Coordinate system conversion method, system, device and storage medium

Abstract

The present application provides a coordinate system conversion method, system, device and storage medium, which relates to the field of surveying and mapping technology. The method includes: obtaining a first coordinate type of multiple coordinate systems to be converted and a second coordinate type of a target coordinate system set by a user; combining the first coordinate type and the second coordinate type, determining the conversion parameters of each coordinate system to be converted; according to the conversion parameters, converting each coordinate system to be converted into a target coordinate system, and converting the first coordinate point under each coordinate system to be converted into a second coordinate point under the target coordinate system; determining the geographic feature parameters associated with each coordinate system to be converted according to the geographic location information of the area corresponding to each coordinate system to be converted; combining the geographic feature parameters and the coordinate system association matrix, adjusting each second coordinate point to generate a target coordinate point. The technical effect of the present application is that the relative position relationship between the coordinate points after the coordinate system conversion is consistent with the original relationship before the conversion.

Description

Technical Field

[0001] The present application relates to the field of surveying and mapping technology, and in particular to a coordinate system conversion method, system, device and storage medium. Background Art

[0002] With the development of modern science and technology, various complex engineering projects such as space launch, port construction, urban planning, etc. increasingly involve the use of multiple coordinate systems. In these projects, it is often necessary to convert coordinate points in different coordinate systems to achieve data sharing and integration. However, due to the complex relationships between different coordinate systems, how to maintain these relationships during the coordinate conversion process and ensure the accuracy and consistency of the conversion results has become a technical problem that needs to be solved urgently.

[0003] In the prior art, the conversion between multiple coordinate systems is generally handled by converting them separately. Specifically, the conversion parameters between each coordinate system and the target coordinate system are first determined, and then the coordinate points in each coordinate system are converted to the target coordinate system according to these conversion parameters. Although this method can realize the conversion of coordinates, it ignores the relationship between different coordinate systems. The relative position relationship between the converted coordinate points may be inconsistent with the original relationship before the conversion, which leads to the distortion of the conversion result and affects the subsequent data analysis and application. Summary of the invention

[0004] The present application provides a coordinate system conversion method, which is used to make the relative position relationship between coordinate points after coordinate system conversion consistent with the original relationship before conversion.

[0005] In a first aspect, the present application provides a coordinate system conversion method, the method comprising: obtaining a first coordinate type of multiple coordinate systems to be converted and a second coordinate type of a target coordinate system set by a user, wherein each of the coordinate systems to be converted is associated with each other through a preset coordinate system association matrix; combining the first coordinate type and the second coordinate type, determining the conversion parameters of each of the coordinate systems to be converted; according to the conversion parameters, converting each of the coordinate systems to be converted into the target coordinate system, and converting the first coordinate point under each of the coordinate systems to be converted into a second coordinate point under the target coordinate system; obtaining geographic location information of an area corresponding to each of the coordinate systems to be converted, and determining geographic feature parameters associated with each of the coordinate systems to be converted according to the geographic location information; combining the geographic feature parameters and the coordinate system association matrix, adjusting each of the second coordinate points to generate a target coordinate point.

[0006] By adopting the above technical solution, the present invention uses a coordinate system association matrix to establish an association relationship between multiple coordinate systems to be converted, and determines geographic feature parameters in combination with geographic location information. In the coordinate conversion process, not only the conversion rules between coordinate types are considered, but also the influence of regional geographic features is introduced. This dual constraint mechanism based on the association matrix and geographic feature parameters enables the second coordinate point to fully consider the spatial relationship between regions during the adjustment process, so that the generated target coordinate point not only meets the mathematical requirements of the coordinate system conversion, but also maintains the geometric relationship between the original coordinate points. This solution is particularly suitable for coordinate conversion in cross-regional projects, and can effectively solve the problem of coordinate discontinuity at the border of regions, and improve the overall accuracy and reliability of coordinate conversion.

