A municipal engineering measurement and positioning method and system

Abstract

The present invention provides a municipal engineering measurement and positioning method and system, which relates to the field of municipal engineering measurement technology. The method comprises: setting a reference point in a measurement area and performing initial positioning; using a positioning system to obtain the coordinates of the reference point, installing a laser rangefinder on the reference point, and emitting a laser beam to a target point in the measurement area; receiving the reflected laser beam through the laser rangefinder, and measuring the round-trip time of the laser beam to calculate the distance between the target point and the reference point; initializing a solution set according to the coordinates of the reference point and the measured distance between the target point and the reference point, wherein each solution represents a target point coordinate. The present invention can accurately and quickly locate the target point and update the map data in real time through laser ranging, intelligent algorithm optimization positioning, and comparison with map data, thereby improving the measurement accuracy and efficiency of municipal engineering.

Description

Technical Field

[0001] The present invention relates to the technical field of municipal engineering measurement, and in particular to a municipal engineering measurement and positioning method and system. Background Art

[0002] With traditional measurement and positioning methods, the processing of measurement data is a complex and error-prone process.

[0003] Some traditional methods still rely on manual calculation and recording, which is not only inefficient but also prone to human errors. At the same time, the application of positioning systems (GPS) in municipal engineering surveying also faces some limitations. Tall buildings in cities block or reflect GPS signals, resulting in reduced positioning accuracy or even signal loss. In addition, the performance of the GPS system is also affected by atmospheric conditions and electromagnetic interference, which increases the instability of positioning results. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a municipal engineering measurement and positioning method and system, which realizes the rapid and accurate positioning of municipal engineering measurement points.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, a municipal engineering measurement and positioning method is provided, the method comprising:

[0007] Set reference points in the measurement area and perform initial positioning;

[0008] The coordinates of the reference point are obtained by using the positioning system, and a laser distance measuring device is installed on the reference point to emit a laser beam to the target point in the measurement area;

[0009] The reflected laser beam is received by a laser ranging device, and the round trip time of the laser beam is measured to calculate the distance between the target point and the reference point;

[0010] Initialize a solution set according to the coordinates of the reference point and the measured distance between the target point and the reference point, each solution represents the coordinates of a target point;

[0011] Process the initialized solution set, including mutation and crossover operations, to generate a new candidate solution set;

[0012] Evaluate the new candidate solutions according to the fitness function to obtain the evaluation results, and enter the screened solutions into the next generation solution set according to the evaluation results;

[0013] Repeat the mutation, crossover and selection operations until the preset number of iterations is reached, determine the final solution from the final solution set according to the fitness of the solution, and use the final solution as the target point coordinates;

[0014] Compare the target point coordinates with the initial map data, and update the map data based on the comparison results.

[0015] Furthermore, the coordinates of the reference point are obtained by using the positioning system, and a laser ranging device is installed on the reference point to emit a laser beam to a target point in the measurement area, including:

[0016] Open the positioning system device and obtain the coordinate data of the reference point, including longitude, latitude and altitude;

[0017] Turn on the laser distance measuring device installed on the reference point and adjust the emission angle and direction of the laser beam;

[0018] The laser distance measuring device is triggered to emit a laser beam to the target point within the measurement area.

[0019] Furthermore, the distance calculation formula between the target point and the reference point is: ;

[0020] in, Indicates the distance between the target point and the reference point; represents the speed of light; represents the laser round trip time; Indicates the electronic delay time inside the laser ranging device; Represents the width of the laser pulse; Indicates the relative impact deviation of ambient temperature changes on the speed of light; The relative speed between the laser ranging device and the target; represents the coefficient; represents the atmospheric density; represents the laser scattering coefficient; Indicates the distance between the laser beam and the target point.

[0021] Furthermore, the initialized solution set is processed, including mutation and crossover operations, to generate a new candidate solution set, including:

[0022] For each solution in the initial solution set, differential evolution is used to perform mutation operations, and two or more solutions are randomly selected from the mutated solution set as parents;

[0023] Perform crossover operations on the parent solutions to generate new candidate solutions;

[0024] The new candidate solutions generated by the mutation operation and the crossover operation are merged into a new set to generate a new candidate solution set.

[0025] Furthermore, the differential evolution formula is: ;

[0026] in, The new candidate solution Quantity; Represents the index of the new candidate solution; Represents the specific components of the new candidate solution; , , , , , , represents the individual selected from the solution set Quantity; , represents the scaling factor; Represents the adjustment coefficient.

[0027] Furthermore, the calculation formula of the fitness function is: ;

[0028] in, Represents a candidate solution The fitness value of The actual distance between the target point and the reference point measured by a laser distance measuring device; , , Represents the three-dimensional coordinates of the reference point; Represents a small positive number; , Represent the weights of angle deviation and terrain cost respectively; represents the angle between the laser beam and the line connecting the candidate solution and the reference point; Representing coordinates The terrain height value at ; Representing coordinates The average terrain height of the surrounding neighboring points.

