Coordinate system conversion parameter determination method, device and coordinate system conversion equipment

Abstract

The present invention provides a method, apparatus, and device for determining coordinate system conversion parameters, relating to the field of wireless positioning technology. The method comprises: obtaining first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system from a specified area; determining the coordinate information of the specified point in the second coordinate system based on the distance relationship between the specified point and multiple measurement points in the first coordinate system, as well as the distance relationship between the specified point and multiple measurement points in the second coordinate system; each specified point has preset coordinate information in the first coordinate system; and determining the coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the specified point in the second coordinate system. This method improves the accuracy of coordinate system conversion, thereby improving the accuracy of the wireless positioning system, while also having low computational complexity and eliminating the need to occupy a large amount of computing resources.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a method and device for determining coordinate system conversion parameters and a coordinate system conversion device. Background Art

[0002] A wireless positioning system typically includes a positioning tag, a positioning base station, and a positioning server. The positioning tag is set on the object (such as a person, object, etc.) that needs to be tracked and located, and the positioning base station is set in or around the site where the object is active. The positioning base station receives the positioning signal sent by the positioning tag and then forwards the positioning signal to the positioning server, or calculates the positioning position of the tag based on the positioning signal and sends the positioning position to the positioning server. The above-mentioned wireless positioning system is mostly used to monitor the position, activity trajectory, etc. of people or objects within a certain area. For example, it can be used in scenarios such as factory inspections, equipment inspections, and material positioning.

[0003] The operation of a wireless positioning system requires the use of multiple coordinate systems, including a reference coordinate system, a local coordinate system, and a pixel coordinate system. Specifically, the reference coordinate system can be a latitude and longitude coordinate system or a Gaussian coordinate system. The local coordinate system can be a spatial coordinate system defined based on the position and size of a reference object within a local area and is suitable for locating objects within that local area. The pixel coordinate system is used to provide image pixel coordinates when displaying positioning coordinate information on a drawing image, thereby determining the position of the positioning coordinate information within the drawing image. Conversions between multiple coordinate systems are required. Related technologies can measure the coordinate values ​​of some feature points in a target coordinate system, such as the origin, points on the X-axis, and points on the Y-axis, in another coordinate system to establish a conversion relationship between the target coordinate system and the other coordinate system. However, the measured locations of feature points are susceptible to signal interference, resulting in low measurement accuracy, affecting the accuracy of the coordinate conversion, and thus the overall accuracy of the wireless positioning system. Alternatively, coordinate system conversion can be performed using the four-parameter method. This method requires relatively complex matrix operations and consumes a large amount of computing resources. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, device and coordinate system conversion equipment for determining coordinate system conversion parameters to improve the accuracy of the wireless positioning system while reducing the computational complexity and the occupied computing resources.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining coordinate system conversion parameters, the method comprising: obtaining first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system from a specified area; the measurement points comprising a plurality of the measurement points; determining the coordinate information of the specified point in the second coordinate system based on the distance relationship between the specified point and the plurality of measurement points in the first coordinate system, and the distance relationship between the specified point and the plurality of measurement points in the second coordinate system; the specified points comprising a plurality of the measurement points; each of the specified points having preset coordinate information in the first coordinate system; determining the coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the specified point in the second coordinate system; the coordinate system conversion parameters comprising rotation conversion parameters and translation conversion parameters. In the embodiment, the measurement point collects a plurality of first initial coordinate values ​​in the first coordinate system, determines the first coordinate information based on the plurality of first initial coordinate values, and the discreteness of the plurality of first initial coordinate values ​​satisfies a first specified condition; the measurement point collects a plurality of second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the plurality of second initial coordinate values, and the discreteness of the plurality of second initial coordinate values ​​satisfies a second specified condition.

[0006] The above-mentioned step of obtaining the first coordinate information of the measurement point in the first coordinate system and the second coordinate information of the measurement point in the second coordinate system from the specified area includes: obtaining multiple first initial coordinate values ​​collected by the measurement point in the first coordinate system; determining a first discreteness of the multiple first initial coordinate values, and judging whether the first discreteness is less than a preset discreteness threshold value; if the first discreteness is less than the discreteness threshold value, obtaining multiple second initial coordinate values ​​collected by the measurement point in the second coordinate system; determining a second discreteness of the multiple second initial coordinate values, and judging whether the second discreteness is less than the discreteness threshold value; if the second discreteness is less than the discreteness threshold value, determining the first coordinate information based on the multiple first initial coordinate values, and determining the second coordinate information based on the multiple second initial coordinate values.

[0007] The above-mentioned step of determining the first discreteness of multiple first initial coordinate values ​​includes: determining the minimum value of the horizontal axis, the maximum value of the horizontal axis, the minimum value of the vertical axis and the maximum value of the vertical axis from the multiple first initial coordinate values; determining multiple intermediate points, and determining the first discreteness of the multiple first initial coordinate values ​​based on the distance between the intermediate points and the multiple first initial coordinate values; wherein the horizontal axis coordinate value of the intermediate point is between the minimum value of the horizontal axis and the maximum value of the horizontal axis, and the vertical axis coordinate value of the intermediate point is between the minimum value of the vertical axis and the maximum value of the vertical axis.

[0008] The above-mentioned steps of determining multiple intermediate points and determining the first discreteness of multiple first initial coordinate values ​​based on the distances between the intermediate points and the multiple first initial coordinate values ​​include: initializing a horizontal axis multiple value, adding the product of the horizontal axis multiple value and the horizontal axis variable to the minimum value of the horizontal axis to obtain the intermediate value of the horizontal axis; judging whether the intermediate value of the horizontal axis is less than the maximum value of the horizontal axis, and if so, initializing a vertical axis multiple value, adding the product of the vertical axis multiple value and the vertical axis variable to the minimum value of the vertical axis to obtain the intermediate value of the vertical axis; judging whether the intermediate value of the vertical axis is less than the maximum value of the vertical axis, and if so, determining the first distance between each first initial coordinate value and the intermediate point; wherein the horizontal coordinate of the intermediate point is the intermediate value of the horizontal axis, and the vertical coordinate is the intermediate value of the vertical axis; and determining the first discreteness of the multiple first initial coordinate values ​​based on the first distance between each first initial coordinate value and the intermediate point.

[0009] The above-mentioned step of determining the first discreteness of multiple first initial coordinate values ​​based on the first distance between each first initial coordinate value and the midpoint includes: sorting each first distance in ascending order and setting a serial number for each sorted first distance; saving the first distance corresponding to the smallest serial number among the serial numbers greater than or equal to the specified threshold; the specified threshold is determined based on the number of first initial coordinate values ​​and a preset proportion parameter; updating the vertical axis multiple value, and continuing to execute the step of adding the product of the vertical axis multiple value and the vertical axis variable on the basis of the vertical axis minimum value to obtain the vertical axis middle value, until the vertical axis middle value is greater than or equal to the vertical axis maximum value; updating the horizontal axis multiple value, and continuing to execute the step of adding the product of the horizontal axis multiple value and the horizontal axis variable on the basis of the horizontal axis minimum value to obtain the horizontal axis middle value, until the horizontal axis middle value is greater than or equal to the horizontal axis maximum value; determining the minimum distance value from the saved first distances, and determining the minimum distance value as the first discreteness value.

[0010] The above-mentioned steps of determining the first coordinate information based on multiple first initial coordinate values ​​and determining the second coordinate information based on multiple second initial coordinate values ​​include: determining the first center point of the multiple first initial coordinate values ​​by clustering, and determining the coordinate value of the first center point as the first coordinate information; determining the second center point of the multiple second initial coordinate values ​​by clustering, and determining the coordinate value of the second center point as the second coordinate information.

[0011] The above method also includes: if the first discreteness is greater than or equal to the preset discreteness threshold value, or the second discreteness is greater than or equal to the discreteness threshold value, updating the position of the measuring point, and continuing to execute the step of obtaining multiple first initial coordinate values ​​collected by the measuring point in the first coordinate system.

[0012] The above-mentioned measuring points include three; based on the distance relationship between the designated point and multiple measuring points in the first coordinate system, and the distance relationship between the designated point and multiple measuring points in the second coordinate system, the step of determining the coordinate information of the designated point in the second coordinate system includes: establishing a set of three-variable equations based on the distance relationship between the designated point and the three measuring points in the first coordinate system, which is the same as the distance relationship between the designated point and the three measuring points in the second coordinate system; solving the set of three-variable equations to obtain the coordinate information of the designated point in the second coordinate system.

[0013] The above-mentioned designated points include the origin of the first coordinate system and the unit position point on the designated axis in the first coordinate system that is a unit length away from the origin; based on the preset coordinate information and the coordinate information of the designated point in the second coordinate system, the step of determining the coordinate system conversion parameters between the first coordinate system and the second coordinate system includes: determining the vectors of the origin and the unit position point in the second coordinate system; determining the angle between the vector and the horizontal coordinate axis in the second coordinate system, and correcting the angle based on the signs of the horizontal coordinate value and the vertical coordinate value in the vector to obtain the coordinate azimuth; and determining the coordinate azimuth as the rotation conversion parameter.

