit the initial grid point elevation, input the DEM data of the grid points adjacent to the initialization grid points and the grid point plane coordinates of the initialization grid points into the bilinear interpolation model for fitting, and obtain the initial grid point elevation corresponding to the initialization grid point, return to the loop execution step to filter the target initialization grid point until the initial grid point elevation of all grid points in the target square grid is fitted.

[0023] Furthermore, the preset number is 4.

[0024] Furthermore, the grid division also includes calculating the plane coordinates of the grid points, and calculating the plane coordinates of the grid points of each grid point in the target grid according to the starting longitude and latitude coordinates of the lower left corner of the target grid, the grid point latitude division index and the grid point longitude division index.

[0025] Furthermore, the receiving of high-precision location information also includes data updating, and updating the high-precision location information in a preset high-precision location database according to a preset update period according to the activity range of the user corresponding to the user terminal.

[0026] Furthermore, the data update is specifically as follows: when the activity range of the user corresponding to the user terminal changes, the high-precision location information of the user terminal received in real time is entered into a preset high-precision location database to replace the original high-precision location information in the preset high-precision location database.

[0027] The second object of the present invention is achieved by adopting the following technical solution:

[0028] An electronic device, characterized by comprising: a processor;

[0029] A memory; and a program, wherein the program is stored in the memory and configured to be executed by a processor, the program comprising a method for executing an adaptive fitting method of grid point elevation information.

[0030] The third object of the present invention is achieved by adopting the following technical solutions:

[0031] A computer-readable storage medium stores a computer program, wherein the computer program is executed by a processor to implement an adaptive fitting method for grid point elevation information.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows: an adaptive fitting method for grid point elevation information in the present application first performs an initial fitting to obtain initial grid point elevation information, and then refines each initial grid point elevation in the initial grid point elevation information according to the high-precision position data of the user terminal in a preset high-precision position database and the plane coordinates of the grid points, so as to obtain precise grid point elevation information containing several precise grid point elevations; according to the high-precision position information uploaded by the user terminal, the elevation information of all grid points is fitted, and the elevation information of the fitted grid points has a high accuracy, which can be better than the decimeter level, and can meet the high-precision positioning requirements of the terminal even in areas with large terrain undulations, and can truly and accurately express the information on the location of the grid points.

[0033] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0035] Figure 1 The present invention is a schematic diagram of a method flow of an adaptive fitting method for grid point elevation information. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0037] like Figure 1 The method for adaptively fitting grid point elevation information shown in the figure comprises the following steps:

[0038] Divide the grid, divide the preset regular grid according to the acquired base station coverage area information and longitude and latitude intervals, and obtain the target grid and the grid point plane coordinates corresponding to each grid point in the target grid. In this step, after obtaining the target grid, it also includes calculating the grid point plane coordinates, and calculating the grid point plane coordinates of each grid point in the target grid according to the starting longitude and latitude coordinates of the lower left corner of the target grid, the grid point latitude division index, and the grid point longitude division index. In this embodiment, the starting longitude and latitude coordinates of the lower left corner, the grid point latitude division index, and the grid point longitude division index are all preset in advance.

[0039] Initialization fitting, according to the plane coordinates of the grid points, fits the initial grid point elevations corresponding to the grid points in the target square grid, and obtains initial grid point elevation information containing a number of initial grid point elevations. In this embodiment, the initialization fitting includes the following steps:

[0040] Select the target initialization grid point and randomly select any grid point in the target square grid as the target initialization grid point.

[0041] Extract DEM data, and extract a preset number of DEM data of grid points adjacent to the initialization grid point from the stored DEM data packet according to the grid point plane coordinates corresponding to the target grid point; in this embodiment, the preset number is 4, that is, the DEM data of the 4 grid points closest to the initialization grid point are extracted.

[0042] Fit the initial grid point elevation, input the DEM data of the grid points adjacent to the initialization grid points and the grid point plane coordinates of the initialization grid points into the bilinear interpolation model for fitting, and obtain the initial grid point elevation corresponding to the initialization grid point, return to the loop execution step to filter the target initialization grid point until the initial grid point elevation of all grid points in the target square grid is fitted.

