A satellite positioning point spatial position description and correction method, device and equipment

Abstract

The present application discloses a method, device and equipment for describing and correcting the spatial position of satellite positioning points. The method includes the following steps: obtaining the longitude and latitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and converting them into corresponding grid coordinates; obtaining the quantity threshold of satellite positioning points in the grid according to the satellite positioning time interval, the operating speed of the positioning device and the satellite positioning error; counting the number of satellite positioning points in each grid, and outputting the grid coordinates whose number of satellite positioning points is greater than or equal to the quantity threshold as the final grid coordinates of each positioning device. The present application uniformly describes the positioning point data falling within the grid with grid coordinates, which can greatly reduce the amount of data, improve positioning efficiency, and has strong applicability, meeting the positioning needs under different working conditions. At the same time, using the quantity threshold to correct the coordinate points can effectively overcome the influence of satellite positioning errors, thereby further improving positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of spatial positioning of positioning equipment, and in particular to a method, device and equipment for describing and correcting the spatial position of a satellite positioning point. Background Art

[0002] With the development of science and technology, various fields are gradually moving towards digitalization and intelligence, and the intelligent development of mining production is also on the agenda. At present, the monitoring system for positioning equipment is gradually developing. How to quickly and accurately obtain the location information of the positioning equipment and describe the location simply and clearly is of great research value for improving the accuracy of mine monitoring and thus improving production efficiency.

[0003] At present, satellite positioning is mostly used for positioning of large outdoor equipment. Due to the complex and changeable production environment of mines, it is not suitable to deploy too many or complicated positioning facilities. In addition, with the progress of mine production, the mine operation area is also changing with each passing day. Satellite positioning only needs to install satellite positioning cards to achieve real-time positioning in any open-air area. Satellite positioning mostly uses longitude and latitude to describe the position of the located point. In order to facilitate display on a two-dimensional electronic map, the coordinate conversion formula is often used to convert it into the geographic coordinates of the plane map projection. This method can better describe the position of points in a large range, but it is not enough for describing the position of a large number of points in a local range. On the one hand, the data description of the geographic coordinate points is complex, and the large amount of data point information is overwhelming; on the other hand, due to the small difference between two nearby data points, it is not easy to distinguish the relative position relationship between the two points. Summary of the invention

[0004] On the one hand, the present application provides a method for describing and correcting the spatial position of a satellite positioning point to solve the technical problems of complex description of a large number of point positions within a local range, too much data volume, and low positioning accuracy.

[0005] The technical solutions adopted in this application are as follows:

[0006] A method for describing and correcting the spatial position of a satellite positioning point comprises the steps of:

[0007] Obtain the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and convert them into corresponding grid coordinates;

[0008] The number threshold of satellite positioning points in the grid is obtained according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error;

[0009] The number of satellite positioning points in each grid is counted, and the grid coordinates where the number of satellite positioning points is greater than the quantity threshold are output as the final grid coordinates of each positioning device.

[0010] Furthermore, before obtaining the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and converting them into corresponding grid coordinates, the method further includes the following steps:

[0011] The rectangular coordinate system is divided into a number of equal-sized square plane grids, and the coordinate origin of the plane grid is set at the upper left corner of the blasting area. From left to right is the positive direction of the x-coordinate axis, and from top to bottom is the positive direction of the y-coordinate axis. Each plane grid is numbered in rows and columns according to the direction of the coordinate axis to represent the coordinates of each plane grid, and the plane grid is spread over the entire blasting area to be located;

[0012] On the basis of the plane grids, each plane grid is equally divided upward along the z direction to form square elevation grids of equal size.

[0013] Furthermore, the process of determining the side length of the grid includes the steps of:

[0014] Calculate the proportional coefficient p1 of satellite positioning error and blasting parameters:

[0015] p1=2e / (a+b)

[0016] Where, e is the satellite positioning error, hole spacing a = (20-40) d, row spacing b = 0.866a, or b = W1, d is the diameter of the blasthole, and W1 is the minimum resistance line;

[0017] After rounding the proportional coefficient p1 to p, the side length of the grid is calculated:

[0018] I = a / p.