[0014] After the above step of determining the coordinate azimuth as the rotation conversion parameter, the method further includes: rotating the origin using the rotation conversion parameter to obtain the rotation coordinates of the origin; and determining the translation conversion parameter based on the rotation coordinates of the origin.

[0015] The above-mentioned measuring points include three; before the step of determining the coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the coordinate information of the specified point in the second coordinate system, the method also includes: determining a first distance between any two measuring points among the three measuring points in the first coordinate system; determining a second distance between any two measuring points among the three measuring points in the second coordinate system; determining any two measuring points among the three measuring points as a measuring point pair, determining the first distance between the first measuring point and the second measuring point in the measuring point pair in the first coordinate system, and the second distance in the second coordinate system; if the difference between the ratio of the second distance to the first distance and one is greater than or equal to a preset difference threshold, updating the positions of the first measuring point and the second measuring point.

[0016] After the above-mentioned step of determining the coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the specified point in the second coordinate system, the method also includes: obtaining the target coordinates in the first coordinate system; performing a rotation conversion on the target coordinates through the rotation conversion parameters to obtain the intermediate coordinates; and obtaining the coordinate information of the target coordinates in the second coordinate system through the translation conversion parameters and the intermediate coordinates.

[0017] In a second aspect, an embodiment of the present invention provides a device for determining coordinate system conversion parameters, the device comprising: a coordinate information acquisition module for acquiring first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system from a specified area; the measurement point comprises a plurality of measurement points; a specified point coordinate determination module for determining coordinate information of a specified point in the second coordinate system based on a distance relationship between the specified point and the plurality of measurement points in the first coordinate system, and a distance relationship between the specified point and the plurality of measurement points in the second coordinate system; the specified points comprise a plurality of measurement points; each specified point has preset coordinate information in the first coordinate system; a conversion parameter determination module for determining coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the specified point in the second coordinate system; the coordinate system conversion parameters comprise rotation conversion parameters and translation conversion parameters; wherein the measurement point collects a plurality of first initial coordinate values ​​in the first coordinate system, determines the first coordinate information based on the plurality of first initial coordinate values, and the discreteness of the plurality of first initial coordinate values ​​satisfies a first specified condition; the measurement point collects a plurality of second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the plurality of second initial coordinate values, and the discreteness of the plurality of second initial coordinate values ​​satisfies a second specified condition.

[0018] In a third aspect, an embodiment of the present invention provides a coordinate system conversion device, comprising a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the method for determining the coordinate system conversion parameters of any one of claims 1-12.

[0019] In a fourth aspect, an embodiment of the present invention provides a coordinate information measuring device, the device including: a first sliding rod and a second sliding rod; the first sliding rod and the second sliding rod are connected by an angle turntable; the angle turntable is used to measure the angle value between the first sliding rod and the second sliding rod; a first positioning tag is provided on the angle turntable; scales are provided on the first sliding rod; a first caliper is provided on the first sliding rod, a second positioning tag is provided on the first caliper, and the first caliper is used to indicate the distance between the second positioning tag and the first positioning tag; a second caliper is provided on the second sliding rod, a third positioning tag is provided on the second caliper, and the second caliper is used to indicate the distance between the third positioning tag and the first positioning tag; the first coordinate information of the measurement points corresponding to the first positioning tag, the second positioning tag and the third positioning tag in the first coordinate system is obtained through the angle value measured by the angle turntable, the distance indicated by the first caliper and the distance indicated by the second caliper; the first positioning tag, the second positioning tag and the third positioning tag are used to transmit positioning signals to provide second coordinate information of the measurement points corresponding to the first positioning tag, the second positioning tag and the third positioning tag in the second coordinate system.

[0020] In a fifth aspect, an embodiment of the present invention provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the above-mentioned method for determining the coordinate system conversion parameters.

[0021] The embodiments of the present invention bring the following beneficial effects:

[0022] The coordinate system conversion parameter determination method, apparatus, and coordinate system conversion device described above obtain first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system from a specified area; the measurement points include multiple measurement points; the coordinate information of the specified point in the second coordinate system is determined based on the distance relationship between the specified point and the multiple measurement points in the first coordinate system, and the distance relationship between the specified point and the multiple measurement points in the second coordinate system; the specified points include multiple measurement points; each specified point has preset coordinate information in the first coordinate system; the coordinate system conversion parameters between the first coordinate system and the second coordinate system are determined based on the preset coordinate information and the coordinate information of the specified point in the second coordinate system; the coordinate system conversion parameters include rotation conversion parameters and translation conversion parameters. The measurement point collects multiple first initial coordinate values ​​in the first coordinate system, determines the first coordinate information based on the multiple first initial coordinate values, and the discreteness of the multiple first initial coordinate values ​​meets a first specified condition; the measurement point collects multiple second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the multiple second initial coordinate values, and the discreteness of the multiple second initial coordinate values ​​meets a second specified condition. In this method, high-precision measurement points are obtained through discreteness screening, and then the coordinate information of the specified point is determined based on the distance relationship between the specified point and the measurement point, and then the coordinate system conversion parameters are obtained. The coordinate system conversion parameters obtained in this way have high accuracy, which can improve the accuracy of the coordinate system conversion, thereby improving the accuracy of the wireless positioning system. At the same time, the calculation complexity is low and does not require more calculation resources.

[0023] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of an example hardware scenario provided by an embodiment of the present invention;

[0027] Figure 2 A flowchart of a coordinate system conversion parameter method provided by an embodiment of the present invention;

[0028] Figure 3 A flowchart of a method for determining coordinate system conversion parameters provided by an embodiment of the present invention;

[0029] Figure 4 A flowchart of a method for obtaining measurement point coordinate information provided by an embodiment of the present invention;

[0030] Figure 5 A flow chart of a method for obtaining discreteness provided by an embodiment of the present invention;

[0031] Figure 6 A flow chart of a method for obtaining coordinate system conversion parameters provided by an embodiment of the present invention;

[0032] Figure 7 A schematic structural diagram of a device for determining coordinate system conversion parameters provided by an embodiment of the present invention;

[0033] Figure 8 A schematic structural diagram of a coordinate system conversion device provided by an embodiment of the present invention;

[0034] Figure 9 A schematic structural diagram of a coordinate information measuring device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0036] Wireless positioning systems, typically composed of positioning tags, base stations, and servers, use wireless positioning technology to monitor the location and trajectory of people and objects within a region. These systems are suitable for factory inspections, equipment inspections, and material location, and are widely used in industries such as power, metallurgy, petrochemicals, and rail transit. In wireless positioning systems, different positioning areas typically use their own coordinate systems to determine the target object's position within the region. These systems include base coordinate systems, local coordinate systems, and pixel coordinate systems, requiring conversion between these systems.

[0037] Related technologies can measure the coordinate values ​​of some characteristic points in a target coordinate system, such as the origin, points on the X-axis, and points on the Y-axis, in another coordinate system to establish a transformation relationship between the target coordinate system and the other coordinate system. However, the measured locations of characteristic points are susceptible to signal interference, resulting in low measurement accuracy, affecting the accuracy of the coordinate transformation and, in turn, the overall accuracy of the wireless positioning system. Alternatively, coordinate system transformation can be performed using the four-parameter method, which requires relatively complex matrix operations and consumes a large amount of computing resources.

[0038] Based on the above, the embodiments of the present invention provide a method, device and coordinate system conversion device for determining coordinate system conversion parameters. This technology can be used in scenarios where regional coordinate system conversion parameters are located, such as factory inspections, equipment inspections, engineering construction, material positioning, etc.

[0039] To facilitate understanding of this embodiment, Figure 1 This is an example of a hardware scenario involved in an embodiment of the present invention. A wireless positioning system generally includes a positioning server, a positioning base station, a positioning satellite, and a positioning tag; wherein the positioning tag is set on the target object to be positioned, such as equipment, personnel, etc.; the target object is usually located or active within a certain geographical range, and within or around the geographical range, at least one positioning satellite can establish a communication connection with the positioning tag through a GPS signal to determine the location information of the positioning tag. In addition, one or more positioning base stations are set up within or around the above-mentioned geographical range. When the geographical range is large, multiple positioning base stations are usually set up; the positioning base station collects the positioning signal of the positioning tag, and then forwards the positioning signal to the positioning server, or calculates the positioning position of the tag based on the positioning signal, and sends the positioning position to the positioning server.