[0043] Receive high-precision location information, receive high-precision location information of several user terminals in the target grid coverage area, and enter the high-precision location information of several user terminals into a preset high-precision location database. Before this step, it also includes: selecting the grid point closest to the user terminal from the target grid according to the approximate location information uploaded by the user terminal, broadcasting the grid point differential information of the grid point to the corresponding user terminal, and the user terminal performs differential correction processing on the approximate location information according to the grid point differential information to obtain the high-precision location information of the user terminal. In this embodiment, it also includes data update, when the activity range of the user corresponding to the user terminal changes, the high-precision location information of the user terminal received in real time is entered into the preset high-precision location database to replace the original high-precision location information in the preset high-precision location database.

[0044] Refine the initial grid point elevation information, and refine the elevation of each initial grid point in the initial grid point elevation information according to the high-precision location data of the user terminal in the preset high-precision location database and the grid point plane coordinates, so as to obtain accurate grid point elevation information containing several accurate grid point elevations. In this embodiment, when the activity range of the user corresponding to the user terminal changes, the step of refining the initial grid point elevation information is repeated, that is, the high-precision location information of the user terminal that has been updated and the grid point plane coordinates are used to refine the accurate grid point elevation of each grid point in the obtained target square grid again, so as to realize continuous correction and update of the accurate grid point elevation of the grid point, and ensure the accuracy of the location information of the grid point, so as to adapt to the changes in the surface of the area where the grid point is located, and generate relatively accurate grid point elevation information in real time, so as to provide more accurate differential services for the user terminal. In this embodiment, refining the initial grid point elevation information specifically includes the following steps:

[0045] Filter the location data, randomly select any grid point in the target grid as the target grid point, and filter out a preset number of high-precision location data of user terminals adjacent to the target grid point from the preset high-precision progress location database according to the grid point plane coordinates corresponding to the target grid point. In this embodiment, the preset number of filters is greater than or equal to 6, and the high-precision location data of the filtered user terminal, that is, the coordinates of the filtered user terminal, are P i , then P i =(B i ,L i ,H i ), B i is the longitude coordinate, L i is the latitude coordinate, H i Elevation coordinates, i represents the i-th high-precision location data.

[0046] Calculate the surface fitting coefficient. Use the surface fitting model to calculate all high-precision position data to obtain the surface fitting coefficient. The specific calculation is shown in formula (1):

[0047] H=H 0 +x 0 *B+y 0 *L+x 1 *B 2 +y 1 *L 2 +z 1 *B*L (1)

[0048] Among them, H is the elevation coordinate in the high-precision location data, B is the longitude coordinate in the high-precision location data, and L is the latitude coordinate in the high-precision location data; H 0 、x 0 ,y 0、x 1 ,y 1 、z 1 are all surface fitting coefficients; when the coordinates of all high-precision position data are substituted into the above formula (1), the surface fitting coefficient can be calculated using the least squares principle: 0 、x 0 ,y 0 、x 1 ,y 1 、z 1 .

[0049] Fit the initial grid point elevation information, and calculate the precise elevation corresponding to the target grid point according to the grid point plane coordinates and the surface fitting coefficient of the target grid point. In the embodiment, let the grid point plane coordinates of the target grid point be G n , then G n =(b n ,l n ). Substitute the above surface fitting coefficients and grid point plane coordinates into formula (2):

[0050] h n =H 0 +x 0 *b n +y 0 *l n +x 1 *b n 2 +y 1 *l n 2 +z 1 *b n *l n (2)

[0051] Among them, H 0 、x 0 ,y 0 、x 1 ,y 1 、z 1 are surface fitting coefficients, h n Target grid point G n The corresponding accurate elevation, b n is the horizontal coordinate value of the grid point plane coordinate of the target grid point, l n The vertical coordinate value of the grid point plane coordinate of the target grid point.

[0052] Correct the initial grid point elevation, correct the initial grid point elevation according to the precise elevation, obtain the precise grid point elevation corresponding to the target grid point, return to the loop execution step to filter the position data until the initial grid point elevations corresponding to all grid points in the target square grid are corrected, and finally obtain the precise grid point elevation information containing several precise grid point elevations.

[0053] The present application also provides an electronic device, characterized by comprising: a processor;

[0054] A memory; and a program, wherein the program is stored in the memory and is configured to be executed by the processor, the program including means for executing an adaptive fitting method of grid point elevation information.

[0055] The present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to provide an adaptive fitting method for grid point elevation information.

[0056] An adaptive fitting method for grid point elevation information in the present application first performs initial fitting to obtain initial grid point elevation information, and then refines each initial grid point elevation in the initial grid point elevation information based on high-precision position data of a user terminal in a preset high-precision position database and the plane coordinates of the grid points to obtain precise grid point elevation information containing several precise grid point elevations; based on the high-precision position information uploaded by the user terminal, the elevation information of all grid points is fitted, and the elevation information of the fitted grid points has a high accuracy, which can be better than the decimeter level, and can meet the high-precision positioning requirements of the terminal even in areas with large terrain undulations, and can truly and accurately express the location of the grid points.