[0019] Furthermore, the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area are obtained by satellite positioning and converted into corresponding grid coordinates, specifically including the steps of:

[0020] Place the satellite positioning module on the positioning device to be positioned, and use the coordinate system conversion to convert the longitude and latitude coordinates obtained when the satellite positioning device is positioned into the map projection coordinates (x1, y1) of the positioning device;

[0021] Assume the map projection coordinates of the grid coordinate origin are (x min ,y max ), then the corresponding grid row number when the map projection coordinates (x1, y1) of the positioning device is X1 = [(x1-x min ) / I]+1, column number is Y1=[(y max -y1) / I]+1, where I is the side length of the grid, and the obtained grid row and column numbers are rounded to get the plane grid coordinates (X, Y);

[0022] The elevation value H0 of the grid coordinate origin obtained by satellite positioning and the elevation value h of each positioning device, then the elevation number corresponding to the positioning device is Z1=[(H0-h) / I]+1, and the elevation number is rounded to obtain the elevation grid coordinate Z;

[0023] The plane grid coordinates (X, Y) within the grid are combined with the elevation grid coordinates Z to obtain the grid coordinates (X, Y, Z) used to describe the position of the positioning device.

[0024] Furthermore, the method of obtaining the number threshold of satellite positioning points in the grid according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error specifically includes the steps of:

[0025] According to the satellite positioning time interval and the operating speed of the positioning device, the ideal number of satellite positioning points in each grid is calculated;

[0026] Calculate the error probability generated in each grid according to the satellite positioning error and the area of ​​each plane grid;

[0027] A quantity threshold of satellite positioning points in each grid is calculated based on the ideal quantity and the error probability.

[0028] Furthermore, the method of calculating the ideal number of satellite positioning points in each grid according to the satellite positioning time interval and the operating speed of the positioning device specifically includes the steps of:

[0029] Calculate the time t it takes for the positioning device to pass through each grid:

[0030] t=L / v

[0031] Where v is the running speed of the positioning device, the grid is a square with a length of I, the distance the positioning device passes through each grid and

[0032] The time interval f of each positioning is obtained according to the positioning frequency of the satellite positioning module, and the ideal number of satellite positioning points in each grid is calculated according to the time interval f and the time t when the positioning device passes through each grid:

[0033] m=t / f.

[0034] Furthermore, the calculating the error probability generated in each grid according to the satellite positioning error and the area of ​​each plane grid specifically comprises the steps of:

[0035] According to the satellite positioning error e, the circular area range that each satellite positioning point falls into is obtained:

[0036] s1=π*(e / 2) 2 ;

[0037] The error probability in each grid is obtained according to the ratio of each grid area to the circular area:

[0038] g=s2 / s1

[0039] Where s2 is the area of ​​each grid, and s2 = I 2 .

[0040] Furthermore, the step of calculating the number threshold of satellite positioning points in each grid according to the ideal number and the error probability specifically includes the following steps:

[0041] The minimum number of satellite positioning points is calculated based on the ideal number of satellite positioning points and the error probability in each grid:

[0042] n = gm;

[0043] The minimum value n obtained is rounded to the nearest integer and is the threshold value of the number of satellite positioning points in the grid.

[0044] On the other hand, the present application also provides a satellite positioning point spatial position and error correction device, including:

[0045] A grid coordinate conversion module is used to obtain the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and convert them into corresponding grid coordinates;

[0046] The quantity threshold calculation module calculates the quantity threshold of satellite positioning points in the grid according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error;

[0047] The grid coordinate output module is used to count the number of satellite positioning points in each grid, and output the grid coordinates where the number of satellite positioning points is greater than or equal to the quantity threshold as the final grid coordinates of each positioning device.

[0048] On the other hand, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the satellite positioning point spatial position description and correction method are implemented.

[0049] On the other hand, the present application further provides a storage medium, which includes a stored program, and when the program is run, controls the device where the storage medium is located to execute the steps of the satellite positioning point spatial position description and correction method.

[0050] Compared with the prior art, this application has the following beneficial effects:

[0051] The present application provides a method, device and equipment for describing and correcting the spatial position of satellite positioning points. The method includes the following steps: obtaining the longitude and latitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and converting them into corresponding grid coordinates; obtaining the number threshold of satellite positioning points in the grid according to the satellite positioning time interval, the operating speed of the positioning device and the satellite positioning error; counting the number of satellite positioning points in each grid, and outputting the grid coordinates whose number of satellite positioning points is greater than the number threshold as the final grid coordinates of each positioning device. The grid coordinates of the present application are easier to describe the spatial relative position between the positioning points, and the coordinate conversion method is simple and practical. The grid size can be adjusted according to actual needs in the present application, and the applicability is strong, which meets the positioning needs under different working conditions. The present application uniformly describes the positioning point data falling in the grid with grid coordinates, which can greatly reduce the amount of data and improve the positioning efficiency. The grid of the present application can accommodate the positioning error to a certain extent, and the use of the number threshold to correct the coordinate points can effectively overcome the influence of the satellite positioning error, thereby improving the positioning accuracy.

[0052] It solves the problem of complex location description when locating mining facilities by satellite, the problem of too much satellite positioning data causing data redundancy, and the problem of large satellite positioning errors causing large deviations in equipment position and path. It realizes a simple, convenient and accurate description of location information for positioning equipment after using satellite positioning.