[0040] When the target site is relatively large, it is usually divided into multiple areas. Each area uses its own coordinate system. The coordinate system used by each area can be called a local coordinate system. In addition, there are also base coordinate systems, pixel coordinate systems, etc. Different coordinate systems need to be converted. For details, see Figure 2As shown, the local coordinate system is converted into the reference coordinate system and then into the pixel coordinate system, thereby achieving a graphical display of the positioning results, making the application of the positioning system more visual.

[0041] First, a method for determining coordinate system conversion parameters disclosed in an embodiment of the present invention is introduced in detail. Figure 3 As shown, the method includes the following steps:

[0042] Step S301, obtaining first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system from a designated area; the measurement point may include a plurality of measurement points;

[0043] A wireless positioning system consists of positioning tags, positioning satellites, positioning base stations, and a positioning server. Positioning tags are active electronic tags based on standard wireless local area networks (Wi-Fi) and include a power module, microprocessor, and positioning module. They can be placed on any asset or person, enabling real-time location and monitoring of the asset or person. In a wireless positioning system, positioning tags are attached to the surface of the object being positioned. When the tag enters the signal coverage area of ​​the positioning base station, it automatically establishes a connection with the base station. Positioning tags can be attached using various attachment methods, such as hanging or sticking, depending on the application. Their size and appearance also vary depending on the object being positioned. Positioning satellites communicate with positioning tags using GPS (Global Positioning System) signals. Positioning base stations are installed in fixed locations and primarily measure distance to the tags, uploading information such as the tag ID, relative distance, and RSSI (Received Signal Strength Indication) to the positioning server. The positioning server is an information processing device, typically a computer, that aggregates and processes the information uploaded by all positioning base stations, storing, processing, and performing statistical calculations.

[0044] In one approach, the target site is divided into multiple positioning areas. Within these areas, different coordinate systems are typically used to describe the target object's location information. For example, the first positioning area uses coordinate system A, and the second positioning area uses coordinate system B. Both coordinate systems A and B are local coordinate systems, applicable only to a specific positioning area. A reference coordinate system, on the other hand, is a coordinate system covering a larger area, such as a latitude and longitude coordinate system or a Gaussian coordinate system, and is applicable to all coordinate systems within the target site.

[0045] Furthermore, first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system are obtained from a designated area, wherein the measurement point includes multiple points, for example, measurement points A, B, C, etc. Specifically, there are multiple ways to obtain the first coordinate information and the second coordinate information. In an optional manner, an embodiment of the present invention provides a coordinate information measuring device, which includes a first slide rod and a second slide rod, wherein the first slide rod and the second slide rod are connected via an angle turntable, and positioning tags are respectively provided on the first slide rod and the second slide rod. The first coordinate information of the measurement point in the first coordinate system can be obtained by using the angle turntable, the first caliper, and the second caliper in the coordinate information measuring device, and the second coordinate information of the measurement point in the second coordinate system can be obtained by using the positioning tags. The above-mentioned measurement point can be any point in the designated area. In order to achieve higher positioning accuracy, a high-precision measurement point in an open location can be selected.

[0046] The above-mentioned measurement point collects multiple first initial coordinate values ​​in the first coordinate system, determines the first coordinate information based on the multiple first initial coordinate values, and the discreteness of the multiple first initial coordinate values ​​meets the first specified condition; the measurement point collects multiple second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the multiple second initial coordinate values, and the discreteness of the multiple second initial coordinate values ​​meets the second specified condition.

[0047] To ensure the accuracy of the first and second coordinate information, embodiments of the present invention repeatedly measure the coordinate information of the measurement point in the first coordinate system, collect multiple first initial coordinate values, and determine the first coordinate information from these values. The first initial coordinate values ​​have a dispersion less than a preset dispersion threshold, i.e., they satisfy a first specified condition. These first initial coordinate values ​​are then clustered to determine the first coordinate information. Similarly, the coordinate information of the measurement point in the second coordinate system is repeatedly measured, collect multiple second initial coordinate values, and their dispersion less than a preset dispersion threshold, i.e., they satisfy a second specified condition. These second initial coordinate values ​​are then clustered to determine the second coordinate information. The preset dispersion threshold can be 0.5 meters, which ensures the accuracy of the first and second coordinate information for larger target areas. For smaller areas, a lower dispersion threshold can be set to improve the accuracy of the coordinate information.

[0048] Step S302: determining coordinate information of the designated point in the second coordinate system based on a distance relationship between the designated point and a plurality of measurement points in the first coordinate system, and a distance relationship between the designated point and the plurality of measurement points in the second coordinate system; the designated point may include a plurality of designated points; each designated point has preset coordinate information in the first coordinate system;

[0049] After obtaining the first and second coordinate information of the multiple measurement points, the distance relationship between the designated point and the multiple measurement points in the first coordinate system, as well as the positional relationship between the designated point and the multiple measurement points in the second coordinate system, are calculated, thereby determining the coordinate information of the designated point in the second coordinate system. Specifically, the distance between the designated point and the measurement point in the first coordinate system is the same as the distance between the designated point and the measurement point in the second coordinate system. There are multiple designated points, each of which has preset coordinate information in the first coordinate system.

[0050] In actual implementation, if the first coordinate system is a latitude and longitude coordinate system, the first coordinate system is first converted to a Cartesian coordinate system based on the correspondence between the latitude and longitude coordinate system and the Cartesian coordinate system. In an optional method, the origin in the first coordinate system is selected as the designated point. Based on the first coordinate information of the measurement point and the preset coordinate information of the designated point in the first coordinate system, the distance between the measurement point and the designated point can be solved. Since the distance between the designated point and the measurement point in the first coordinate system is the same as the distance between the designated point and the measurement point in the second coordinate system, based on this, the coordinate information of the origin of the first coordinate system in the second coordinate system can be solved, that is, the coordinate information of the designated point in the second coordinate system can be determined. In this way, the correspondence between the first coordinate system and the second coordinate system can be determined.

[0051] Step S303 : determining coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the designated point in the second coordinate system; the coordinate system conversion parameters include rotation conversion parameters and translation conversion parameters.

[0052] Based on the above steps, the coordinate information of multiple specified points in the second coordinate system can be obtained. According to the preset coordinate information of the multiple specified points in the first coordinate system and the corresponding coordinate information in the second coordinate system, the coordinate system conversion parameters between the first coordinate system and the second coordinate system can be determined by vector calculation. For example: according to the preset coordinate information of the specified points O and P in the first coordinate system, and the distance between the specified points O and P and the measurement point in the first coordinate system is the same as the distance between the specified points O and P and the measurement point in the second coordinate system, the coordinate information of the specified points O and P in the second coordinate system is calculated. Then, according to the vector v1=O1P1, the vector expression of the vector in the second coordinate system is calculated to determine the angle between the vector and the horizontal coordinate axis in the second coordinate system. Furthermore, the above angle is corrected by the signs of the horizontal and vertical coordinate values ​​of the vector to obtain the coordinate azimuth, that is, the rotation conversion parameter. The origin is rotated based on the rotation conversion parameter, and the translation conversion parameter is determined based on the rotation coordinates of the origin.

[0053] Based on the above, after obtaining the first coordinate information in the first coordinate system, the rotation formula is: (x′n , y′ n )=(x n cosθ+y n sinθ,x n cosθ-y n sinθ), and the translation formula: (X n , Y n )=(t x -x′ n , t y ·y′ n ), where (x n ,y n ) is the coordinate in the first coordinate system, θ is the rotation transformation parameter, (t x , t y ) is a translation transformation parameter, which can be used to transform the first coordinate information in the first coordinate system into the corresponding coordinate information in the second coordinate system.

[0054] In the above-mentioned method for determining coordinate system conversion parameters, first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system are obtained from a specified area; the measurement points include multiple measurement points; the coordinate information of the specified point in the second coordinate system is determined based on the distance relationship between the specified point and the multiple measurement points in the first coordinate system, and the distance relationship between the specified point and the multiple measurement points in the second coordinate system; the specified points include multiple measurement points; each specified point has preset coordinate information in the first coordinate system; based on the preset coordinate information and the coordinate information of the specified point in the second coordinate system, the coordinate system conversion parameters between the first coordinate system and the second coordinate system are determined; the coordinate system conversion parameters include rotation conversion parameters and translation conversion parameters. In the first coordinate system, the measurement point collects multiple first initial coordinate values, determines the first coordinate information based on the multiple first initial coordinate values, and the discreteness of the multiple first initial coordinate values ​​satisfies a first specified condition; the measurement point collects multiple second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the multiple second initial coordinate values, and the discreteness of the multiple second initial coordinate values ​​satisfies a second specified condition. In this method, high-precision measurement points are obtained through discreteness screening, and then the coordinate information of the specified point is determined based on the distance relationship between the specified point and the measurement point, and then the coordinate system conversion parameters are obtained. The coordinate system conversion parameters obtained in this way have high accuracy, which can improve the accuracy of the coordinate system conversion, thereby improving the accuracy of the wireless positioning system. At the same time, the calculation complexity is low and does not require more calculation resources.