[0007] Optionally, the combination of the first coordinate type and the second coordinate type to determine the transformation parameters of each coordinate system to be transformed includes: obtaining a coordinate system transformation matrix and a coordinate system translation vector between each coordinate system to be transformed and the target coordinate system; using the coordinate system transformation matrix and the coordinate system translation vector as transformation parameters of each coordinate system to be transformed; wherein the coordinate system transformation matrix is ​​used to characterize the rotation and scaling relationship of each coordinate system to be transformed relative to the target coordinate system, and the coordinate system translation vector is used to characterize the translation relationship of the coordinate system to be transformed relative to the target coordinate system.

[0008] By adopting the above technical solution, the transformation parameters are determined by introducing the coordinate system transformation matrix and the coordinate system translation vector. This solution decomposes the spatial transformation relationship between coordinate systems into three basic elements: rotation, scaling, and translation. The coordinate system transformation matrix contains the rotation angle and scale factor information, which can accurately describe the angle and scale changes between the coordinate system to be transformed and the target coordinate system; the coordinate system translation vector reflects the positional relationship between the origins of the two coordinate systems. This parameter decomposition method makes the coordinate transformation process clearer and more controllable, and facilitates the analysis and adjustment of the influence of various transformation factors on the transformation accuracy. It also provides a reliable mathematical basis for subsequent error analysis and accuracy evaluation.

[0009] Optionally, the geographic location information includes longitude, latitude and elevation information, and determining the geographic feature parameters associated with each coordinate system to be converted based on the geographic location information includes: calculating the earth's radius of curvature of the area corresponding to each coordinate system to be converted based on the longitude and latitude information; calculating the elevation anomaly correction value of the area corresponding to each coordinate system to be converted based on the elevation information; and using the earth's radius of curvature and the elevation anomaly correction value as the geographic feature parameters associated with each coordinate system to be converted.

[0010] By adopting the above technical solution, by calculating the earth curvature radius and elevation anomaly correction value as geographic feature parameters, the influence of the earth's ellipsoidal surface characteristics and regional elevation changes on coordinate conversion is effectively considered. The earth's curvature radius reflects the curvature characteristics of the earth's surface at different longitudes and latitudes, while the elevation anomaly correction value compensates for the elevation system differences caused by the irregular distribution of the earth's gravity field. The introduction of these two parameters makes the coordinate conversion process more in line with the actual geographical environment characteristics. Especially in engineering projects spanning large areas, due to the significant cumulative effect of the earth's curvature and gravity field differences, the use of this correction method based on geographic feature parameters can significantly improve the accuracy of coordinate conversion and reduce the systematic errors caused by the earth's curvature and elevation anomalies.

[0011] Optionally, calculating the earth's curvature radius of the area corresponding to each coordinate system to be converted based on the longitude and latitude information includes: obtaining the longitude and latitude information of multiple feature points of the area corresponding to each coordinate system to be converted, and constructing a longitude and latitude sample matrix of the area corresponding to each coordinate system to be converted based on the longitude and latitude information of the multiple feature points; fitting the longitude and longitude sample matrix using a preset curvature fitting algorithm to obtain an earth's curvature radius function of the area corresponding to each coordinate system to be converted; substituting the longitude and latitude of the center point of the area corresponding to each coordinate system to be converted into the earth's curvature radius function to calculate the earth's curvature radius of the area corresponding to each coordinate system to be converted.

[0012] By adopting the above technical solution, by constructing a latitude and longitude sample matrix and using a curvature fitting algorithm to obtain the earth's curvature radius, an accurate description of the regional curvature characteristics is achieved. By collecting the latitude and longitude information of multiple feature points to construct a sample matrix, the spatial distribution characteristics of the area corresponding to the coordinate system to be converted can be fully reflected; the earth's curvature radius function is established using a curvature fitting algorithm, which can accurately characterize the continuous change law of the curvature in the region; finally, the center point of the region is selected to calculate the curvature radius, which not only ensures the representativeness of the calculation results, but also avoids the errors caused by extreme points. Compared with the traditional single-point calculation method, this curvature calculation method based on sample fitting can more accurately reflect the overall curvature characteristics of the region and provide more reliable geographic parameter support for subsequent coordinate conversion.