[0029] Furthermore, the coordinates of the target point are compared with the initial map data, and the map data is updated according to the comparison result, including:

[0030] Obtaining initial map data of the survey area from a map database, and superimposing the target point coordinates on the initial map data;

[0031] Compare the target point coordinates with the existing geographic features on the map, and record the distance and direction relationship between each target point and the nearest geographic feature;

[0032] By comparing, the target points that match the existing geographic elements on the map are identified, and the target points that do not match the elements on the map are marked to obtain the comparison results;

[0033] For target points that match existing features on the map, the map data is updated based on the comparison results.

[0034] In a second aspect, a municipal engineering measurement and positioning system includes:

[0035] A setting module is used to set reference points in the measurement area and perform initial positioning;

[0036] The transmitting module is used to obtain the coordinates of the reference point by using the positioning system, and install a laser ranging device on the reference point to transmit a laser beam to the target point in the measurement area;

[0037] A receiving module, used for receiving the reflected laser beam through the laser ranging device and measuring the round trip time of the laser beam to calculate the distance between the target point and the reference point;

[0038] An initialization module is used to initialize a solution set according to the coordinates of the reference point and the measured distance between the target point and the reference point, each solution representing the coordinates of a target point;

[0039] A processing module is used to process the initialized solution set, including mutation and crossover operations, to generate a new candidate solution set;

[0040] The evaluation module is used to evaluate the new candidate solutions according to the fitness function to obtain the evaluation results, and enter the screened solutions into the next generation solution set according to the evaluation results; repeat the mutation, crossover and selection operations until the preset number of iterations is reached, and then determine the final solution from the final solution set according to the fitness of the solution, and use the final solution as the target point coordinates;

[0041] The comparison module is used to compare the target point coordinates with the initial map data and update the map data according to the comparison results.

[0042] According to a third aspect, a computing device includes:

[0043] one or more processors;

[0044] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described.

[0045] In a fourth aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the method described is implemented.

[0046] The above solution of the present invention includes at least the following beneficial effects:

[0047] By combining the positioning system and laser ranging technology, the position of the target point can be determined more accurately. The laser ranging device calculates the distance between the target point and the reference point by measuring the round-trip time of the laser beam. This method is more accurate than traditional measurement methods, especially in complex terrain or confined spaces. Laser ranging is less affected by weather and lighting conditions, so it can still maintain a high measurement accuracy in bad weather such as rain, fog and haze. The environmental adaptability of the measurement method is enhanced. By initializing the solution set, generating a new candidate solution set through mutation and crossover operations, and then evaluating and screening with the fitness function, this method can automatically process large amounts of data, reduce human operational errors, and improve data processing efficiency.

[0048] By repeating the mutation, crossover, and selection operations until the preset number of iterations is reached, the final solution can be continuously approached, thereby improving the accuracy of the target point coordinates. This method has the ability to self-optimize and learn, and can gradually improve the accuracy of positioning. Comparing the final target point coordinates with the initial map data and updating the map data based on the comparison results helps to maintain the timeliness and accuracy of the map data. For municipal engineering surveying, this means being able to respond to on-site changes more quickly and provide the latest and most accurate data support for project planning, design, and construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flow chart of a municipal engineering measurement and positioning method provided by an embodiment of the present invention.

[0050] Figure 2 It is a schematic diagram of a municipal engineering measurement and positioning system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0052] like Figure 1 As shown, an embodiment of the present invention provides a municipal engineering measurement and positioning method, the method comprising the following steps:

[0053] Step 1: Set the reference point in the measurement area and perform initial positioning;

[0054] Step 2, using the positioning system to obtain the coordinates of the reference point, and installing a laser ranging device on the reference point to emit a laser beam to the target point in the measurement area;

[0055] Step 3, receiving the reflected laser beam through a laser ranging device and measuring the round trip time of the laser beam to calculate the distance between the target point and the reference point;

[0056] Step 4, initialize a solution set according to the coordinates of the reference point and the measured distance between the target point and the reference point, each solution represents the coordinates of a target point;

[0057] Step 5, processing the initialized solution set, including mutation and crossover operations, to generate a new candidate solution set;

[0058] Step 6: Evaluate the new candidate solution according to the fitness function to obtain an evaluation result, and enter the screened solution into the next generation solution set according to the evaluation result;

[0059] Step 7, repeat the mutation, crossover and selection operations until the preset number of iterations is reached, determine the final solution from the final solution set according to the fitness of the solution, and use the final solution as the target point coordinates;

[0060] Step 8: Compare the target point coordinates with the initial map data, and update the map data according to the comparison result.