[0055] The following embodiment provides a specific implementation method for obtaining measurement point coordinate information.

[0056] Specifically, a plurality of first initial coordinate values ​​collected at the measurement point in a first coordinate system are obtained; a first discreteness of the plurality of first initial coordinate values ​​is determined, and it is judged whether the first discreteness is less than a preset discreteness threshold value; if the first discreteness is less than the discreteness threshold value, a plurality of second initial coordinate values ​​collected at the measurement point in a second coordinate system are obtained; a second discreteness of the plurality of second initial coordinate values ​​is determined, and it is judged whether the second discreteness is less than the discreteness threshold value; if the second discreteness is less than the discreteness threshold value, the first coordinate information is determined based on the plurality of first initial coordinate values, and the second coordinate information is determined based on the plurality of second initial coordinate values.

[0057] When the site monitored by the wireless positioning system is relatively large, the target site is usually divided into multiple positioning areas. The first and second areas of the multiple positioning areas usually use different coordinate systems to describe the location information of the target object. In actual implementation, the coordinate information of the measurement point in the first coordinate system or the second coordinate system can be obtained through the positioning tag. When the coordinate information of the measurement point is obtained through the positioning tag, its accuracy will be affected by the location of the measurement point and the wireless signal. By collecting multiple initial coordinate values ​​and determining the discreteness of the multiple initial coordinate values, where the discreteness can reflect the difference between the collected multiple initial coordinates and the actual coordinates of the measurement point, the coordinate information of the measurement point with high precision can be selected.

[0058] In one way, see Figure 4 As shown in the figure, when the first coordinate system is the local coordinate system and the second coordinate system is the reference coordinate system, taking the measurement point A as an example, the coordinates (x A，0，i ,y A，0，i ), and solve for the coordinates (x A，0，i ,y A，0，i )'s dispersion R A，0 , and then determine the dispersion R A，0 Is it less than the preset discreteness threshold value τ1? If the discreteness R A，0 If the discreteness is greater than or equal to the preset discreteness threshold value τ1, the position of the measuring point A is changed and the above steps are repeated until the discreteness R A，0 Less than the preset discreteness threshold value τ1; if the discreteness R A，0 If the discreteness is less than the preset threshold value τ1, the coordinates (x A，n，j ,y A，n，j ), and solve for the coordinates (x A，n，j ,y A，n，j )'s dispersion R A，n , and then determine the dispersion R A，n Is it less than the preset discreteness threshold value τ1? If the discreteness R A，nIf the discreteness is greater than or equal to the preset discreteness threshold value τ1, the position of the measuring point A is changed and the above steps are repeated until the discreteness R A，n Less than the preset discreteness threshold value τ1; if the discreteness R A，n is less than the preset discreteness threshold τ1, and the clustering method is used to solve the coordinates (x A，n，i ,y A，n，i ), denoted as (x A，0 ,y A，0 ), similarly, the clustering method is used to solve the coordinates (x A，n，j ,y A，n，j ), denoted as (x A，n ,y A，n ), (x A，0 ,y A，0 ) and (x A，n ,y A，n ) are stored as the coordinate information of the measurement point A in the reference coordinate system Ψ0 and the local coordinate system Ψn, respectively. Based on this, the first coordinate information is determined from the multiple first initial coordinate values ​​and the second initial coordinate values, and the second coordinate information is determined from the multiple second initial coordinate values.

[0059] The local coordinate system Ψn is the first coordinate system, and the reference coordinate system Ψ0 is the second coordinate system. In practical implementation, there's no need to distinguish the order in which the coordinates of the multiple measurement points in the first coordinate system and the coordinates of the multiple measurement points in the second coordinate system are measured. That is, the coordinates of measurement point A in the first coordinate system can be measured first, or the coordinates of measurement point A in the second coordinate system can be measured first. The aforementioned dispersion can be measured using various methods, such as range, sum of squared deviations from the mean, variance, and standard deviation. The default dispersion threshold is 0.5 meters, ensuring high accuracy of the initial coordinate values ​​and improving the coordinate precision of the measurement points.

[0060] The following embodiment provides a specific implementation method of discreteness.

[0061] Specifically, a minimum horizontal axis value, a maximum horizontal axis value, a minimum vertical axis value, and a maximum vertical axis value are determined from the multiple first initial coordinate values; multiple intermediate points are determined, and based on the distances between the intermediate points and the multiple first initial coordinate values, a first discreteness of the multiple first initial coordinate values ​​is determined; wherein the horizontal axis coordinate value of the intermediate point is between the minimum horizontal axis value and the maximum horizontal axis value, and the vertical axis coordinate value of the intermediate point is between the minimum vertical axis value and the maximum vertical axis value.

[0062] In actual implementation, the minimum horizontal axis value, maximum horizontal axis value, minimum vertical axis value, and maximum vertical axis value can be determined from the multiple first initial coordinate values ​​collected in the first coordinate system. The horizontal axis coordinate value of the midpoint between the minimum horizontal axis value and the maximum horizontal axis value is then determined, and the vertical axis coordinate value of the midpoint between the minimum vertical axis value and the maximum vertical axis value is then determined. There may be multiple midpoints. Based on the coordinate value of the midpoint and the multiple first initial coordinate values, the distance between the midpoint and the multiple first initial coordinate values ​​can be calculated, preparing for determining a first dispersion of the multiple first initial coordinate values.

[0063] Further, initialize the horizontal axis multiplication value, add the product of the horizontal axis multiplication value and the horizontal axis variable to the minimum value of the horizontal axis to obtain the middle value of the horizontal axis; determine whether the middle value of the horizontal axis is less than the maximum value of the horizontal axis, if it is less than the maximum value of the horizontal axis, initialize the vertical axis multiplication value, add the product of the vertical axis multiplication value and the vertical axis variable to the minimum value of the vertical axis to obtain the middle value of the vertical axis; determine whether the middle value of the vertical axis is less than the maximum value of the vertical axis, if it is less than the maximum value of the vertical axis, determine the first distance between each first initial coordinate value and the middle point; wherein, the horizontal coordinate of the middle point is the middle value of the horizontal axis, and the vertical coordinate is the middle value of the vertical axis; based on the first distance between each first initial coordinate value and the middle point, determine the first discreteness of multiple first initial coordinate values.

[0064] The horizontal axis coordinate value of the above-mentioned intermediate point is the product of the horizontal axis multiplier value and the horizontal axis variable added to the minimum value of the horizontal axis. First, the horizontal axis multiplier value is initialized, that is, starting from the horizontal axis multiplier value of 0, the horizontal axis coordinate value of the intermediate point is calculated according to the calculation method of the horizontal axis coordinate value of the intermediate point, that is, the above-mentioned horizontal axis intermediate value. Then, it is determined whether the horizontal axis intermediate value is less than the horizontal axis maximum value. Since the minimum value of the horizontal axis is less than the maximum value of the horizontal axis, the initial horizontal axis coordinate value of the intermediate point is less than the maximum value of the horizontal axis. Further, the vertical axis multiplier value is initialized, that is, the vertical axis multiplier value also starts from 0, and the vertical axis multiplier value is added to the minimum value of the vertical axis and the product of the vertical axis multiplier value and the vertical axis variable to obtain the vertical axis intermediate value. Then, it is determined whether the vertical axis intermediate value is less than the vertical axis maximum value. If it is less than the vertical axis maximum value, the first distance between each first initial coordinate value and the intermediate point is further determined, and then the first discreteness of the multiple first initial coordinate values ​​is determined.

[0065] Furthermore, each first distance is sorted in ascending order, and a serial number is set for each first distance after sorting; the first distance corresponding to the smallest serial number among the serial numbers greater than or equal to the specified threshold is saved; the specified threshold is determined based on the number of first initial coordinate values ​​and a preset proportion parameter; the vertical axis multiple value is updated, and the step of adding the product of the vertical axis multiple value and the vertical axis variable on the basis of the vertical axis minimum value to obtain the vertical axis middle value is continued, until the vertical axis middle value is greater than or equal to the vertical axis maximum value is updated; the horizontal axis multiple value is updated, and the step of adding the product of the horizontal axis multiple value and the horizontal axis variable on the basis of the horizontal axis minimum value to obtain the horizontal axis middle value is continued, until the horizontal axis middle value is greater than or equal to the horizontal axis maximum value is updated; the minimum distance value is determined from the saved first distances, and the minimum distance value is determined as the first discreteness value.

[0066] Based on the above, after determining the first distances between the plurality of first initial coordinate values ​​and the midpoint, the first distances are sorted. In one approach, the first distances are sorted in ascending order, and a sequence number is assigned to each sorted first distance. The sequence number is then compared with a sequence number of a specified threshold, and the first distance corresponding to the smallest sequence number greater than or equal to the specified threshold is stored. The specified threshold is determined based on the number of first initial coordinate values ​​and a preset ratio parameter.

