Cross-frame coordinate conversion method and device

Abstract

The present application relates to the field of satellite navigation technology, and discloses a cross-frame coordinate conversion method and device thereof. When the conversion parameters between frames are seven parameters, the third conversion parameter between the first frame and the third frame is (T3, D3, R3), T3=T1+T2, D3=D1+D2, R3=R1+R2, (T1, D1, R1) is the first conversion parameter between the first frame and the second frame queried, and (T2, D2, R2) is the second conversion parameter between the second frame and the third frame queried. When the conversion parameters between frames are fourteen parameters, the third conversion parameters between the first frame and the third frame at the t3 epoch are #imgabs0##imgabs1##imgabs2##imgabs3##imgabs4##imgabs5##imgabs6##imgabs7##imgabs8# which are the first conversion parameters between the first frame and the second frame at the t0 epoch, and #imgabs9# which are the second conversion parameters between the second frame and the third frame at the t′0 epoch.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a cross-frame coordinate conversion method and device thereof. Background Art

[0002] In order to represent the position of an object in space, a coordinate system needs to be established in some way. The coordinate reference frame is the specific implementation of the coordinate system, usually represented by the station coordinates and velocities of a set of core stations. The coordinate reference frame is the reference benchmark for surveying and mapping activities. At the same time, a high-precision coordinate reference frame is also a prerequisite for conducting space geodesy research.

[0003] ITRS is a geocentric, earth-fixed coordinate system defined by the International Earth Rotation and Reference Service (IERS). Its origin is at the center of mass of the Earth, the X-axis points to the intersection of the equator and the prime meridian, the Z-axis points to the North Pole, and the Y-axis is perpendicular to the X-axis and the Z-axis to form a right-handed coordinate system. The International Terrestrial Reference Frame (ITRF) is its specific implementation. ITRF is currently the most accurate coordinate frame. Other local coordinate frames usually refer to the ITRF definition and give conversion parameters to a certain ITRF.

[0004] In practice, various coordinate reference frames are often connected through HELMERT transformation parameters. The process of converting the coordinates of a point from one coordinate system or coordinate frame to another is called coordinate transformation. In actual use, there may be no direct transformation parameters between some reference frames, especially for some regional coordinate reference frames, this situation is not uncommon. Summary of the invention

[0005] The purpose of the present application is to provide a cross-frame coordinate transformation method and device thereof, which calculates a formula for direct transformation parameters from indirect transition parameters to simplify the transformation process and improve calculation efficiency.

[0006] In one embodiment of the present application, a cross-frame coordinate conversion method is disclosed, including:

[0007] Query conversion parameters between frames;

[0008] When the conversion parameters between the first frame and the third frame are not found, the conversion parameters between the first frame and the third frame are calculated using the following formula:

[0009] Among them, when the conversion parameters between the frames are seven parameters, the third conversion parameters between the first frame and the third frame are (T3, D3, R3), wherein T3 = T1 + T2, D3 = D1 + D2, R3 = R1 + R2, wherein (T1, D1, R1) is the first conversion parameter between the first frame and the second frame queried, and (T2, D2, R2) is the second conversion parameter between the second frame and the third frame queried;

[0010] When the conversion parameter between the frames is fourteen parameters, the third conversion parameter between the first frame and the third frame at epoch t3 is in, in, is the first conversion parameter between the first frame and the second frame at the epoch t0 found, is the second conversion parameter between the second frame and the third frame at epoch t′0 found;

[0011] Stores the conversion parameters between each frame.

[0012] In a preferred example, the method further includes: acquiring the position coordinates of the first frame and calculating the position coordinates from the first frame to the third frame according to the third conversion parameters.

[0013] In a preferred embodiment, the step of querying the conversion parameters between the frames further includes: searching the coordinate frame publication information for the first conversion parameter between the first frame and the second frame at the t0 epoch.

[0014] In a preferred embodiment, the step of querying the conversion parameters between the frames further includes: searching the coordinate frame publication information for the second conversion parameter between the second frame and the third frame at the t′0 epoch.