[0061] In an embodiment of the present invention, by setting a reference point in the measurement area and performing initial positioning, an accurate and stable reference point is established for the entire measurement system, thereby ensuring the accuracy and reliability of the measurement. Laser ranging equipment is used for efficient and accurate distance measurement. By emitting a laser beam to the target point and measuring the round-trip time, the distance between the target point and the reference point can be quickly and accurately calculated, which is not only fast but also highly accurate, greatly improving the accuracy and efficiency of the measurement. By initializing the solution set, and using mutation and crossover operations to generate a new candidate solution set, and then using the fitness function for evaluation, the entire data processing process is more intelligent and automated. This processing method not only reduces human intervention and reduces the error rate, but also improves the efficiency and accuracy of data processing.

[0062] By repeating the mutation, crossover and selection operations, the solution search process is continuously optimized until the preset number of iterations is reached, thereby gradually approaching the final solution. This iterative optimization method improves the accuracy and stability of the solution, making the final target point coordinates more accurate and reliable. By comparing the final target point coordinates with the initial map data and updating the map data in a timely manner based on the comparison results, the map data can reflect the on-site situation in real time, and also provide strong support for the precise management and decision-making of municipal engineering projects.

[0063] In a preferred embodiment of the present invention, the above step 1, setting a reference point in the measurement area and performing initial positioning, may include:

[0064] In an embodiment of the present invention, a survey is conducted in the measurement area, and a location with a stable position, a wide field of view and easy identification is selected as a reference point by comprehensively considering the terrain, landform, surrounding environment and measurement requirements. Ensure that the reference point is away from objects that may cause interference, such as large trees, buildings or other obstructions, to ensure that the signal transmission of the measuring equipment is not hindered. At the selected reference point location, install an obvious and durable marker, such as a benchmark, a reflective marker or a special signboard. The marker should have a certain stability to ensure that it will not be displaced or deformed during the measurement process. Use a high-precision positioning device, such as a GPS receiver, to locate the reference point. Ensure that the positioning device is calibrated and set to the correct coordinate system and time. Collect measurement data to obtain accurate reference point coordinates.

[0065] In a preferred embodiment of the present invention, the above step 2, using a positioning system to obtain the coordinates of a reference point, installing a laser ranging device on the reference point, and emitting a laser beam to a target point in the measurement area, may include:

[0066] Step 222, turn on the positioning system device to obtain coordinate data of the reference point, including longitude, latitude and altitude;

[0067] Step 223, turning on the laser distance measuring device installed on the reference point, and adjusting the emission angle and direction of the laser beam;

[0068] Step 224, triggering the laser ranging device to emit a laser beam to the target point in the measurement area.

[0069] In an embodiment of the present invention, by turning on a positioning system device, such as a GPS receiver, receiving signals from a satellite, and parsing and calculating by an internal processor, the longitude, latitude, and altitude of the reference point can be accurately obtained. The laser rangefinder installed at the reference point is activated. The operator adjusts the emission angle and direction of the laser rangefinder to ensure that the laser beam can accurately point to the target point in the measurement area. By triggering the laser rangefinder, a short pulse laser beam is emitted to the target point.

[0070] The coordinate data of the reference point is accurately obtained through the positioning system, which provides an accurate starting point and reference frame for subsequent measurements, helps to ensure the correctness and reliability of the measurement results, and reduces errors caused by inaccurate positioning of the starting point. Laser ranging equipment can quickly and accurately measure the distance between the target point and the reference point. Compared with traditional measurement methods, laser ranging is more efficient and can significantly reduce measurement time and labor costs. Laser ranging equipment is usually small in size, light in weight, easy to carry and operate. This makes the measurement work more flexible and can be quickly deployed and used in different environments and scenarios. Laser ranging technology is characterized by high precision, usually achieving an accuracy of several millimeters or even higher. This makes laser ranging equipment have broad application prospects in fields that require high-precision measurement, such as construction, engineering, geological exploration, etc.

[0071] When specifically applied, this includes:

[0072] Step 222, first, activate the positioning system device, such as a GPS receiver. These devices have the function of receiving satellite signals. The device starts to receive signals from multiple GPS satellites. These signals contain information such as the location and timestamp of the satellite. The processor inside the device will parse the received satellite signals and calculate the current location of the device through triangulation. This process involves cross-positioning of multiple satellite signals to obtain accurate longitude, latitude and altitude.

[0073] Specifically, the device first receives signals from multiple GPS satellites. These signals contain the precise location of the satellite, a timestamp, and the pseudo-range between the satellite and the receiver (due to factors such as signal transmission delays and the influence of the atmosphere, this distance is not the real distance, but is called a pseudo-range). The device processor uses the received multiple satellite signals and uses satellites with known positions as reference points to determine the position of the receiver by measuring the distance (pseudo-range) from the receiver to these satellites. When performing cross-positioning calculations, the device processor uses the pseudo-range equation: Calculate the receiver's location (longitude, latitude, and altitude), where From satellite Pseudorange to the receiver; Indicates satellite Coordinates in the Earth Center Coordinate System (ECEF); represents the unknown coordinates of the receiver in the ECEF coordinate system; represents the speed of light (about 3× 10 8 m / s); Represents the difference between the receiver clock and the satellite clock. This calculation allows the device processor to derive the receiver's precise location (longitude, latitude, and altitude).