[0067] Further, update the vertical axis multiplier value. Specifically, add one to the original vertical axis multiplier value to obtain an updated vertical axis multiplier value, and record the first distance corresponding to each vertical axis multiplier value. Continue to execute the above steps of adding the product of the vertical axis multiplier value and the vertical axis variable on the basis of the vertical axis minimum value to obtain the vertical axis middle value, until the vertical axis middle value is greater than or equal to the vertical axis maximum value.

[0068] Further, update the horizontal axis multiplier value. Specifically, add one to the original horizontal axis multiplier value to obtain an updated horizontal axis multiplier value. Continue to execute the step of adding the product of the horizontal axis multiplier value and the horizontal axis variable to the horizontal axis minimum value to obtain the horizontal axis middle value, until the horizontal axis middle value is greater than or equal to the horizontal axis maximum value. From the set of saved first distances, determine the minimum distance value as the value of the first discreteness.

[0069] In order to facilitate the understanding of the above process, the following description is based on the second discreteness as an example. Figure 5 .

[0070] First, input the coordinate set (x i ,y i ), i=1~I, where I represents the number of the second initial coordinate values;

[0071] Furthermore, the minimum horizontal axis value x can be determined from the multiple second initial coordinate values ​​collected in the second coordinate system. m , horizontal axis maximum value x M , minimum value of vertical axis ym and the maximum value y on the vertical axis M Then, initialize the horizontal axis multiplication value k, that is, k = 0, because the horizontal axis coordinate value x of the middle point k is the minimum value x on the horizontal axis m Add the product of the horizontal axis multiple value k and the horizontal axis variable Δ to the basis, so we can calculate the value of x based on the x axis. k =x m +k*Δ, calculate the horizontal coordinate value x of the midpoint k , that is, the middle value of the horizontal axis mentioned above.

[0072] Furthermore, we can determine whether the middle value of the horizontal axis is less than the maximum value of the horizontal axis. m Less than the maximum value of the horizontal axis x M , so initially x k Less than the maximum value x of the horizontal axis M , further, initialize the vertical axis multiple value l, at the vertical axis minimum value y m Add the product of the vertical axis multiple value l and the vertical axis variable Δ to get the vertical axis middle value, that is, the vertical axis coordinate value y of the above middle point l =y m +l*Δ; then determine whether the middle value of the vertical axis is less than the maximum value y of the vertical axis M , if it is less than the maximum value y of the vertical axis M , determine each second initial coordinate value (x i ,y i ) and the midpoint (x k ,y l ) of the second distance d i，k，l .

[0073] Furthermore, for the second distance d i，k，l In one method, the second distance d i，k，l Perform ascending sorting and set a serial number for each second distance after sorting, then compare it with the serial number of the specified threshold, and save the second distance corresponding to the smallest serial number among the serial numbers greater than or equal to the specified threshold as R k，l The above-mentioned specified threshold is determined based on the number I of the second initial coordinate values ​​and a preset proportion parameter η, wherein the preset proportion parameter η represents the proportion of high-precision coordinate values, and the default value is 0.95.

[0074] Further, update the vertical axis multiple value l, specifically, l=l+1, and record R m，l , continue to perform the above at the minimum value y on the vertical axis m Add the product of the vertical axis multiple value l and the vertical axis variable Δ to obtain the steps of the vertical axis middle value until the vertical axis middle value y l Greater than or equal to the maximum value y of the vertical axis M.

[0075] Further, update the horizontal axis multiple value k, specifically, k = k + 1, and continue to execute at the horizontal axis minimum value x m Add the product of the horizontal axis multiple value k and the horizontal axis variable Δ to obtain the steps of the horizontal axis middle value until the horizontal axis middle value x k Greater than or equal to the maximum value x of the horizontal axis M , from the saved second distance R k，l In the set of, the minimum distance value is determined as the value of the second discreteness.

[0076] The following embodiment provides a specific implementation method for determining coordinate information based on initial coordinate values.

[0077] Specifically, the first center point of multiple first initial coordinate values ​​is determined by clustering, and the coordinate value of the first center point is determined as the first coordinate information; the second center point of multiple second initial coordinate values ​​is determined by clustering, and the coordinate value of the second center point is determined as the second coordinate information.

[0078] In order to achieve accurate conversion of the coordinate system, it is necessary to obtain highly accurate first coordinate information and second coordinate information. Therefore, an embodiment of the present invention collects multiple first initial coordinate values ​​and determines the first center point of the multiple first initial coordinate values ​​by clustering. Specifically, a distance criterion is pre-set, and the multiple first initial coordinate values ​​collected are divided into different classes or clusters according to the distance criterion, so that the similarity of the first initial coordinate values ​​within the same cluster is as large as possible, and the difference of the first initial coordinate values ​​not in the same cluster is also as large as possible, and the data of the same cluster are clustered together as much as possible. Based on this, the first center point of the multiple first initial coordinate values ​​can be obtained, and the coordinate value of the first center point is determined as the first coordinate information; similarly, the multiple second initial coordinate values ​​collected are divided into different classes or clusters according to the above distance criterion, so that the similarity of the second initial coordinate values ​​within the same cluster is as large as possible, and the difference of the second initial coordinate values ​​not in the same cluster is also as large as possible, and the data of the same cluster are clustered together as much as possible. Based on this, the second center point of the multiple second initial coordinate values ​​can be obtained, and the coordinate value of the second center point is determined as the second coordinate information.

[0079] Furthermore, if the first discreteness is greater than or equal to the preset discreteness threshold value, or the second discreteness is greater than or equal to the discreteness threshold value, the position of the measuring point is updated, and the step of obtaining multiple first initial coordinate values ​​collected at the measuring point in the first coordinate system is continued.

[0080] In one method, if the first discreteness obtained based on the above is greater than or equal to the preset discreteness threshold value, indicating that the measured position of the measurement point in the first coordinate system has a large error with the actual position, the position of the measurement point is updated, and the step of obtaining multiple first initial coordinate values ​​of the measurement point in the first coordinate system is continued.

[0081] In another way, if the second discreteness obtained based on the above is greater than or equal to the discreteness threshold value, it indicates that the measured position of the measurement point in the second coordinate system has a large error with the actual position, the position of the measurement point is updated, and the step of collecting multiple second initial coordinate values ​​of the measurement point in the first coordinate system is resumed.

[0082] Based on the above, it can be ensured that the position information of the measurement point in the first coordinate system and the second coordinate system has high accuracy.

[0083] The following embodiment provides a specific implementation method for determining the coordinate information of a specified point.

[0084] Specifically, there are three measurement points; based on the distance relationship between the specified point and the three measurement points in the first coordinate system, which is the same as the distance relationship between the specified point and the three measurement points in the second coordinate system, a set of three-variable equations is established; the set of three-variable equations is solved to obtain the coordinate information of the specified point in the second coordinate system.

[0085] In an optional manner, the measuring points include three, for example, measuring points A, B, and C, wherein the measuring points A, B, and C are in the first coordinate system Ψ n The coordinates in A(x A,n ,y A,n ),B(x B,n ,y B,n ),C(x C,n ,y C,n ), the coordinates in the second coordinate system Ψ0 are A(x A,0 ,y A,0 ),B(x B,0 ,y B,0 ),C(x C,0 ,y C,0 ). Since the distance relationship between the specified point and the three measurement points in the first coordinate system is the same as the distance relationship between the specified point and the three measurement points in the second coordinate system, and the specified point has preset coordinate information in the first coordinate system, based on this, a system of three-variable equations can be established.

[0086] In one method, the origin O(0, 0) of the first coordinate system is selected as the designated point. The distance relationships between the designated point and the three measurement points in the first coordinate system are: d A 2 =x A,n2 +y A,n 2 ,d B 2 =x B,n 2 +y B,n 2 ,d C 2 =x C,n 2 +y C,n 2 , the coordinates of the above specified point in the second coordinate system are O(x O,0 ,y O，0 ), then the distance relationships between the specified point and the three measurement points in the second coordinate system are: d A ' 2 =(x O,0 -x A,0 ) 2 +(y O,0 -y A,0 ) 2 , d B ' 2 =(x O,0 -x B,0 ) 2 +(y O,0 -y B,0 ) 2 , d C ' 2 =(x O,0 -x C,0 ) 2 +(y O,0 -y C,0 ) 2 , the distance relationship between the specified point and the three measured points in the first coordinate system is the same as the distance relationship between the specified point and the three measured points in the second coordinate system, so the following three-variable equation system can be established:

[0087]

[0088] Solving the above three-variable equation system, we can get:

[0089]

[0090] in,

[0091]

[0092]

[0093] Based on this, we can obtain the coordinate information O(0,0) of the origin of the first coordinate system in the second coordinate system. O,0 ,y O,0 ).

[0094] Similarly, this method can be used to determine the corresponding coordinate information of other specified points in the second coordinate system.