[0015] In another embodiment of the present application, a cross-frame coordinate conversion device is disclosed, comprising:

[0016] Parameter query module, used to query conversion parameters between frames;

[0017] The parameter pre-calculation module calculates the conversion parameters between the first frame and the third frame using the following formula when the parameter query module fails to query the conversion parameters between the first frame and the third frame:

[0018] Among them, when the conversion parameters between the frames are seven parameters, the third conversion parameters between the first frame and the third frame are (T3, D3, R3), wherein T3 = T1 + T2, D3 = D1 + D2, R3 = R1 + R2, wherein (T1, D1, R1) is the first conversion parameter between the first frame and the second frame queried by the parameter query module, and (T2, D2, R2) is the second conversion parameter between the second frame and the third frame queried by the parameter query module;

[0019] When the conversion parameter between the frames is fourteen parameters, the third conversion parameter between the first frame and the third frame at epoch t3 is in, in, is the first conversion parameter between the first frame and the second frame at epoch t0 queried by the parameter query module, The second conversion parameter between the second frame and the third frame at epoch t′0 queried by the parameter query module;

[0020] The parameter storage module is used to store the conversion parameters between various frameworks.

[0021] In a preferred example, the conversion device further includes:

[0022] A coordinate calculation module is used to obtain the position coordinates of the first frame and calculate the position coordinates from the first frame to the third frame according to the third conversion parameters.

[0023] In a preferred embodiment, the parameter query module searches the coordinate frame publication information for the first conversion parameter between the first frame and the second frame at the t0 epoch.

[0024] In a preferred embodiment, the parameter query module searches the coordinate frame publication information for the second conversion parameter between the second frame and the third frame at the t′0 epoch.

[0025] In another embodiment of the present application, a cross-frame coordinate conversion device is also disclosed, including:

[0026] a memory for storing computer executable instructions; and,

[0027] A processor is used to implement the steps in the method described above when executing the computer executable instructions.

[0028] The present application also discloses a computer-readable storage medium in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the steps in the method described above are implemented.

[0029] The cross-frame coordinate transformation method and device provided in the embodiment of the present application derives a formula for calculating direct conversion parameters from "intermediate transition" parameters when two coordinate reference frames do not have direct conversion parameters but can be converted through an "intermediate transition" frame, so as to solve the complexity and inefficiency problems during multi-step "transition" conversion.

[0030] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions are all deemed to have been recorded in this specification), unless the combination of such technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic flow chart of a cross-frame coordinate conversion method according to the first embodiment of the present application;

[0032] Figure 2 is a schematic diagram of a process of cross-frame coordinate transformation according to the first embodiment of the present application;

[0033] Figure 3 is the difference in coordinate parameters converted between the first embodiment of the present application and the conventional solution;

[0034] Figure 4 is the difference in speed parameters between the conversion according to the first embodiment of the present application and the conventional solution;

[0035] Figure 5 It is a schematic structural diagram of a cross-frame coordinate conversion device according to the second embodiment of the present application. DETAILED DESCRIPTION

[0036] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0037] In the traditional solution, the transition can be performed through some "intermediate frames", that is, the coordinates or speed are first converted to a certain intermediate frame with direct conversion parameters, and then the coordinates or speed are converted to the target frame through the conversion parameters from the intermediate frame to the target frame. This makes the practical application complicated and inconvenient, and will consume more computing time and resources in the calculation. The present application provides a simple and fast conversion method.

[0038] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0039] The first embodiment of the present application relates to a cross-frame coordinate conversion method, the process of which is as follows: Figure 1 As shown, the method comprises the following steps:

[0040] Step 110, query the conversion parameters between frames.

[0041] In one embodiment, the step of querying the conversion parameters between the frames further includes: searching the coordinate frame publication information for the first conversion parameter between the first frame and the second frame at the t0 epoch.

[0042] In one embodiment, the step of querying the conversion parameters between the frames further includes: searching the coordinate frame publication information for the second conversion parameter between the second frame and the third frame at the t′0 epoch.

[0043] Step 120: When the conversion parameter between the first frame and the third frame is not found, the conversion parameter between the first frame and the third frame is calculated using the following formula.