[0053] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0055] Figure 1 It is a flowchart of a method for describing and correcting the spatial position of a satellite positioning point according to a preferred embodiment of the present application.

[0056] Figure 2 It is a flowchart of a satellite positioning point spatial position description and correction method according to another preferred embodiment of the present application.

[0057] Figure 3 It is a schematic diagram of the arrangement of blastholes in the blasting area of ​​the preferred embodiment of the present application.

[0058] Figure 4 It is a schematic diagram of grid division and numbering of a preferred embodiment of the present application.

[0059] Figure 5It is a schematic diagram of the combination of a grid and a blasting area in a preferred embodiment of the present application.

[0060] Figure 6 This is a schematic diagram of the spatial grid division of a preferred embodiment of the present application.

[0061] Figure 7 It is a flowchart of a satellite positioning point spatial position description and correction method according to another preferred embodiment of the present application.

[0062] Figure 8 It is a flowchart of a satellite positioning point spatial position description and correction method according to another preferred embodiment of the present application.

[0063] Fig. 9 It is a flowchart of a satellite positioning point spatial position description and correction method according to another preferred embodiment of the present application.

[0064] Fig.10 It is a flowchart of a satellite positioning point spatial position description and correction method according to another preferred embodiment of the present application.

[0065] Fig.11 It is a flowchart of a satellite positioning point spatial position description and correction method according to another preferred embodiment of the present application.

[0066] Fig.12 It is a flowchart of a satellite positioning point spatial position description and correction method according to another preferred embodiment of the present application.

[0067] Fig.13 A distribution diagram of positioning points within a grid in a preferred embodiment of the present application.

[0068] Fig.14 It is a module schematic diagram of a satellite positioning point spatial position description and correction device according to a preferred embodiment of the present application.

[0069] Fig.15 It is a schematic block diagram of an electronic device entity of a preferred embodiment of the present application.

[0070] Fig.16 It is a diagram of the internal structure of a computer device of a preferred embodiment of the present application.

[0071] In the figure: 1-blasting area; 2-blast hole; 3-grid number; 4-positioning device forward direction; 5-satellite positioning point; 6-error data point. DETAILED DESCRIPTION

[0072] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0073] Reference Figure 1The preferred embodiment of the present application provides a method for describing and correcting the spatial position of a satellite positioning point, comprising the steps of:

[0074] S1. Obtain the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and convert them into corresponding grid coordinates;

[0075] S2, according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error, the number threshold of the satellite positioning points in the grid is obtained;

[0076] S3. Count the number of satellite positioning points in each grid, and output the grid coordinates where the number of satellite positioning points is greater than the quantity threshold as the final grid coordinates of each positioning device.

[0077] The present embodiment provides a method for describing and correcting the spatial position of satellite positioning points. The method first obtains the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and converts them into corresponding grid coordinates; then, the number threshold of satellite positioning points in the grid is obtained according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error; finally, the number of satellite positioning points in each grid is counted, and the grid coordinates whose number of satellite positioning points is greater than or equal to the number threshold are output as the final grid coordinates of each positioning device.

[0078] The grid coordinates of this embodiment are easier to describe the spatial relative positions between the positioning points, and the coordinate conversion method is simple and practical. In this embodiment, the grid size can be adjusted according to actual needs, and the applicability is strong, meeting the positioning needs under different working conditions. In this embodiment, the positioning point data falling within the grid are uniformly described with grid coordinates, which can greatly reduce the amount of data and improve positioning efficiency. The grid of this embodiment can accommodate positioning errors to a certain extent, and the use of a quantity threshold to correct coordinate points can effectively overcome the influence of satellite positioning errors, thereby improving positioning accuracy.

[0079] On the one hand, this embodiment adopts the grid coordinate method to solve the problem of complex location description and data redundancy caused by too much satellite positioning data when locating mining facilities by satellite. On the other hand, only the grid coordinates with a number of satellite positioning points greater than or equal to the quantity threshold are output as the final grid coordinates of each positioning device, which solves the problem of large deviations in device position and path caused by large satellite positioning errors, and realizes a simple, convenient and accurate description of location information for positioning devices after using satellite positioning.

[0080] like Figure 2 In the preferred embodiment of the present application, before obtaining the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area by satellite positioning and converting them into corresponding grid coordinates, the method further includes the following steps:

[0081] S101, dividing the rectangular coordinate system into a number of equal-sized square plane grids, setting the coordinate origin of the plane grid at the upper left corner of the blasting area 1, from left to right is the positive direction of the x-coordinate axis, from top to bottom is the positive direction of the y-coordinate axis, numbering each plane grid in rows and columns according to the direction of the coordinate axis to represent each plane grid coordinate, and covering the entire blasting area to be located with the plane grids;

[0082] S102. Based on the plane grids, each plane grid is equally divided upward along the z direction to form equal-sized square elevation grids to obtain a space grid.