[0095] The following embodiment provides a specific implementation method of coordinate system conversion parameters.

[0096] Specifically, determine the vector of the origin and the unit position point in the second coordinate system; determine the angle between the vector and the horizontal coordinate axis in the second coordinate system, and correct the angle based on the signs of the horizontal and vertical coordinate values ​​in the vector to obtain the coordinate azimuth; determine the coordinate azimuth as a rotation transformation parameter.

[0097] The coordinate information O(x O,0 ,y O,0 ), use the same method to determine the coordinate information P(x P,0 ,y P,0 ) According to the vector v1=O1P1, calculate the vector in the second coordinate system, v1=(v x ,v y )=(x P,0 -x O,0 ,y P,0 -y O,0 ), then determine the angle θ between the vector v1 and the horizontal coordinate axis X in the second coordinate system t In one approach, the angle between the vector v1 and the horizontal coordinate axis X in the second coordinate system is determined by arc tangent calculation. Specifically, θ t =arctan(v y / v x ).

[0098] Furthermore, based on the horizontal coordinate value v in the vector x and the vertical coordinate value v y The sign of the angle θ t Correction is performed to obtain the coordinate azimuth angle θ. In actual implementation, if x=0, y>0, then θ=π / 2; if x=0, y<0, then θ=-π / 2; if x>0, then θ=θ t ; If x<0, y≥0, then θ=θ t +π; if x<0, y<0, then θ=θ t -π; if x=0, y=0, an error is reported. The azimuth angle θ is determined as the rotation conversion parameter.

[0099] Furthermore, the origin is rotated by the rotation transformation parameter to obtain the rotation coordinates of the origin; based on the rotation coordinates of the origin, the translation transformation parameter is determined. Specifically, the coordinates O (x O,t ,y O,t ), can be expressed by the following expression:

[0100]

[0101] Then, based on the rotation coordinates of the origin O, the translation transformation parameters (t x , t y ), where t x =x O,t ,t y =y O,t .

[0102] The following provides a specific implementation of updating the measurement points.

[0103] Specifically, a first distance between any two of the three measurement points is determined in a first coordinate system; a second distance between any two of the three measurement points is determined in a second coordinate system; any two of the three measurement points are determined as a measurement point pair, and a first distance between the first measurement point and the second measurement point in the measurement point pair in the first coordinate system and the second distance in the second coordinate system are determined; if the difference between the ratio of the second distance to the first distance and one is greater than or equal to a preset difference threshold, the positions of the first measurement point and the second measurement point are updated.

[0104] For easier understanding, see Figure 6 First, input the coordinates (x A，0 ,y A，0 )、(x B，0 ,y B，0 )、(x C，0 ,y C，0 ), and the coordinates (x A，n ,y A，n )、(x B，n ,y B，n )、(x C，n ,y C，n ).

[0105] Further, the second distance d between any two measuring points A, B, and C in the second coordinate system Ψ0 is calculated. AB，0 d AC，0 d BC，0, and the second distance d between any two measurement points A, B, and C in the first coordinate system Ψn AB，n d AC，n d BC，n Among them, the second distance d AB，0 That is, the second distance between the above-mentioned measuring point pair AB in the second coordinate system, the first distance d AB，n That is, the first distance between the above-mentioned measuring point pair AB in the first coordinate system.

[0106] In one method, the ratio of the second distance to the first distance of the measurement point pairs AB, AC, and BC is calculated: AB，0 / d AB，n , d AC，0 / d AC，n , d BC，0 / d BC，n , and then calculate the difference λ between the above ratio and one, where λ1=|1-d AB,0 / AB,n |,λ2=|1-d AC,0 / d AC,n |,λ3=|1-d BC,0 / d BC,n |. Then, the relationship between the difference value λ and the preset difference threshold value τ2 is determined in sequence. If the difference value λ is greater than or equal to the preset difference threshold value τ2, the positions of the first and second measurement points in the measurement points need to be updated. Specifically, if λ1 is greater than or equal to the preset difference threshold value τ2, the positions of measurement points A and B need to be updated and remeasured; if λ2 is greater than or equal to the preset difference threshold value τ2, the positions of measurement points A and C need to be updated and remeasured; if λ3 is greater than or equal to the preset difference threshold value τ2, the positions of measurement points B and C need to be updated and remeasured. If the above-mentioned difference value λ is less than the preset difference threshold value τ2, the coordinate system conversion parameters are solved and saved. The coordinate conversion parameters include rotation conversion parameters and translation conversion parameters. The default value of the above-mentioned difference threshold value can be 0.02, which further ensures the accuracy of the corresponding first coordinate information and second coordinate information of the measurement point.

[0107] Furthermore, the target coordinates in the first coordinate system are obtained; the target coordinates are rotationally transformed by the rotation transformation parameters to obtain intermediate coordinates; and the coordinate information of the target coordinates in the second coordinate system is obtained by the translation transformation parameters and the intermediate coordinates.

[0108] In actual implementation, after obtaining the target coordinates of the target object in the first coordinate system through the positioning tag, the target coordinates can be rotated and transformed based on the above rotation transformation parameter θ to obtain an intermediate coordinate, and then the translation transformation parameter (t x , t y) and the calculation of the intermediate coordinates to obtain the coordinate information corresponding to the above-mentioned target coordinates in the second coordinate system. Based on the above-mentioned coordinate conversion parameters, the calculation process of coordinate conversion is simplified, which is convenient for the application of embedded devices.

[0109] The coordinate system conversion parameter determination method provided in this embodiment achieves conversion between the local coordinate system and the reference coordinate system by arbitrarily finding three high-precision measurement points and measuring their coordinates, eliminating the need to measure the coordinates of feature points. This approach not only reduces the engineering difficulty of wireless positioning systems but also improves overall positioning accuracy by completing coordinate system conversion using the coordinates of high-precision measurement points.

[0110] Corresponding to the above method embodiment, see Figure 7 A device for determining coordinate system conversion parameters is shown, the device comprising:

[0111] A coordinate information acquisition module 700 is configured to acquire first coordinate information of a measurement point in a first coordinate system and second coordinate information of a measurement point in a second coordinate system from a specified area; the measurement point may include multiple measurement points;

[0112] A designated point coordinate determination module 710 is configured to determine coordinate information of a designated point in the second coordinate system based on a distance relationship between the designated point and a plurality of measurement points in the first coordinate system, and a distance relationship between the designated point and the plurality of measurement points in the second coordinate system; the designated point may include a plurality of designated points; each designated point has preset coordinate information in the first coordinate system;

[0113] The conversion parameter determination module 720 is configured to determine the coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the specified point in the second coordinate system. The coordinate system conversion parameters include rotation conversion parameters and translation conversion parameters. The measurement point collects multiple first initial coordinate values ​​in the first coordinate system, determines the first coordinate information based on the multiple first initial coordinate values, and the discreteness of the multiple first initial coordinate values ​​satisfies a first specified condition. The measurement point collects multiple second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the multiple second initial coordinate values, and the discreteness of the multiple second initial coordinate values ​​satisfies a second specified condition.

[0114] The device for determining coordinate system conversion parameters obtains first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system from a specified area; the measurement points include multiple measurement points; the coordinate information of the specified point in the second coordinate system is determined based on the distance relationship between the specified point and the multiple measurement points in the first coordinate system, and the distance relationship between the specified point and the multiple measurement points in the second coordinate system; the specified points include multiple measurement points; each specified point has preset coordinate information in the first coordinate system; the coordinate system conversion parameters between the first coordinate system and the second coordinate system are determined based on the preset coordinate information and the coordinate information of the specified point in the second coordinate system; the coordinate system conversion parameters include rotation conversion parameters and translation conversion parameters. The measurement point collects multiple first initial coordinate values ​​in the first coordinate system, determines the first coordinate information based on the multiple first initial coordinate values, and the discreteness of the multiple first initial coordinate values ​​meets a first specified condition; the measurement point collects multiple second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the multiple second initial coordinate values, and the discreteness of the multiple second initial coordinate values ​​meets a second specified condition. In this method, high-precision measurement points are obtained through discreteness screening, and then the coordinate information of the specified point is determined based on the distance relationship between the specified point and the measurement point, and then the coordinate system conversion parameters are obtained. The coordinate system conversion parameters obtained in this way have high accuracy, which can improve the accuracy of the coordinate system conversion, thereby improving the accuracy of the wireless positioning system. At the same time, the calculation complexity is low and does not require more calculation resources.

[0115] The above-mentioned coordinate information acquisition module is also used to: obtain multiple first initial coordinate values ​​collected by the measurement point in the first coordinate system; determine the first discreteness of the multiple first initial coordinate values, and judge whether the first discreteness is less than a preset discreteness threshold value; if the first discreteness is less than the discreteness threshold value, obtain multiple second initial coordinate values ​​collected by the measurement point in the second coordinate system; determine the second discreteness of the multiple second initial coordinate values, and judge whether the second discreteness is less than the discreteness threshold value; if the second discreteness is less than the discreteness threshold value, determine the first coordinate information based on the multiple first initial coordinate values, and determine the second coordinate information based on the multiple second initial coordinate values.