[0074] Step 223, the laser distance measuring device installed at the reference point is turned on and initialized, including self-testing, calibration and preparation for emitting a laser beam. The operator precisely adjusts the emission angle and direction of the laser distance measuring device through the aiming system of the device.

[0075] In step 224, the operator triggers the laser ranging device through a control interface (physical button, touch screen or remote controller) to prepare to emit a laser beam. The device emits a short pulse laser beam, which is shot at a preset target point at an extremely fast speed.

[0076] In a preferred embodiment of the present invention, in the above step 3, the reflected laser beam is received by a laser ranging device, and the round trip time of the laser beam is measured to calculate the distance between the target point and the reference point; the distance calculation formula between the target point and the reference point is: ;

[0077] in, Indicates the distance between the target point and the reference point; represents the speed of light; represents the laser round trip time; Indicates the electronic delay time inside the laser ranging device; Represents the width of the laser pulse; Indicates the relative impact deviation of ambient temperature changes on the speed of light; The relative speed between the laser ranging device and the target; represents the coefficient; represents the atmospheric density; represents the laser scattering coefficient; Indicates the distance between the laser beam and the target point.

[0078] In the embodiment of the present invention, the laser distance measuring device first emits a short pulse laser beam. The laser beam is irradiated onto the target point, part of the laser energy is absorbed, and part is reflected back. The distance measuring device receives the reflected laser beam. The timer inside the device accurately measures the round-trip time from the emission to the reception of the laser beam. At the same time, the device will record the internal electronic delay time , which is the transmission delay of the laser in the internal circuit of the device. Using the round-trip time mentioned above , Electronic delay time , and the width of the laser pulse , the device can start calculating the distance, and the ambient temperature changes will affect the speed of light , resulting in a relative influence deviation .

[0079] Atmospheric density and the laser scattering coefficient It will affect the propagation of laser in the atmosphere. After the above calculation, the device obtains the precise distance between the target point and the reference point. This distance data can be displayed on the device's screen.

[0080] Laser ranging equipment can provide millimeter-level or even higher measurement accuracy. This high-precision measurement capability makes laser ranging excellent in various occasions that require precise data, such as geographic information system (GIS) data collection, engineering surveying, and topographic mapping, etc., and can achieve long-distance measurement within a few kilometers. This feature makes it advantageous in certain specific applications, such as long-range target positioning, large-scale topographic mapping, etc. Laser ranging technology can quickly obtain distance data without physical contact with the object being measured. This not only improves measurement efficiency, but also avoids damage or interference to the measured object that may be caused by contact.

[0081] Laser distance measuring equipment is equipped with a microprocessor, which can automatically calculate and output measurement results, reduce human operation and calculation errors, and improve the automation and intelligence level of measurement. It is not only suitable for the measurement of static targets, but also can effectively deal with dynamic targets, such as objects moving on tracks. In addition, it can maintain relatively stable measurement performance under various environmental conditions, including complex terrain and bad weather. Laser distance measuring equipment is small in size and light in weight, easy to carry and use. This makes it advantageous in field operations, field surveys and other occasions that require rapid deployment and mobile measurement.

[0082] In a preferred embodiment of the present invention, step 4, according to the coordinates of the reference point and the measured distance between the target point and the reference point, initialize a solution set, each solution represents a target point coordinate; step 5, the initialized solution set is processed, including mutation and crossover operations, to generate a new candidate solution set; step 6, the new candidate solution is evaluated according to the fitness function to obtain an evaluation result, and the screened solution is entered into the next generation solution set according to the evaluation result; step 7, repeating the mutation, crossover and selection operations until a preset number of iterations is reached, determining the final solution from the final solution set according to the fitness of the solution, and using the final solution as the target point coordinate, can include:

[0083] In an embodiment of the present invention, a solution set is initialized based on the coordinates of the reference point and the measured distance. Each solution represents the coordinates of a target point. These initial solutions are randomly generated around the reference point according to certain rules and ranges. Each solution in the initialized solution set is randomly changed (mutated) to explore different areas in the solution space. Two or more solutions in the solution set are selected and combined by averaging to generate new candidate solutions.

[0084] Define a fitness function that can evaluate the closeness of each candidate solution to the actual target point coordinates. Use the fitness function to evaluate each new candidate solution, and use the calculated fitness value as the evaluation result. According to the evaluation results, the screened solutions are entered into the next generation of solution sets. This means selecting those solutions that are closer to the actual target point. Repeat the mutation, crossover, evaluation, and selection operations in steps 5 and 6 to continuously optimize the solution set. When the preset number of iterations is reached, the iteration is stopped. From the final solution set, the final solution is determined based on the fitness of the solution (i.e., the closeness to the actual target point), and this solution is considered to be the coordinates of the target point.