[0083] In this embodiment, Figure 3 As shown in FIG. 1 , a number of blast holes 2 are prepared in the blasting area 1 according to the blasting design, with a blast hole diameter of d, a hole spacing of a, and a row spacing of b. On this basis, in order to convert the grid coordinates, the grid range and the arrangement of the blast holes 2 are first determined according to the blasting area 1. Then, according to the local area to be located, the rectangular coordinate system is divided into a number of equal-sized square grids. For the convenience of numbering, the coordinate origin is set at the upper left corner, from left to right is the positive direction of the x-coordinate axis, and from top to bottom is the positive direction of the y-coordinate axis; then the grid number 3 is adopted, and it is stipulated that the numbering starts from the direction of the coordinate axis. The first column of the first row is numbered (1, 1), and so on, that is, the row and column numbers (x, y) are used to represent the coordinates of each plane grid (see FIG. 1 ). Figure 4 ), and then the plane grid is spread over the entire blasting area 1 (see Figure 5 ). Based on the plane grid, this embodiment also takes into account that each positioning device in the blasting area 1 has a certain elevation value. Therefore, when describing the grid coordinates of each positioning device, in addition to using the row and column numbers of the plane grid to represent the two-dimensional plane position of each positioning device, it is also necessary to describe the elevation value of each positioning device through the grid. Therefore, based on the plane grid, this embodiment divides each plane grid upward along the z direction into equal-sized square elevation grids, that is, the elevation value of each positioning device is expressed through the elevation grid number, thereby forming the following: Figure 6 The spatial grid shown in the figure uses the spatial grid coordinates obtained by combining the row and column numbering of the plane grid with the elevation grid numbering to obtain the spatial position information of each positioning device. Compared with the existing satellite positioning longitude and latitude and elevation values, the use of spatial grid coordinates makes it easier to describe the spatial relative positions between positioning points.

[0084] like Figure 7 As shown, in a preferred embodiment of the present application, the process of determining the side length of the grid includes the steps of:

[0085] S111, calculate the proportional coefficient p1 of satellite positioning error and blasting parameters:

[0086] p1=2e / (a+b)

[0087] Where, e is the satellite positioning error, hole spacing a = (20-40) d, row spacing b = 0.866a, or b = W1, d is the diameter of the blasthole, and W1 is the minimum resistance line;

[0088] S112, after rounding the proportional coefficient p1 to p, calculate the side length of the grid:

[0089] I = a / p.

[0090] Generally speaking, under the premise of satisfying the positioning error, the smaller the I value, the higher the accuracy. However, from the perspective of efficiency, the I value cannot be infinitely small. Therefore, when determining the I value, the present embodiment first uses the formula p1=2e / (a+b) to obtain the proportional coefficient p1 of the satellite positioning accuracy and the blasting parameter. Then, in order to satisfy the principle that most blast holes fall in the center of the grid, the proportional coefficient is rounded to p, and the side length of the grid is obtained using the formula I=a / p. In general blasting operations, positioning equipment such as rotary drills are moved according to the positions of the blast holes. The rotary drills are required to move in the direction of the positions of each row of blast holes. The calculation of the proportional coefficient fully weighs the satellite positioning error and the blast hole spacing, two factors that affect the grid coordinates. The proportional coefficient p indicates that the coordinate grid is included as much as possible within the range allowed by the positioning error. Equidistant division according to the hole spacing a can ensure that the blast hole position is located at the center of the grid as much as possible, avoiding the situation where one blast hole is distributed in two or more grids. That is to say, when determining the grid side length of a certain mine blasting area, this embodiment comprehensively considers the shape, area, blasting parameters, and satellite positioning accuracy of the operating area, thereby ensuring that the blasthole position is located as close to the center of the grid as possible to ensure positioning accuracy.

[0091] like Figure 8 As shown, in a preferred embodiment of the present application, the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area are obtained by satellite positioning and converted into corresponding grid coordinates, specifically including the steps of:

[0092] S11, placing the satellite positioning module on the positioning device to be positioned, and using the Xi'an 80 coordinate system conversion, converting the longitude and latitude coordinates obtained when the satellite positioning device is positioned into the map projection coordinates (x1, y1) of the positioning device;

[0093] S12, let the map projection coordinates of the grid coordinate origin be (x min ,y max ), then the corresponding grid row number when the map projection coordinates (x1, y1) of the positioning device is X1 = [(x1-x min ) / I]+1, column number is Y1=[(y max -y1) / I]+1, where I is the side length of the grid, and the obtained grid row and column numbers are rounded to get the plane grid coordinates (X, Y);

[0094] S13, the elevation value H0 of the grid coordinate origin obtained by satellite positioning, and the elevation value h of each positioning device, then the elevation number corresponding to the positioning device is Z1=[(H0-h) / I]+1, and the elevation number is rounded to obtain the elevation grid coordinate Z;

[0095] S14. Combine the plane grid coordinates (X, Y) in the grid with the elevation grid coordinates Z to obtain grid coordinates (X, Y, Z) for describing the position of the positioning device.