[0116] The above-mentioned coordinate information acquisition module is also used to: determine the minimum value of the horizontal axis, the maximum value of the horizontal axis, the minimum value of the vertical axis and the maximum value of the vertical axis from multiple first initial coordinate values; determine multiple intermediate points, and determine the first discreteness of the multiple first initial coordinate values ​​based on the distance between the intermediate points and the multiple first initial coordinate values; wherein the horizontal axis coordinate value of the intermediate point is between the minimum value of the horizontal axis and the maximum value of the horizontal axis, and the vertical axis coordinate value of the intermediate point is between the minimum value of the vertical axis and the maximum value of the vertical axis.

[0117] The above-mentioned coordinate information acquisition module is also used to: initialize the horizontal axis multiplication value, add the product of the horizontal axis multiplication value and the horizontal axis variable on the basis of the horizontal axis minimum value to obtain the horizontal axis middle value; determine whether the horizontal axis middle value is less than the horizontal axis maximum value, if it is less than the horizontal axis maximum value, initialize the vertical axis multiplication value, add the product of the vertical axis multiplication value and the vertical axis variable on the basis of the vertical axis minimum value to obtain the vertical axis middle value; determine whether the vertical axis middle value is less than the vertical axis maximum value, if it is less than the vertical axis maximum value, determine the first distance between each first initial coordinate value and the middle point; wherein, the horizontal coordinate of the middle point is the horizontal axis middle value, and the vertical coordinate is the vertical axis middle value; based on the first distance between each first initial coordinate value and the middle point, determine the first discreteness of multiple first initial coordinate values.

[0118] The above-mentioned coordinate information acquisition module is also used to: sort each of the first distances in ascending order and set a serial number for each of the sorted first distances; save the first distance corresponding to the smallest serial number among the serial numbers greater than or equal to the specified threshold; the specified threshold is determined based on the number of the first initial coordinate values ​​and the preset proportion parameter; update the vertical axis multiple value, and continue to execute the step of adding the product of the vertical axis multiple value and the vertical axis variable to the vertical axis minimum value to obtain the vertical axis intermediate value, until the vertical axis intermediate value is greater than or equal to the vertical axis maximum value; update the horizontal axis multiple value, and continue to execute the step of adding the product of the horizontal axis multiple value and the horizontal axis variable to the horizontal axis minimum value to obtain the horizontal axis intermediate value, until the horizontal axis intermediate value is greater than or equal to the horizontal axis maximum value; determine the minimum distance value from the saved first distances, and determine the minimum distance value as the first discreteness value.

[0119] The above-mentioned coordinate information acquisition module is also used to: determine the first center point of the multiple first initial coordinate values ​​by clustering, and determine the coordinate value of the first center point as the first coordinate information; determine the second center point of the multiple second initial coordinate values ​​by clustering, and determine the coordinate value of the second center point as the second coordinate information.

[0120] The above-mentioned coordinate information acquisition module is also used to: if the first discreteness is greater than or equal to a preset discreteness threshold value, or the second discreteness is greater than or equal to the discreteness threshold value, update the position of the measurement point, and continue to execute the step of obtaining multiple first initial coordinate values ​​collected by the measurement point in the first coordinate system.

[0121] The above-mentioned designated point coordinate determination module is also used to: establish a set of three-variable equations based on the distance relationship between the designated point and the three measurement points in the first coordinate system, which is the same as the distance relationship between the designated point and the three measurement points in the second coordinate system; solve the set of three-variable equations to obtain the coordinate information of the designated point in the second coordinate system.

[0122] The above-mentioned conversion parameter determination module is also used to: determine the vector between the origin and the unit position point in the second coordinate system; determine the angle between the vector and the horizontal coordinate value in the second coordinate system, and correct the angle based on the signs of the horizontal coordinate value and the vertical coordinate value in the vector to obtain the coordinate azimuth; determine the coordinate azimuth as the rotation conversion parameter.

[0123] The above device also includes a rotation processing module, which is used to: rotate the origin through the rotation conversion parameter to obtain the rotation coordinates of the origin; and determine the translation conversion parameters based on the rotation coordinates of the origin.

[0124] The above-mentioned device also includes a distance determination module, which is used to: determine a first distance between any two measurement points among the three measurement points in the first coordinate system; determine a second distance between any two measurement points among the three measurement points in the second coordinate system; determine any two measurement points among the three measurement points as a measurement point pair, determine a first distance between the first measurement point and the second measurement point in the measurement point pair in the first coordinate system, and a second distance in the second coordinate system; if the difference between the ratio of the second distance to the first distance and one is greater than or equal to a preset difference threshold, update the positions of the first measurement point and the second measurement point.

[0125] The above device also includes a coordinate information determination module, which is used to: obtain the target coordinates in the first coordinate system; perform rotation transformation on the target coordinates through rotation transformation parameters to obtain intermediate coordinates; and obtain coordinate information of the target coordinates in the second coordinate system through translation transformation parameters and intermediate coordinates.

[0126] This embodiment further provides a coordinate system conversion device, which includes a processor and a memory. The memory stores machine executable instructions that can be executed by the processor. The processor executes the machine executable instructions to implement the method for determining the coordinate system conversion parameters.

[0127] See also Figure 8 As shown, the coordinate system conversion device includes a processor 100 and a memory 101. The memory 101 stores machine executable instructions that can be executed by the processor 100. The processor 100 executes the machine executable instructions to implement the above-mentioned method for determining coordinate system conversion parameters.

[0128] Furthermore, Figure 8 The coordinate system conversion device shown further includes a bus 102 and a communication interface 103 , and the processor 100 , the communication interface 103 and the memory 101 are connected via the bus 102 .

[0129] The memory 101 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is achieved through at least one communication interface 103 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 102 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0130] The processor 100 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 100 or software instructions. The above processor 100 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or register. The storage medium is located in the memory 101. The processor 100 reads the information in the memory 101 and, in conjunction with its hardware, completes the steps of the method of the aforementioned embodiment.

[0131] See also Figure 9, this embodiment also provides a coordinate information measuring device, the coordinate information measuring device includes a first slide rod and a second slide rod; the first slide rod and the second slide rod are connected by an angle turntable; the angle turntable is used to measure the angle value between the first slide rod and the second slide rod; a first positioning tag is provided on the angle turntable; the first slide rod and the second slide rod are both provided with scales; a first caliper is provided on the first slide rod, and a second positioning tag is provided on the first caliper, and the first caliper is used to indicate the distance between the second positioning tag and the first positioning tag; a second caliper is provided on the second slide rod, and a third positioning tag is provided on the second caliper, and the second caliper is used to indicate the distance between the third positioning tag and the first positioning tag; the first coordinate information of the measurement point corresponding to the first positioning tag, the second positioning tag and the third positioning tag in the first coordinate system is obtained through the angle value measured by the angle turntable, the distance indicated by the first caliper, and the distance indicated by the second caliper; the first positioning tag, the second positioning tag and the third positioning tag are used to transmit positioning signals to provide the second coordinate information of the measurement point corresponding to the above-mentioned first positioning tag, the second positioning tag and the third positioning tag in the second coordinate system.

[0132] This embodiment further provides a machine-readable storage medium storing machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the above-mentioned method for determining coordinate system conversion parameters.

[0133] The embodiments of the present invention provide a method for determining coordinate system conversion parameters, an apparatus, and a computer program product for a coordinate system conversion device, including a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiment. For specific implementation, please refer to the method embodiment and will not be repeated here.