[0085] In a preferred embodiment of the present invention, the above step 5, processing the initialized solution set, including mutation and crossover operations, to generate a new candidate solution set, may include:

[0086] Step 55, for each solution in the initial solution set, perform a mutation operation using differential evolution, and randomly select two or more solutions from the mutated solution set as parents;

[0087] Step 56, performing a crossover operation on the parent solution to generate a new candidate solution;

[0088] Step 57, merging the new candidate solutions generated by the mutation operation and the crossover operation into a new set to generate a new candidate solution set.

[0089] In an embodiment of the present invention, the mutation operation is to change each solution in the initial solution set using the differential evolution algorithm. This process is intended to increase the diversity of the solution set by introducing new genetic mutations. The crossover operation is performed after the mutation operation, which randomly selects two or more solutions from the mutated solution set as parents, and then exchanges certain parts of the parent solutions by randomly selecting intersections to generate new candidate solutions. After completing the mutation and crossover operations, the algorithm generates a series of new candidate solutions. These new solutions are merged into a new set to form a new candidate solution set. During the merging process, duplicate solutions are removed to ensure the diversity and uniqueness of the new candidate solution set.

[0090] The mutation operation increases the diversity of the solution set by introducing new genetic information, and continues to search for the final solution by introducing new solutions. The crossover operation can combine the excellent features of different parent solutions to generate new solutions with better performance. Through the crossover operation, the algorithm can search more efficiently in the solution space because it can explore the neighborhoods of multiple parent solutions at the same time. By merging the newly generated candidate solutions, the solution set is enriched and expanded, providing more options for subsequent iterations and optimizations. With the increase in the richness and diversity of the solution set, the global search capability of the algorithm is also improved.

[0091] When specifically applied, this includes:

[0092] Step 55, perform differential evolution mutation operation on each solution in the initial solution set. The process of obtaining a new solution through the differential evolution formula is called mutation. This process will mutate each solution in the solution set once to generate a mutated solution set. Then, two or more solutions are randomly selected from the mutated solution set as parents for subsequent crossover operations.

[0093] In step 56, the crossover operation is performed between the selected parent solutions. A crossover point is randomly selected, and then the parts of the two parent solutions before and after the crossover point are swapped to generate a new candidate solution. This process helps to introduce new genetic variations while retaining the excellent characteristics of the parent solutions, thereby increasing the diversity of the solution set.

[0094] Step 57, after completing the mutation and crossover operations, a series of new candidate solutions are obtained. These new candidate solutions need to be merged into a new set to form a new candidate solution set. During the merging process, ensure that each newly generated candidate solution is included and remove duplicate solutions to ensure the diversity and richness of the new candidate solution set. The new candidate solution set finally generated will contain all unique solutions obtained after the mutation and crossover operations.

[0095] In a preferred embodiment of the present invention, the differential evolution formula is: ;

[0096] in, The new candidate solution Quantity; Represents the index of the new candidate solution; Represents the specific components of the new candidate solution; , , , , , , represents the individual selected from the solution set Quantity; , represents the scaling factor; Represents the adjustment coefficient.

[0097] In the embodiment of the present invention, the generation of new candidate solutions starts with a reference individual, namely, This individual is randomly selected from the current candidate solution set, and it provides a starting point for the generation of new candidate solutions. In the formula, represents differential variation. Specifically, and are two different individuals randomly selected from the current candidate solution set. By calculating the difference between these two individuals (i.e. - ), and multiplied by a scaling factor , to generate a new search direction and step size, which helps the algorithm explore new areas in the solution space far away from the current benchmark individual.

[0098] In order to enhance the diversity and efficiency of search, and are two other randomly selected individuals whose difference is scaled by another factor Zoom. is a dynamic adjustment factor, which is based on and The difference between The role of this adjustment factor is to dynamically adjust the degree of influence of enhanced differential variation. and When the difference between them is large, the adjustment factor approaches 1, thereby increasing the impact of the enhanced differential variation; when the difference is small, the adjustment factor decreases, reducing its impact. This dynamic adjustment mechanism makes the search process more flexible and adaptive.

[0099] After completing the benchmark selection, basic differential mutation, and enhanced differential mutation, these parts are added together to generate new candidate solution components. Specifically, the new candidate solution is to take the benchmark individual , the basic difference mutation result and the enhanced difference mutation result are added together.