[0096] In this embodiment, when converting the longitude and latitude coordinates and elevation coordinates of each positioning device into corresponding grid coordinates, firstly, through coordinate system conversion, such as Xi'an 80 coordinate system, the longitude and latitude coordinates obtained when the satellite positioning device is located are converted into the map projection coordinates (x1, y1) of the positioning device, and then after setting the map projection coordinates of the grid coordinate origin, the row number and column number of the map projection coordinates (x1, y1) in the grid coordinates are calculated according to the relevant formula, and the plane grid coordinates (X, Y) are obtained by rounding. Similarly, based on the elevation value H0 of the grid coordinate origin obtained by satellite positioning and the elevation value h of each positioning device, the elevation number corresponding to the positioning device is calculated according to the relevant formula and rounded to obtain the elevation grid coordinate Z. Finally, the plane grid coordinates (X, Y) and the elevation grid coordinates Z are combined to obtain the grid coordinates (X, Y, Z) used to describe the position of the positioning device. The entire coordinate conversion process is simple and practical.

[0097] like Fig. 9 As shown, in a preferred embodiment of the present application, the method of obtaining the number threshold of satellite positioning points in a grid according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error specifically includes the steps of:

[0098] S21, calculating the ideal number of satellite positioning points in each grid according to the satellite positioning time interval and the operating speed of the positioning device;

[0099] S22, calculating the error probability generated in each grid according to the satellite positioning error and the area of ​​each grid;

[0100] S23. Calculate a quantity threshold of satellite positioning points in each grid according to the ideal quantity and the error probability.

[0101] In this embodiment, due to the different operating speeds of the equipment, satellite positioning errors, and satellite positioning time intervals, the number of satellite positioning points in each grid obtained by the above method will inevitably have errors, that is, the number of satellite positioning points counted in the grid has errors, which leads to defects in the final positioning description. Therefore, it is necessary to determine the coordinate points in the grid and delete the satellite positioning points that do not meet the requirements. For this reason, this embodiment proposes the concept of a quantity threshold, which is calculated by calculating the ideal number of satellite positioning points in the grid and the error probability generated in each grid, wherein the error probability is calculated based on the satellite positioning error and the error probability of each grid surface. That is to say, this embodiment can obtain the quantity threshold of satellite positioning points in each grid by combining the ideal number of satellite positioning points in the grid and the error probability generated in each grid. Taking the quantity threshold as the evaluation standard, it can be judged whether the number of satellite positioning points in each grid meets the requirements in the subsequent process, and the grid coordinates with the number of satellite positioning points greater than or equal to the quantity threshold are output as the final grid coordinates of each positioning device, while the grid coordinates less than the above quantity threshold will be deleted. That is, this embodiment can accommodate positioning errors to a certain extent, use the quantity threshold as the standard for coordinate point correction, thereby overcoming the influence of satellite positioning errors and improving positioning accuracy.

[0102] like Fig.10 As shown, in a preferred embodiment of the present application, the ideal number of satellite positioning points in each grid is calculated according to the satellite positioning time interval and the operating speed of the positioning device, which specifically includes the steps of:

[0103] S211. Calculate the time t that the positioning device takes to pass through each grid:

[0104] t=L / v

[0105] Where v is the running speed of the positioning device, the grid is a square with a length of I, the distance the positioning device passes through each grid and

[0106] S212, obtaining the time interval f of each positioning according to the positioning frequency of the satellite positioning module, and calculating the ideal number of satellite positioning points in each grid according to the time interval f and the time t when the positioning device passes through each grid:

[0107] m=t / f.

[0108] When calculating the ideal number of satellite positioning points in each grid without considering the satellite positioning error, this embodiment first obtains the time t for the positioning device to pass through each grid based on the running speed of the positioning device and the distance L that the positioning device passes through each grid. On this basis, since there is a time interval f between each positioning by the satellite positioning module, the ideal number of satellite positioning points in each grid without considering the satellite positioning error can be obtained based on the ratio of time t to time interval f. This ideal number is a necessary basis for the subsequent calculation of the quantity threshold.