[0044] Among them, when the conversion parameters between the frames are seven parameters, the third conversion parameters between the first frame and the third frame are (T3, D3, R3), wherein T3=T1+T2, D3=D1+D2, R3=R1+R2, wherein (T1, D1, R1) is the first conversion parameter between the first frame and the second frame queried, and (T2, D2, R2) is the second conversion parameter between the second frame and the third frame queried.

[0045] When the conversion parameter between the frames is fourteen parameters, the third conversion parameter between the first frame and the third frame at epoch t3 is in, in, is the first conversion parameter between the first frame and the second frame at the epoch t0 found, is the second conversion parameter between the second frame and the third frame at the t′0 epoch found.

[0046] Step 130: storing conversion parameters between the frames.

[0047] Step 140: Acquire the position coordinates of the first frame and calculate the position coordinates from the first frame to the third frame according to the third conversion parameters.

[0048] In the present application, the above formula can be used to pre-calculate the conversion parameters between various frames and store them for future use, so that the conversion can be performed directly when coordinate conversion is required.

[0049] In order to better understand the technical solution of this specification, a specific example is used for illustration below. The details listed in this example are mainly for ease of understanding and are not intended to limit the scope of protection of this application.

[0050] For a given two-dimensional rectangular coordinate system, the Bursa model of coordinate transformation can be written as:

[0051] X2=X1+T+DX1+RX1

[0052] Where X1=(x1,y1,z1) T is the coordinate of a point in coordinate system 1, X2=(x2,y2,z2) T Its coordinates in coordinate system 2, T=(T x ,T y ,T z ) T are three translation parameters, D is the scale parameter, and

[0053]

[0054] It is called the rotation matrix. From the formula, we can see that the 7 HELMERT parameters required for coordinate transformation are: (T x ,T y ,T z ,D,R x ,R y ,R z ) TFor instantaneous coordinate systems or coordinate transformations with low accuracy requirements, seven parameters are generally used to meet their accuracy requirements. For high-precision coordinate reference frames, the fixed HELMERT seven parameters cannot describe the time-varying characteristics of their frames, so their HELMERT seven parameters are considered to be time-varying. At this time, the seven parameters are expanded to fourteen parameters, that is, in addition to the above seven parameters, the rate of change of each parameter over time is added: The following combination Figure 2 The calculation process of the conversion parameters is described in detail.

[0055] (I) Seven-parameter case

[0056] Without considering the rate of change of frame conversion parameters, seven parameters are generally used for coordinate conversion. Assume that there is no direct conversion parameter from frame 1 to frame 3, but frame 2 can be used for transition. The conversion parameters from frame 1 to frame 2 are T1, D1, and R1; the conversion parameters from frame 2 to frame 3 are T2, D2, and R2. In general, the unit of the translation parameter T is millimeter (mm), and the unit of the scale parameter D is 10 -9 (ppb), the unit of the rotation matrix R is one thousandth of a second (mas). If the coordinates or angles are in meters or radians, the magnitudes of T, D, and R are 10 -3 , 10 -9 , 10 -9 .

[0057] According to the Bursa model, the calculation formula for converting the coordinate X1 of a point P in frame 1 to frame 2 and then to frame 3 is:

[0058] X2=X1+T1+D1X1+R1X1 (1)

[0059] X3=X2+T2+D2X2+R2X2 (2)

[0060] Where X2 is the coordinate of point P in frame 2, and X3 is the coordinate of point P in frame 3. Substituting equation (1) into equation (2), we can get:

[0061] X3=(X1+T1+D1X1+R1X1)+T2+D2(X1+T1+D1X1+R1X1)+R2(X1+T1+D1X1+R1X1) (3) Arranging formula (3), we can get formula (4):

[0062] X3=X1+(T1+T2)+(D1+D2)X1+(R1+R2)X1+D2(T1+D1X1+R1+X1)+R2(T1+D1X1+R1+X1) (4)

[0063] In formula (4), the magnitudes of both D2(T1+D1X1+R1+X1) and R2(T1+D1X1+R1+X1) are 10 -12 m can be ignored under the current measurement accuracy, so in actual calculation, the above formula (4) can be simplified to:

[0064] X3=X1+(T1+T2)+(D1+D2)X1+(R1+R2)X1 (5)

[0065] By comparing the conversion formula of the Bursa model, it can be seen that the direct conversion parameters T3, D3, and R3 from frame 1 to frame 3 can be calculated using the following formula (6):

[0066]

[0067] (II) Fourteen-parameter scenario

[0068] The conversion parameters between the ITRF reference frames given by ITRF are also time-varying, so there are generally 14 conversion parameters, including seven parameters at a given epoch t0 and their respective rates of change: The units of the rate of change are the same as those of the conversion parameters, and their orders of magnitude are: (10 -3 ,10 -9 ,10 -9 ,10 -3 ,10 -9 ,10 -9 ).