[0100] By combining the differences of multiple randomly selected individuals, a broad search can be performed across the entire solution space. Provides a starting point for a search, and The global search capability of the algorithm is enhanced by generating new search directions and step sizes in part by scaling the differences between two random individuals. A dynamic adjustment mechanism is introduced in some parts, which helps the algorithm to perform more refined local searches after finding potential high-quality areas. and When the difference is large, the adjustment factor increases to strengthen the local search; when the difference is small, the adjustment factor decreases to avoid excessive search. Allows the algorithm to adapt itself to the characteristics of the problem. This enables the algorithm to flexibly respond to different problem scenarios.

[0101] In a preferred embodiment of the present invention, the calculation formula of the fitness function is: ;

[0102] in, Represents a candidate solution The fitness value of The actual distance between the target point and the reference point measured by a laser distance measuring device; , , Represents the three-dimensional coordinates of the reference point; Represents a small positive number; , Represent the weights of angle deviation and terrain cost respectively; represents the angle between the laser beam and the line connecting the candidate solution and the reference point; Representing coordinates The terrain height value at ; Representing coordinates The average terrain height of the surrounding neighboring points.

[0103] In an embodiment of the present invention, It is the actual distance between the target point and the reference point measured by the laser ranging device. Calculated candidate solutions Benchmark , , The square of the Euclidean distance between them. Indicates the difference between the measured distance and the actual calculated distance. The smaller the difference, the closer the candidate solution is to the actual measured target point. In order to avoid the situation where the divisor is zero, a small positive number is added . It represents the angle between the laser beam and the line connecting the candidate solution and the reference point. This angle reflects the degree of alignment between the candidate solution and the laser beam direction. Calculated angle Here we use the absolute value of Rather than directly This is to ensure that the angle value is range and take its absolute value. Represents the penalty term for angle deviation. When the angle increases, the value of this term decreases, thereby reducing the fitness value. It is the weight of the angle deviation, which is used to adjust the influence of the angle factor on the fitness.

[0104] Representing coordinates The terrain height value at . Representing coordinates The average terrain height of the surrounding neighboring points. The difference between the terrain height at the candidate solution location and the average height of the surrounding terrain is calculated. A penalty term that represents the terrain cost. When the terrain height difference increases, the value of this term decreases, thereby reducing the fitness value. It is the weight of the terrain cost, which is used to adjust the influence of terrain factors on fitness.

[0105] Actual distance measured by introducing laser distance measuring equipment , which can accurately evaluate candidate solutions With reference point The distance difference between the two can be improved to improve the positioning accuracy. , can consider the angle between the laser beam and the line connecting the candidate solution and the reference point, and evaluate the candidate solution from multiple angles. This helps to select candidate solutions that are more consistent with the direction of the laser beam and improve the optimization quality of the solution. , which can consider the impact of terrain factors on candidate solutions. This enables the algorithm to find the final solution in complex terrain environments and improves the terrain adaptability of the algorithm. and , the importance of angle deviation and terrain cost in fitness evaluation can be flexibly adjusted.

[0106] In a preferred embodiment of the present invention, the above step 8, comparing the coordinates of the target point with the initial map data and updating the map data according to the comparison result, may include:

[0107] Step 81, obtaining the initial map data of the measurement area from the map database, and superimposing the target point coordinates on the initial map data;

[0108] Step 82, comparing the coordinates of the target point with the existing geographical elements on the map, and recording the distance and azimuth relationship between each target point and the nearest geographical element;

[0109] Step 83, by comparison, identifying the target points that match the existing geographic elements on the map, and marking the target points that do not match the elements on the map, to obtain a comparison result;

[0110] Step 84: For target points that match existing elements on the map, update the map data according to the comparison results.

[0111] In an embodiment of the present invention, the system retrieves and obtains the initial map data of the survey area from the map database. This data includes the location and attribute information of various geographic elements such as roads, buildings, and natural landscapes. Next, the newly collected target point coordinate data is superimposed on the initial map data. This step is to be able to compare the new data with the original map data in terms of vision and data analysis. The system begins to compare the target point coordinates with the existing geographic elements on the map. This comparison process is based on spatial position relationships, such as distance, direction, etc. For each target point, the system calculates its distance to the nearest geographic element on the map and records the azimuth relationship between them. Through the comparison, the system can identify which target points match the existing geographic elements on the map. The matching is based on criteria such as location proximity and attribute similarity. At the same time, the system also marks the target points that do not match the elements on the map. These unmatched points represent new geographic features or changes that require further investigation or verification. For target points that match existing elements on the map, the system updates the map data based on the comparison results. This includes fine-tuning the location, updating the attributes, or adding new detailed information to ensure the accuracy and timeliness of the map. For unmatched target points, further field investigation or data verification is required to determine their authenticity and nature. Once confirmed, this information can also be integrated into the map data.