[0109] like Fig.11 As shown, in a preferred embodiment of the present application, the error probability generated in each grid is calculated according to the satellite positioning error and the area of ​​each grid, specifically comprising the steps of:

[0110] S221. According to the satellite positioning error e, the circular area range in which each satellite positioning point falls is obtained:

[0111] s1=π*(e / 2) 2 ;

[0112] S222. Obtain the error probability generated in each grid according to the ratio of each grid area to the circular area range:

[0113] g=s2 / s1

[0114] Where s2 is the area of ​​each grid, and s2 = I 2 .

[0115] In this embodiment, due to the inevitable existence of satellite positioning errors, there must be a certain error probability for each satellite positioning point to fall into each grid. By calculating the error probability, the degree of difference between the ideal number and the actual number of satellite positioning points falling into the grid can be known. Since the error probability is determined by the satellite positioning error e, it can more objectively reflect the actual number of satellite positioning points falling into the grid, with high accuracy and close correlation.

[0116] like Fig.12 As shown, in a preferred embodiment of the present application, the calculation of the number threshold of satellite positioning points in each grid according to the ideal number and the error probability specifically includes the steps of:

[0117] S231, calculating the minimum number of satellite positioning points according to the ideal number of satellite positioning points and the error probability in each grid:

[0118] n = gm;

[0119] S232, rounding off the obtained minimum value n to an integer, which is the number threshold of satellite positioning points in the grid.

[0120] In this embodiment, after obtaining the ideal number of satellite positioning points and the error probability in each grid, the minimum value of satellite positioning points in each grid can be solved. The minimum value indicates the standard that the number of satellite positioning points in each grid must reach. If it is lower than the standard, it means that the satellite positioning points in the grid are erroneous satellite positioning points caused by satellite positioning errors. They must be deleted before outputting the grid coordinates to avoid outputting erroneous positioning device grid coordinates, thereby ensuring the positioning accuracy of the positioning device.

[0121] like Fig.13 As shown, the positioning device forward direction 4 is established. Due to the existence of satellite positioning errors, satellite positioning points 5 will randomly fall on both sides of the forward route. The above error correction method uses the quantity threshold as the standard for coordinate point correction, and the error data point 6 can be deleted, thereby overcoming the influence of satellite positioning errors and improving positioning accuracy.

[0122] The present application is further described below with reference to specific examples.

[0123] Embodiment 1:

[0124] The mining area is geographically located at 99°15′28"~99°15′31" east longitude and 25°14′53"~25°15′01" north latitude. The mining area is delineated by four turning points and covers an area of ​​0.019km 2 The mining elevation is 2060-2100m. The step height is 10m. The rock drilling uses a VF-9 / 7 air compressor to drive a matching KQD-70 down-the-hole drill. The drill is equipped with a Beidou positioning tag with an accuracy of 3m and a drilling diameter of 70mm. The hole spacing a is 2.2m and the row spacing b is 1.8m.

[0125] The specific process implementation steps are as follows:

[0126] (1) 102° was selected as the central meridian, and the Xi'an 80 coordinate system was adopted. The longitude and latitude coordinates of the drilling rig obtained by satellite positioning were converted into map projection coordinates. The existing formula was used to obtain the coordinates of the origin of the upper left corner as (928941, 5699037), and the elevation was 2100m.

[0127] (2) Based on the hole spacing a, row spacing b and satellite positioning accuracy e, the above formula is used to obtain the proportional coefficient p = 2, and the side length of the grid is I = 1 / 2a, that is, 1.1 m.

[0128] (3) Assume that the data obtained by satellite positioning is converted into a map projection coordinate of (928951, 5699021) and an elevation of 2065 m. The three-dimensional grid coordinates of this point are obtained by the conversion formula as (10, 15, 32), indicating that this point is located in the 32nd square on the Z axis, 10 rows and 15 columns of the plane coordinate system.

[0129] (4) The average moving speed of the down-the-hole drill is v = 0.4 (m / s), the satellite positioning frequency is 1 (time / second), and the error probability g falling within a grid is calculated using the formula g = s2 / s1 to be 17.93%. The minimum number of satellite positioning points is calculated using the formula n = gm = gI / vf to be n = 0.9. After rounding off, the threshold value of the number of satellite positioning points in the grid is 1.

[0130] (5) Using statistical methods, the satellite positioning points in the grid are counted, and the point values ​​with less than or equal to 1 in the target grid are deleted. The grid coordinates with the number of satellite positioning points greater than 1 are output as the final grid coordinates of the positioning device.