[0057] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. An adaptive fitting method for grid point elevation information, characterized by: The following steps are involved: Divide the grid into a preset regular grid according to the acquired base station coverage area information and longitude and latitude intervals, and obtain the target grid and the grid point plane coordinates corresponding to each grid point in the target grid; Initializing fitting, fitting initial grid point elevations corresponding to grid points in the target square grid according to the grid point plane coordinates, and obtaining initial grid point elevation information containing a plurality of initial grid point elevations; Receiving high-precision location information, receiving high-precision location information of several user terminals within the target grid coverage area, and entering the high-precision location information of the several user terminals into a preset high-precision location database; Refining the initial grid point elevation information, refining the elevation of each initial grid point in the initial grid point elevation information according to the high-precision location data of the user terminal in a preset high-precision location database and the plane coordinates of the grid points, to obtain precise grid point elevation information containing a plurality of precise grid point elevations; The refinement of the initial grid point elevation information specifically comprises the following steps: Filtering location data: randomly selecting any grid point in the target grid as the target grid point, and filtering a preset number of high-precision location data of user terminals adjacent to the target grid point from a preset high-precision progress location database according to the plane coordinates of the grid point corresponding to the target grid point; Calculate the surface fitting coefficient, use the surface fitting model to calculate all high-precision position data, and obtain the surface fitting coefficient; Fitting the initial grid point elevation information, and calculating the precise elevation corresponding to the target grid point based on the grid point plane coordinates of the target grid point and the surface fitting coefficient; Correct the initial grid point elevation, correct the initial grid point elevation according to the precise elevation, obtain the precise grid point elevation corresponding to the target grid point, return to the loop execution step to filter the position data until the initial grid point elevations corresponding to all grid points in the target square grid are corrected, and finally obtain precise grid point elevation information containing the elevations of several precise grid points.

2. The adaptive fitting method for grid point elevation information according to claim 1, wherein: Before receiving the high-precision location information, it also includes: selecting the grid point closest to the user terminal from the target grid according to the approximate location information uploaded by the user terminal, broadcasting the grid point differential information of the grid point to the corresponding user terminal, and the user terminal performing differential correction processing on the approximate location information according to the grid point differential information to obtain the high-precision location information of the user terminal.

3. The adaptive fitting method for grid point elevation information according to claim 1, wherein: The initialization fitting specifically includes the following steps: Select the target initialization grid point, and randomly select any grid point in the target square grid as the target initialization grid point; Extracting DEM data, extracting a preset number of DEM data of grid points adjacent to the initialization grid point from the DEM data packet according to the grid point plane coordinates corresponding to the target grid point; Fit the initial grid point elevation, input the DEM data of the grid points adjacent to the initialization grid point and the grid point plane coordinates of the initialization grid point into the bilinear interpolation model for fitting, and obtain the initial grid point elevation corresponding to the initialization grid point. Return to the loop execution step to filter the target initialization grid point until the initial grid point elevation of all grid points in the target square grid is fitted.

4. The adaptive fitting method for grid point elevation information according to claim 3, wherein: The preset number is 4.

5. The adaptive fitting method for grid point elevation information according to claim 1, wherein: The grid division also includes calculating the grid point plane coordinates, and calculating the grid point plane coordinates of each grid point in the target grid according to the starting longitude and latitude coordinates of the lower left corner of the target grid, the grid point latitude division index and the grid point longitude division index.

6. The adaptive fitting method for grid point elevation information according to claim 1, wherein: The receiving of high-precision location information also includes data updating, and updating the high-precision location information in a preset high-precision location database according to a preset update period based on the activity range of the user corresponding to the user terminal.

7. The adaptive fitting method for grid point elevation information according to claim 6, wherein: The data update specifically includes: when the activity range of the user corresponding to the user terminal changes, the high-precision location information of the user terminal received in real time is entered into the preset high-precision location database to replace the original high-precision location information in the preset high-precision location database.

8. An electronic device, characterized in that include: processor; Memory; And a program, wherein the program is stored in the memory and is configured to be executed by a processor, and the program includes a method for executing the adaptive fitting method of grid point elevation information in any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is used by a processor to execute the adaptive fitting method for grid point elevation information according to any one of claims 1 to 7.

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