[0112] By comparing the coordinates of the target point with the initial map data, errors or outdated information on the map can be discovered and corrected. This helps ensure that the map data is consistent with the actual geographical situation and improves the accuracy and reliability of the map. As the city develops and the geographical environment changes, new geographical features may continue to appear, while old features may disappear or change. By comparing and updating, the map data can reflect these changes in a timely manner and maintain its timeliness. Accurate map data is essential for spatial decision-making such as urban planning, transportation planning, and disaster response. Comparing and updating map data can provide decision makers with the latest and most accurate information to support more informed decisions. For users of maps, accurate and updated map data means a better navigation experience, more accurate location services, and less misleading. This helps to improve user satisfaction and trust in map applications. With the continuous development of geographic information technology, more and more applications rely on accurate map data. Comparing and updating map data can provide more reliable basic data for these applications and promote data-driven application development and innovation. For enterprises and organizations that rely on map data, accurate map data can reduce misoperation, waste of resources, and unnecessary risks caused by data errors. This helps to reduce operating costs and improve operational efficiency.

[0113] When specifically applied, this includes:

[0114] Step 81, connect to the map database, use SQL query, and retrieve the corresponding initial map data according to the identification of the measurement area. Load the retrieved map data into the memory, read the target point coordinate data, which comes from the external file. Convert the target point coordinate data to the same coordinate system as the map data (if they are not originally in the same coordinate system). Use the function of the map drawing library to overlay the target point coordinates on the initial map data to form a visual layer.

[0115] Step 82, traverse the coordinates of each target point, and for each point, use the spatial query method to find the nearest geographical element (such as road, building, etc.) to the point in the map data. Calculate the straight-line distance between the target point and the nearest geographical element as: ;in, Indicates the coordinates of the target point; Represents the coordinates of any geographic feature on a map. Determines the direction (such as north, northeast, east, etc.) of a target point relative to the nearest geographic feature. Stores the calculated distance and direction information in a data structure, such as a list, array, or database table, for subsequent analysis.

[0116] Step 83, based on the distance and orientation relationship calculated in step 82, set a distance threshold and orientation tolerance. Traverse each target point to determine whether its distance to the nearest geographic element is within the threshold range and whether the orientation relationship is as expected. If a target point meets the above conditions, it is marked as a point that matches the existing geographic element on the map. If it does not meet the conditions, it is marked as an unmatched point. The information of the matched and unmatched target points is stored separately to form a comparison result.

[0117] Step 84, for the target points marked as matched, determine the update strategy (such as position fine-tuning, attribute update, etc.) according to the specific matching between the target points and the geographic elements on the map. Use the update function of the map editing tool to modify the map data accordingly. Verify the data of the unmatched target points to ensure that the coordinate data of these points are accurate. Review the data collection process to check for any possible errors or anomalies. If possible, organize a field survey to confirm the actual situation of the unmatched target points. Through field surveys, understand the specific environment, surrounding facilities and actual geographic elements that these points may represent. Analyze the reasons for the mismatch of these points, such as the failure to update the map data in a timely manner, or the emergence of new geographic features (such as new buildings, road changes, etc.). Consider whether it is necessary to add these newly discovered geographic elements to the map data. Based on the above analysis, decide whether it is necessary to add new geographic elements to the map. If it is determined that it is necessary to add, collect the necessary information, such as the type, attribute, location, etc. of the geographic element. According to the decision, integrate the new geographic element information into the map data. Ensure that the newly added data is consistent and accurate with the existing map data. Feedback the updated map data to relevant departments and users so that they can understand the latest geographic information. Continuously iterate and optimize map data based on user feedback and actual needs.

[0118] like Figure 2 As shown, an embodiment of the present invention further provides a municipal engineering measurement and positioning system 20, comprising:

[0119] The setting module 21 is used to set reference points in the measurement area and perform initial positioning;

[0120] The transmitting module 22 is used to obtain the coordinates of the reference point using the positioning system, and install a laser ranging device on the reference point to transmit a laser beam to the target point in the measurement area;

[0121] The receiving module 23 is used to receive the reflected laser beam through the laser distance measuring device and measure the round trip time of the laser beam to calculate the distance between the target point and the reference point;

[0122] An initialization module 24, for initializing a solution set according to the coordinates of the reference point and the measured distance between the target point and the reference point, each solution representing a target point coordinate;

[0123] A processing module 25 is used to process the initialized solution set, including mutation and crossover operations, to generate a new candidate solution set;

[0124] Evaluation module 26 is used to evaluate the new candidate solutions according to the fitness function to obtain the evaluation results, and enter the screened solutions into the next generation solution set according to the evaluation results; repeat the mutation, crossover and selection operations until the preset number of iterations is reached, determine the final solution from the final solution set according to the fitness of the solution, and use the final solution as the target point coordinates;

[0125] The comparison module 27 is used to compare the coordinates of the target point with the initial map data and update the map data according to the comparison result.