[0131] Embodiment 2:

[0132] The geographical coordinates of the mining area (extreme value): 115°18′34″~115°22′03″ east longitude, 34°14′27″~34°16′08″ north latitude. The mining area is delineated by four inflection points, and the mining elevation is 687~943m. The step height is 12m. The CL-351 high-pressure crawler down-the-hole drill is selected for drilling. The hole diameter is selected as D=115mm. The Beidou positioning tag is installed on the drilling rig with an accuracy of 5m. The hole spacing a is 3.5m, and the row spacing b is 4.0m.

[0133] The specific process implementation steps are as follows:

[0134] (1) 102° was selected as the central meridian, and the Xi'an 80 coordinate system was adopted. The longitude and latitude coordinates of the drilling rig obtained by satellite positioning were converted into map projection coordinates. The existing formula was used to obtain the coordinates of the origin of the upper left corner as (2256492, 4771610), and the elevation was 943 m.

[0135] (2) Based on the hole spacing a, row spacing b and satellite positioning accuracy e, the above formula is used to obtain the proportional coefficient p=2, and the side length of the grid is I=1 / 2a, that is, 1.75m.

[0136] (3) Assume that the data obtained by satellite positioning is converted into a map projection coordinate of (2256479, 4771652) and an elevation of 756 m. The three-dimensional grid coordinates of this point are obtained by the conversion formula as (8, 25, 107), indicating that this point is located in the 8th row, 25th column, and 107th square on the Z axis.

[0137] (4) The average moving speed of the down-the-hole drill is v = 1 (m / s), the satellite positioning frequency is 1 (times / second), and the error probability g falling within a grid is calculated using the formula g = s2 / s1 to be 43.34%. The minimum number of satellite positioning points is calculated using the formula n = gm = gI / vf to be n = 1.5. After rounding off, the threshold value of the number of data points in the grid is 2.

[0138] (5) Using statistical methods, the satellite positioning points in the grid are counted, and the point values ​​with less than or equal to 2 in the target grid are deleted. The grid coordinates with the number of satellite positioning points greater than 2 are output as the final grid coordinates of the positioning device.

[0139] like Fig.14 As shown, the present application also provides a satellite positioning point spatial position and error correction device, including:

[0140] A grid coordinate conversion module is used to obtain the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and convert them into corresponding grid coordinates;

[0141] The quantity threshold calculation module calculates the quantity threshold of satellite positioning points in the grid according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error;

[0142] The grid coordinate output module is used to count the number of satellite positioning points in each grid, and output the grid coordinates where the number of satellite positioning points is greater than or equal to the quantity threshold as the final grid coordinates of each positioning device.

[0143] Each module in the above-mentioned simulation device can be implemented in whole or in part by software, hardware and a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0144] like Fig.15 As shown, a preferred embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the satellite positioning point spatial position description and correction method in the above-mentioned embodiment is implemented.

[0145] like Fig.16 As shown, the preferred embodiment of the present application also provides a computer device, which can be a terminal or a liveness detection server, and its internal structure diagram can be as shown in Fig.16As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with other external computer devices through a network connection. When the computer program is executed by the processor, the above-mentioned satellite positioning point spatial position description and correction method is implemented.

[0146] Those skilled in the art will understand that Fig.16 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] A preferred embodiment of the present application further provides a storage medium, which includes a stored program, and when the program is executed, controls the device where the storage medium is located to execute the satellite positioning point spatial position description and correction method in the above embodiment.

[0148] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0149] If the functions described in the method of this embodiment are implemented in the form of software functional units and sold or used as independent products, they can be stored in one or more computing devices readable storage media. Based on this understanding, the part of the embodiment of the present application that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computing device (which can be a personal computer, server, mobile computing device or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0150] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for describing and correcting the spatial position of a satellite positioning point, characterized in that: Includes steps: Obtain the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and convert them into corresponding grid coordinates; The number threshold of satellite positioning points in the grid is obtained according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error. The process of determining the side length of the grid includes the steps of: Calculate the proportional coefficient p1 of satellite positioning error and blasting parameters: p1=2e / (a+b) Where, e is the satellite positioning error, hole spacing a = (20-40) d, row spacing b = 0.866a, or b = W1, d is the diameter of the blasthole, and W1 is the minimum resistance line; After rounding the proportional coefficient p1 to p, the side length of the grid is calculated: I = a / p; The number of satellite positioning points in each grid is counted, and the grid coordinates where the number of satellite positioning points is greater than the quantity threshold are output as the final grid coordinates of each positioning device.

2. The satellite positioning point spatial position description and correction method according to claim 1, characterized in that: Before obtaining the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and converting them into corresponding grid coordinates, the steps include: The rectangular coordinate system is divided into a number of equal-sized square plane grids, and the coordinate origin of the plane grid is set at the upper left corner of the blasting area. From left to right is the positive direction of the x-coordinate axis, and from top to bottom is the positive direction of the y-coordinate axis. Each plane grid is numbered in rows and columns according to the direction of the coordinate axis to represent the coordinates of each plane grid, and the plane grid is spread over the entire blasting area to be located; On the basis of the plane grids, each plane grid is equally divided upward along the z direction to form square elevation grids of equal size.