[0069] Assume that the coordinates of point P in reference frame 1 at epoch t1 are Coordinates of the epoch t2 transformed to reference frame 2 The 14 transformation parameters of the two frames at epoch t0 are The conversion formulas of coordinates and speed are:

[0070]

[0071]

[0072] In formulas (7) and (8), are the velocities of point P in reference frame 1 and reference frame 2, respectively. Correspondingly, assuming that the epoch of the conversion parameter from reference frame 2 to reference frame 3 is t′0, the conversion parameter is The conversion formula from the coordinates and velocity of the epoch t2 in frame 2 to the coordinates and velocity of the epoch t3 in frame 3 is:

[0073]

[0074]

[0075] In formulas (9) and (10), are the coordinates and velocity of point P in reference frame 3 respectively. Substituting equation (8) into equation (10), we get the velocity conversion formula:

[0076]

[0077] Rearranging formula (11), we can get:

[0078]

[0079] The magnitude of the latter two items is both 10 -12 m / yr can be ignored in the calculation, so the speed conversion formula (12) can be simplified as follows:

[0080]

[0081] Similarly, by substituting formulas (7) and (8) into formula (9), we can obtain the coordinate transformation formula:

[0082]

[0083] Rearranging formula (14) and ignoring small amounts, we can obtain:

[0084]

[0085] As a comparison, formula (7) can also be written as:

[0086]

[0087] here is the conversion parameter from frame 1 to frame 2 at time t2. Comparing formula (15) and formula (16), it can be seen that the conversion parameter from frame 1 to frame 3 at epoch t3 is:

[0088]

[0089] In addition, from formula (8), we can know that the velocity of the calculation point P under frame 2 is When the coordinates of the point in frame 1 are needed and speed But sometimes we do not know the coordinates of point P in frame 1. For example, the velocity of point P in frame 1 is actually interpolated from the velocity field model by its approximate coordinates. In this case, the coordinates of point P in other frames 4 (not shown in the figure) can be used. replace:

[0090]

[0091] Here, δX is the difference in the coordinates of point P between frame 1 and frame 4. If frame 4 is also an earth-centered earth-fixed coordinate system, the value of δX is generally not more than the meter level. and The magnitude is 10 -9 Meters per second can also be ignored in the calculation.

[0092] The following is an example to illustrate:

[0093] The EUREF website provides 741 coordinate and velocity records of its stations in the ETRF2014 and ETRF2000 frames, but does not provide the conversion parameters between them. When converting coordinates between these two frames, we can convert ETRF2014 to ITRF2014 and then from ITRF2014 to ETRF2000 using traditional methods. The conversion parameters for ETRF2014 to ITRF2014 under the 2010.0 epoch published by EUREF are shown in Table 1:

[0094] Table 1 Conversion parameters from ETRF2014 to ITRF2014

[0095]

[0096] The conversion parameters from ITRF2014 to ETRF2000 at the 2010.0 epoch are shown in Table 2:

[0097] Table 2 Conversion parameters from ITRF2014 to ETRF2000

[0098]

[0099] The direct conversion parameters from ETRF2014 to ETRF2000 at epoch 2010.0 calculated by the algorithm of the present invention are shown in Table 3 below:

[0100] Table 3 Conversion parameters from ETRF2014 to ETRF2000

[0101]

[0102] The coordinate differences of 741 coordinates calculated by the traditional method and the algorithm of the present invention under frame 3 are as follows Figure 3 and Figure 4 shown. Figure 3 The difference between the traditional method and the algorithm of the present invention is shown. Figure 3 The difference between the traditional method and the algorithm of the present invention is shown. From this example, it can be seen that the difference between the coordinate transformation of the patent algorithm and the traditional algorithm is 10 -8 m level, the speed difference is 10 -9The m / yr level can be considered equivalent at the current level of measurement accuracy, but the conversion method in this paper can simplify the calculation steps, and the conversion parameters between the reference frames can be calculated in advance and saved, which is convenient for program implementation and can also save computing resources.