[0126] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0127] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0128] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0129] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A municipal engineering measurement and positioning method, characterized in that: The method comprises: Set reference points in the measurement area and perform initial positioning; The coordinates of the reference point are obtained by using the positioning system, and a laser distance measuring device is installed on the reference point to emit a laser beam to the target point in the measurement area; The reflected laser beam is received by a laser ranging device, and the round trip time of the laser beam is measured to calculate the distance between the target point and the reference point; Initialize a solution set according to the coordinates of the reference point and the measured distance between the target point and the reference point, each solution represents the coordinates of a target point; Process the initialized solution set, including mutation and crossover operations, to generate a new candidate solution set; Evaluate the new candidate solutions according to the fitness function to obtain the evaluation results, and enter the screened solutions into the next generation solution set according to the evaluation results; Repeat the mutation, crossover and selection operations until the preset number of iterations is reached, determine the final solution from the final solution set according to the fitness of the solution, and use the final solution as the target point coordinates; Compare the target point coordinates with the initial map data, and update the map data based on the comparison results.

2. The municipal engineering measurement and positioning method according to claim 1, characterized in that: The coordinates of the reference point are obtained by using the positioning system, and a laser ranging device is installed on the reference point to emit a laser beam to the target point in the measurement area, including: Open the positioning system device and obtain the coordinate data of the reference point, including longitude, latitude and altitude; Turn on the laser distance measuring device installed on the reference point and adjust the emission angle and direction of the laser beam; The laser distance measuring device is triggered to emit a laser beam to the target point within the measurement area.

3. The municipal engineering measurement and positioning method according to claim 2, characterized in that: The distance calculation formula between the target point and the reference point is: ; in, Indicates the distance between the target point and the reference point; represents the speed of light; represents the laser round trip time; Indicates the electronic delay time inside the laser ranging device; Represents the width of the laser pulse; Indicates the relative impact deviation of ambient temperature changes on the speed of light; The relative speed between the laser ranging device and the target; represents the coefficient; represents the atmospheric density; represents the laser scattering coefficient; Indicates the distance between the laser beam and the target point.

4. The municipal engineering measurement and positioning method according to claim 3 is characterized in that: The initialized solution set is processed, including mutation and crossover operations, to generate a new candidate solution set, including: For each solution in the initial solution set, differential evolution is used to perform mutation operations, and two or more solutions are randomly selected from the mutated solution set as parents; Perform crossover operations on the parent solutions to generate new candidate solutions; The new candidate solutions generated by the mutation operation and the crossover operation are merged into a new set to generate a new candidate solution set.

5. The municipal engineering measurement and positioning method according to claim 4, characterized in that: The differential evolution formula is: ; in, The new candidate solution Quantity; Represents the index of the new candidate solution; Represents the specific components of the new candidate solution; , , , , , , represents the individual selected from the solution set Quantity; , represents the scaling factor; Represents the adjustment coefficient.

6. The municipal engineering measurement and positioning method according to claim 5, characterized in that: The calculation formula of the fitness function is: ; in, Represents a candidate solution The fitness value of The actual distance between the target point and the reference point measured by a laser distance measuring device; , , Represents the three-dimensional coordinates of the reference point; Represents a small positive number; , Represent the weights of angle deviation and terrain cost respectively; represents the angle between the laser beam and the line connecting the candidate solution and the reference point; Representing coordinates The terrain height value at ; Representing coordinates The average terrain height of the surrounding neighboring points.

7. The municipal engineering measurement and positioning method according to claim 6, characterized in that: Compare the target point coordinates with the initial map data and update the map data based on the comparison results, including: Obtaining initial map data of the survey area from a map database, and superimposing the target point coordinates on the initial map data; Compare the target point coordinates with the existing geographic features on the map, and record the distance and direction relationship between each target point and the nearest geographic feature; By comparing, the target points that match the existing geographic elements on the map are identified, and the target points that do not match the elements on the map are marked to obtain the comparison results; For target points that match existing features on the map, the map data is updated based on the comparison results.

8. A municipal engineering measurement and positioning system, characterized in that: include: A setting module is used to set reference points in the measurement area and perform initial positioning; The transmitting module is used to obtain the coordinates of the reference point by using the positioning system, and install a laser ranging device on the reference point to transmit a laser beam to the target point in the measurement area; A receiving module, used for receiving the reflected laser beam through the laser ranging device and measuring the round trip time of the laser beam to calculate the distance between the target point and the reference point; An initialization module is used to initialize a solution set according to the coordinates of the reference point and the measured distance between the target point and the reference point, each solution representing the coordinates of a target point; A processing module is used to process the initialized solution set, including mutation and crossover operations, to generate a new candidate solution set; The evaluation module is used to evaluate the new candidate solutions according to the fitness function to obtain the evaluation results, and enter the screened solutions into the next generation solution set according to the evaluation results; repeat the mutation, crossover and selection operations until the preset number of iterations is reached, and then determine the final solution from the final solution set according to the fitness of the solution, and use the final solution as the target point coordinates; The comparison module is used to compare the target point coordinates with the initial map data and update the map data according to the comparison results.

9. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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