3. The satellite positioning point spatial position description and correction method according to claim 2, characterized in that: The method of obtaining the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and converting them into corresponding grid coordinates specifically includes the following steps: Place the satellite positioning module on the positioning device to be positioned, and use the coordinate system conversion to convert the longitude and latitude coordinates obtained when the satellite positioning device is positioned into the map projection coordinates (x1, y1) of the positioning device; Assume the map projection coordinates of the grid coordinate origin are (x min ,y max ), then the corresponding grid row number when the map projection coordinates (x1, y1) of the positioning device is X1 = [(x1-x min ) / I]+1, column number is Y1=[(y max -y1) / I]+1, where I is the side length of the grid, and the obtained grid row and column numbers are rounded to get the plane grid coordinates (X, Y); The elevation value H0 of the grid coordinate origin obtained by satellite positioning and the elevation value h of each positioning device, then the elevation number corresponding to the positioning device is Z1=[(H0-h) / I]+1, and the elevation number is rounded to obtain the elevation grid coordinate Z; The plane grid coordinates (X, Y) within the grid are combined with the elevation grid coordinates Z to obtain the grid coordinates (X, Y, Z) used to describe the position of the positioning device.

4. The method for describing and correcting the spatial position of a satellite positioning point according to any one of claims 2 to 3, characterized in that: The method of obtaining the number threshold of satellite positioning points in the grid according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error specifically includes the following steps: According to the satellite positioning time interval and the operating speed of the positioning device, the ideal number of satellite positioning points in each grid is calculated; Calculate the error probability generated in each grid according to the satellite positioning error and the area of ​​each plane grid; A quantity threshold of satellite positioning points in each grid is calculated based on the ideal quantity and the error probability.

5. The satellite positioning point spatial position description and correction method according to claim 4, characterized in that: The step of calculating the ideal number of satellite positioning points in each grid according to the satellite positioning time interval and the operating speed of the positioning device specifically includes the following steps: Calculate the time t it takes for the positioning device to pass through each grid: t=L / v Where v is the running speed of the positioning device, the grid is a square with a length of I, the distance the positioning device passes through each grid and The time interval f of each positioning is obtained according to the positioning frequency of the satellite positioning module, and the ideal number of satellite positioning points in each grid is calculated according to the time interval f and the time t when the positioning device passes through each grid: m=t / f.

6. The satellite positioning point spatial position description and correction method according to claim 5, characterized in that: The method of calculating the error probability generated in each grid according to the satellite positioning error and the area of ​​each plane grid specifically comprises the steps of: According to the satellite positioning error e, the circular area range that each satellite positioning point falls into is obtained: s1=π*(e / 2) 2 ; The error probability in each grid is obtained according to the ratio of each grid area to the circular area: g=s2 / s1 Where s2 is the area of ​​each grid, and s2 = I 2 .

7. The satellite positioning point spatial position description and correction method according to claim 6, characterized in that: The method of calculating the number threshold of satellite positioning points in each grid according to the ideal number and the error probability specifically comprises the steps of: The minimum number of satellite positioning points is calculated based on the ideal number of satellite positioning points and the error probability in each grid: n = gm; The minimum value n obtained is rounded to the nearest integer and is the threshold value of the number of satellite positioning points in the grid.

8. A satellite positioning point spatial position and error correction device, characterized in that: include: A grid coordinate conversion module is used to obtain the latitude and longitude coordinates and elevation coordinates of each positioning device located in the blasting area through satellite positioning and convert them into corresponding grid coordinates; The quantity threshold calculation module obtains the quantity threshold of satellite positioning points in the grid according to the satellite positioning time interval, the operating speed of the positioning device, and the satellite positioning error. The process of determining the side length of the grid includes the steps of: Calculate the proportional coefficient p1 of satellite positioning error and blasting parameters: p1=2e / (a+b) Where, e is the satellite positioning error, hole spacing a = (20-40) d, row spacing b = 0.866a, or b = W1, d is the diameter of the blasthole, and W1 is the minimum resistance line; After rounding the proportional coefficient p1 to p, the side length of the grid is calculated: I = a / p; The grid coordinate output module is used to count the number of satellite positioning points in each grid, and output the grid coordinates where the number of satellite positioning points is greater than or equal to the quantity threshold as the final grid coordinates of each positioning device.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the satellite positioning point spatial position description and correction method as claimed in any one of claims 1 to 7 are implemented.

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