[0103] In the second embodiment of the present application, a cross-frame coordinate conversion device is disclosed. Figure 5 A block diagram of a cross-frame coordinate conversion device is shown, which includes: a parameter query module, a parameter pre-calculation module, a parameter storage module and a coordinate calculation module.

[0104] The parameter query module is used to query the conversion parameters between frames;

[0105] When the parameter query module fails to query the conversion parameters between the first frame and the third frame, the parameter pre-calculation module calculates the conversion parameters between the first frame and the third frame using the following formula:

[0106] Among them, when the conversion parameters between the frames are seven parameters, the third conversion parameters between the first frame and the third frame are (T3, D3, R3), wherein T3 = T1 + T2, D3 = D1 + D2, R3 = R1 + R2, wherein (T1, D1, R1) is the first conversion parameter between the first frame and the second frame queried by the parameter query module, and (T2, D2, R2) is the second conversion parameter between the second frame and the third frame queried by the parameter query module;

[0107] When the conversion parameter between the frames is fourteen parameters, the third conversion parameter between the first frame and the third frame at epoch t3 is in, in, is the first conversion parameter between the first frame and the second frame at epoch t0 queried by the parameter query module, The second conversion parameter between the second frame and the third frame at epoch t′0 queried by the parameter query module;

[0108] The parameter storage module is used to store the conversion parameters between each framework.

[0109] The coordinate calculation module is used to obtain the position coordinates of the first frame and calculate the position coordinates from the first frame to the third frame according to the third conversion parameters.

[0110] In a preferred embodiment, the parameter query module searches the coordinate frame publication information for the first conversion parameter between the first frame and the second frame at the t0 epoch.

[0111] In a preferred embodiment, the parameter query module searches the coordinate frame publication information for the second conversion parameter between the second frame and the third frame at the t′0 epoch.

[0112] The conversion parameters that can be queried by the parameter query module and the conversion parameters that cannot be queried (calculated by the parameter pre-calculation module) are stored in the parameter storage module, thereby storing the conversion parameters between each framework for subsequent use.

[0113] The first implementation manner is a method implementation manner corresponding to the present implementation manner. The technical details in the first implementation manner can be applied to the present implementation manner, and the technical details in the present implementation manner can also be applied to the first implementation manner.

[0114] It should be noted that those skilled in the art should understand that the implementation functions of each module shown in the implementation of the above-mentioned cross-frame coordinate conversion device can be understood by referring to the relevant description of the above-mentioned satellite image road printed object recognition method. The functions of each module shown in the implementation of the above-mentioned cross-frame coordinate conversion device can be realized by a program (executable instruction) running on a processor, or by a specific logic circuit. If the cross-frame coordinate conversion device of the embodiment of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM, Read Only Memory), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0115] Accordingly, an embodiment of the present application further provides a computer storage medium, in which computer executable instructions are stored. When the computer executable instructions are executed by a processor, the various method embodiments of the present application are implemented.

[0116] In addition, the embodiment of the present application also provides a cross-frame coordinate conversion device, which includes a memory for storing computer executable instructions, and a processor; the processor is used to implement the steps in the above-mentioned method implementation when executing the computer executable instructions in the memory. Among them, the processor can be a central processing unit (Central Processing Unit, referred to as "CPU"), or other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as "DSP"), Application Specific Integrated Circuit (Application Specific Integrated Circuit, referred to as "ASIC"), etc. The aforementioned memory can be a read-only memory (read-only memory, referred to as "ROM"), a random access memory (random access memory, referred to as "RAM"), a flash memory (Flash), a hard disk or a solid-state hard disk, etc. The steps of the method disclosed in each embodiment of the present invention can be directly embodied as a hardware processor to be executed, or a combination of hardware and software modules in the processor can be executed.