[0134] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0135] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0136] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, operation and maintenance management device, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0137] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0138] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for determining coordinate system conversion parameters, characterized in that: The method comprises: Obtain the first coordinate information of the measuring point in the first coordinate system and the second coordinate information of the measuring point in the second coordinate system from the specified area; the measuring point includes multiple points; wherein the first coordinate information is determined based on multiple first initial coordinate values; the first discreteness of the multiple first initial coordinate values ​​is determined by the following method: determining the minimum value of the horizontal axis, the maximum value of the horizontal axis, the minimum value of the vertical axis and the maximum value of the vertical axis from the multiple first initial coordinate values; initializing the horizontal axis multiple value, adding the product of the horizontal axis multiple value and the horizontal axis variable to the minimum value of the horizontal axis to obtain the horizontal axis intermediate value; judging the horizontal axis intermediate value whether the value is less than the maximum value of the horizontal axis; if so, initialize the vertical axis multiplication value, add the product of the vertical axis multiplication value and the vertical axis variable to the minimum value of the vertical axis to obtain the vertical axis intermediate value; determine whether the vertical axis intermediate value is less than the maximum value of the vertical axis; if so, determine the first distance between each first initial coordinate value and the intermediate point; wherein the horizontal coordinate of the intermediate point is the horizontal axis intermediate value, and the vertical coordinate is the vertical axis intermediate value; determine the first dispersion of the multiple first initial coordinate values ​​based on the first distance between each first initial coordinate value and the intermediate point; Determining coordinate information of the designated point in the second coordinate system based on a distance relationship between the designated point and the plurality of measurement points in the first coordinate system, and a distance relationship between the designated point and the plurality of measurement points in the second coordinate system; the designated point includes a plurality of designated points; each designated point has preset coordinate information in the first coordinate system; Determining coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the designated point in the second coordinate system; the coordinate system conversion parameters include rotation conversion parameters and translation conversion parameters; The measurement point collects multiple first initial coordinate values ​​in the first coordinate system, determines the first coordinate information based on the multiple first initial coordinate values, and the discreteness of the multiple first initial coordinate values ​​meets the first specified condition; the measurement point collects multiple second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the multiple second initial coordinate values, and the discreteness of the multiple second initial coordinate values ​​meets the second specified condition.

2. The method according to claim 1, characterized in that The step of acquiring first coordinate information of a measurement point in a first coordinate system and second coordinate information of the measurement point in a second coordinate system from a designated area includes: Acquire a plurality of first initial coordinate values ​​of the measurement point collected in the first coordinate system; Determining a first discreteness of the plurality of first initial coordinate values, and determining whether the first discreteness is less than a preset discreteness threshold; If the first discreteness is less than the discreteness threshold, obtaining a plurality of second initial coordinate values ​​collected at the measurement point in the second coordinate system; determining a second dispersion of the plurality of second initial coordinate values, and determining whether the second dispersion is less than the dispersion threshold; If the second dispersion is less than the dispersion threshold, the first coordinate information is determined based on the multiple first initial coordinate values, and the second coordinate information is determined based on the multiple second initial coordinate values.

3. The method according to claim 1, characterized in that The step of determining a first discreteness of the plurality of first initial coordinate values ​​based on a first distance between each of the first initial coordinate values ​​and the intermediate point comprises: sorting each of the first distances in ascending order, and setting a sequence number for each of the sorted first distances; Saving the first distance corresponding to the smallest serial number among the serial numbers that are greater than or equal to a specified threshold; the specified threshold is determined based on the number of the first initial coordinate values ​​and a preset proportion parameter; Updating the vertical axis multiplication value, and continuing to perform the step of adding the vertical axis multiplication value and the vertical axis variable multiplied by the vertical axis minimum value to obtain the vertical axis intermediate value, until the vertical axis intermediate value is greater than or equal to the vertical axis maximum value; Updating the horizontal axis multiplication value, and continuing to perform the step of adding the product of the horizontal axis multiplication value and the horizontal axis variable to the horizontal axis minimum value to obtain the horizontal axis intermediate value, until the horizontal axis intermediate value is greater than or equal to the horizontal axis maximum value; A minimum distance value is determined from the stored first distances, and the minimum distance value is determined as the first discreteness value.

4. The method according to claim 2, characterized in that The step of determining the first coordinate information based on the multiple first initial coordinate values ​​and determining the second coordinate information based on the multiple second initial coordinate values ​​includes: Determine a first center point of the plurality of first initial coordinate values ​​by clustering, and determine the coordinate value of the first center point as the first coordinate information; A second center point of the plurality of second initial coordinate values ​​is determined by clustering, and the coordinate value of the second center point is determined as the second coordinate information.

5. The method according to claim 2, characterized in that The method further comprises: If the first discreteness is greater than or equal to a preset discreteness threshold value, or the second discreteness is greater than or equal to the discreteness threshold value, the position of the measuring point is updated, and the step of obtaining multiple first initial coordinate values ​​collected at the measuring point in the first coordinate system is continued.

6. The method according to claim 1, wherein The measurement points include three; the step of determining the coordinate information of the designated point in the second coordinate system based on the distance relationship between the designated point and the multiple measurement points in the first coordinate system, and the distance relationship between the designated point and the multiple measurement points in the second coordinate system, includes: Establishing a system of three equations based on the distance relationship between the designated point and the three measurement points in the first coordinate system being the same as the distance relationship between the designated point and the three measurement points in the second coordinate system; Solve the three-variable equation system to obtain coordinate information of the specified point in the second coordinate system.

7. The method according to claim 1, characterized in that The designated point includes the origin of the first coordinate system and a unit position point on a designated axis in the first coordinate system that is a unit length away from the origin; The step of determining coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the designated point in the second coordinate system includes: Determine a vector between the origin and the unit position point in the second coordinate system; Determine an angle between the vector and a transverse coordinate axis in the second coordinate system, and correct the angle based on the signs of the transverse coordinate value and the longitudinal coordinate value in the vector to obtain a coordinate azimuth; The coordinate azimuth is determined as the rotation conversion parameter.

8. The method according to claim 7, characterized in that After the step of determining the coordinate azimuth as the rotation conversion parameter, the method further includes: Rotate the origin using the rotation conversion parameters to obtain the rotation coordinates of the origin; Based on the rotation coordinates of the origin, translation transformation parameters are determined.

9. The method according to claim 7, characterized in that The measuring points include three: Before the step of determining coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the coordinate information of the designated point in the second coordinate system, the method further includes: Determine a first distance between any two of the three measurement points in the first coordinate system; determine a second distance between any two of the three measurement points in the second coordinate system; Determine any two measuring points from the three measuring points as a measuring point pair, and determine the first distance between the first measuring point and the second measuring point in the measuring point pair in the first coordinate system, and the second distance in the second coordinate system; If the difference between the ratio of the second distance to the first distance and one is greater than or equal to a preset difference threshold, the positions of the first measuring point and the second measuring point are updated.

10. The method according to claim 1, characterized in that After determining coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the designated point in the second coordinate system, the method further includes: Obtaining target coordinates in the first coordinate system; Performing rotation transformation on the target coordinates using the rotation transformation parameters to obtain intermediate coordinates; The coordinate information of the target coordinates in the second coordinate system is obtained through the translation transformation parameters and the intermediate coordinates.

11. A device for determining coordinate system conversion parameters, characterized in that: The device comprises: A coordinate information acquisition module is used to obtain the first coordinate information of a measurement point in a first coordinate system and the second coordinate information of the measurement point in a second coordinate system from a specified area; the measurement point includes multiple points; wherein the first coordinate information is determined based on multiple first initial coordinate values; the first discreteness of the multiple first initial coordinate values ​​is determined by the following method: determining the minimum value of the horizontal axis, the maximum value of the horizontal axis, the minimum value of the vertical axis and the maximum value of the vertical axis from the multiple first initial coordinate values; initializing the horizontal axis multiple value, adding the product of the horizontal axis multiple value and the horizontal axis variable to the minimum value of the horizontal axis to obtain the horizontal axis intermediate value; judging the determining whether the horizontal axis middle value is less than the horizontal axis maximum value; if so, initializing the vertical axis multiplication value, adding the vertical axis multiplication value and the vertical axis variable multiplier to the vertical axis minimum value to obtain the vertical axis middle value; determining whether the vertical axis middle value is less than the vertical axis maximum value; if so, determining a first distance between each first initial coordinate value and the middle point; wherein the horizontal coordinate of the middle point is the horizontal axis middle value, and the vertical coordinate is the vertical axis middle value; and determining a first dispersion of the plurality of first initial coordinate values ​​based on the first distance between each first initial coordinate value and the middle point. a designated point coordinate determination module, configured to determine coordinate information of the designated point in the second coordinate system based on a distance relationship between the designated point and the plurality of measurement points in the first coordinate system, and a distance relationship between the designated point and the plurality of measurement points in the second coordinate system; the designated point may include a plurality of designated points; each designated point has preset coordinate information in the first coordinate system; a conversion parameter determination module, configured to determine coordinate system conversion parameters between the first coordinate system and the second coordinate system based on the preset coordinate information and the coordinate information of the designated point in the second coordinate system; the coordinate system conversion parameters include rotation conversion parameters and translation conversion parameters; The measurement point collects multiple first initial coordinate values ​​in the first coordinate system, determines the first coordinate information based on the multiple first initial coordinate values, and the discreteness of the multiple first initial coordinate values ​​meets the first specified condition; the measurement point collects multiple second initial coordinate values ​​in the second coordinate system, determines the second coordinate information based on the multiple second initial coordinate values, and the discreteness of the multiple second initial coordinate values ​​meets the second specified condition.

12. A coordinate system conversion device, characterized in that: The method comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the method for determining coordinate system conversion parameters according to any one of claims 1 to 10.

13. A machine-readable storage medium, characterized in that The machine-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the method for determining coordinate system conversion parameters according to any one of claims 1 to 10.

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