[0117] It should be noted that in the application documents of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0118] All documents mentioned in this application are considered to be included in the disclosure of this application as a whole, so that they can be used as the basis for modification when necessary. In addition, it should be understood that after reading the above disclosure of this application, those skilled in the art can make various changes or modifications to this application, and these equivalent forms also fall within the scope of protection claimed in this application.

Claims

1. A cross-frame coordinate transformation method, characterized in that: include: Query the conversion parameters between frames, which are the coordinate reference frames used in satellite navigation surveying and mapping activities and are the reference benchmarks for surveying and mapping activities; When the conversion parameters between the first frame and the third frame are not found, the conversion parameters between the first frame and the third frame are calculated using the following formula: Among them, when the conversion parameters between the frames are seven parameters, the third conversion parameters between the first frame and the third frame are (T3, D3, R3), wherein T3 = T1 + T2, D3 = D1 + D2, R3 = R1 + R2, wherein (T1, D1, R1) is the first conversion parameter between the first frame and the second frame queried, and (T2, D2, R2) is the second conversion parameter between the second frame and the third frame queried; When the conversion parameter between the frames is fourteen parameters, the third conversion parameter between the first frame and the third frame at epoch t3 is in, in, is the first conversion parameter between the first frame and the second frame at the epoch t0 found, For the query at t0 ′ a second conversion parameter between the second frame and the third frame at the epoch; Stores the conversion parameters between each frame.

2. The cross-frame coordinate conversion method according to claim 1, characterized in that: Also includes: The position coordinates of the first frame are acquired and the position coordinates from the first frame to the third frame are calculated according to the third conversion parameters.

3. The cross-frame coordinate conversion method according to claim 1, characterized in that: The step of querying the conversion parameters between the frames further includes: searching the coordinate frame publication information for the first conversion parameter between the first frame and the second frame at the t0 epoch.

4. The cross-frame coordinate conversion method according to claim 1, characterized in that: The step of querying the conversion parameters between the frames further includes: searching the coordinate frame publication information at t0 ′ The second conversion parameters between the second frame and the third frame in the epoch 5. A cross-frame coordinate conversion device, characterized in that: include: A parameter query module is used to query the conversion parameters between frames, where the frame is the coordinate reference frame in satellite navigation surveying and mapping activities and is the reference benchmark for surveying and mapping activities; The parameter pre-calculation module calculates the conversion parameters between the first frame and the third frame using the following formula when the parameter query module fails to query the conversion parameters between the first frame and the third frame: Among them, when the conversion parameters between the frames are seven parameters, the third conversion parameters between the first frame and the third frame are (T3, D3, R3), wherein T3 = T1 + T2, D3 = D1 + D2, R3 = R1 + R2, wherein (T1, D1, R1) is the first conversion parameter between the first frame and the second frame queried by the parameter query module, and (T2, D2, R2) is the second conversion parameter between the second frame and the third frame queried by the parameter query module; When the conversion parameter between the frames is fourteen parameters, the third conversion parameter between the first frame and the third frame at epoch t3 is in, in, is the first conversion parameter between the first frame and the second frame at epoch t0 queried by the parameter query module, The parameter query module queries the ′ a second conversion parameter between the second frame and the third frame at the epoch; The parameter storage module is used to store the conversion parameters between various frameworks.

6. The cross-frame coordinate conversion device according to claim 5, characterized in that: Also includes: A coordinate calculation module is used to obtain the position coordinates of the first frame and calculate the position coordinates from the first frame to the third frame according to the third conversion parameters.

7. The cross-frame coordinate conversion device according to claim 5, characterized in that: The parameter query module searches the coordinate frame publication information for the first conversion parameter between the first frame and the second frame at the t0 epoch.

8. The cross-frame coordinate conversion device according to claim 5, characterized in that: The parameter query module searches the coordinate frame publication information for the ′ The second conversion parameters between the second frame and the third frame in the epoch 9. A cross-frame coordinate conversion device, characterized in that: include: A memory for storing computer executable instructions; as well as A processor, coupled to the memory, configured to implement the steps of the method according to any one of claims 1 to 4 when executing the computer executable instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the steps in the method according to any one of claims 1 to 4 are implemented.

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