[0013] Optionally, calculating the elevation anomaly correction value of each area corresponding to the coordinate system to be converted based on the elevation information includes: obtaining the elevation values ​​of multiple known elevation points in the area corresponding to each coordinate system to be converted; comparing the elevation values ​​of the multiple known elevation points with preset standard elevation values ​​to obtain the elevation anomaly value of each known elevation point; and calculating the elevation anomaly correction value of each area corresponding to the coordinate system to be converted by using a preset spatial interpolation method based on the elevation anomaly value of each known elevation point.

[0014] By adopting the above technical solution, the accurate correction of regional elevation anomalies is achieved through comparative analysis and spatial interpolation calculation of multiple known elevation points and standard elevation values. By collecting the measured values ​​of multiple known elevation points and comparing them with the standard elevation values, the elevation system differences in the region can be effectively identified; by spatially interpolating the abnormal values ​​of the known elevation points, the continuous elevation anomaly distribution characteristics of the entire region can be obtained. This elevation anomaly calculation method based on measured data and spatial interpolation can accurately reflect the impact of changes in the gravity field and terrain undulations on the elevation in the region, thereby providing a more accurate elevation correction basis for the coordinate conversion process and effectively reducing the coordinate conversion error caused by differences in the elevation system.

[0015] Optionally, the combining of the geographic feature parameters and the coordinate system association matrix to adjust each second coordinate point to generate a target coordinate point includes: obtaining a coordinate system relative position parameter in the coordinate system association matrix, the coordinate system relative position parameter being used to characterize the relative position relationship between each coordinate system to be converted; calculating an adjustment amount of each second coordinate point based on the coordinate system relative position parameter and the geographic feature parameters; superimposing the adjustment amount of each second coordinate point on the corresponding second coordinate point to obtain an adjusted target coordinate point; wherein the relative position relationship between each coordinate point in the target coordinate point is consistent with the relative position relationship between the first coordinate points in each coordinate system to be converted.

[0016] By adopting the above technical solution, by introducing the relative position parameters of the coordinate system and calculating the adjustment amount in combination with the geographic feature parameters, accurate adjustment of the converted coordinate points is achieved. The relative position parameters of the coordinate system reflect the spatial correlation between the coordinate systems to be converted. Combined with the geographic feature parameters, the coordinate point adjustment amount considering the influence of the geographic environment can be accurately calculated; the process of superimposing the adjustment amount on the second coordinate point to obtain the target coordinate point not only ensures the mathematical correctness of the coordinate conversion, but also maintains the original relative position relationship between the coordinate points. This coordinate adjustment method based on the association matrix and geographic features effectively solves the problem of geometric relationship distortion between coordinate points in the traditional conversion method, so that the final conversion result not only meets the consistency requirements of the coordinate system, but also maintains the position relationship between spatial entities.

[0017] Optionally, after adjusting each of the second coordinate points to generate a target coordinate point, the method further includes: obtaining a control point grid of an area corresponding to each of the coordinate systems to be converted, the control point grid including a plurality of control points, each of the control points having a preset coordinate value; constructing a geometric constraint condition between the coordinate value of the target coordinate point and the coordinate value of the control point according to a spatial position relationship between the target coordinate point and the control point; adjusting the coordinate value of the target coordinate point according to the geometric constraint condition to obtain an adjusted target coordinate point, and outputting the adjusted target coordinate point as a final coordinate conversion result.

[0018] By adopting the above technical solution, the coordinate transformation results are further optimized by introducing the control point grid and establishing geometric constraints for adjustment processing. By establishing the regional coordinate benchmark by presetting the control point grid and constructing the geometric constraints using the spatial position relationship between the target coordinate point and the control point, the overall accuracy of the coordinate transformation can be effectively constrained; by performing adjustment calculations on the target coordinate point, the accumulated random errors in the transformation process can be reasonably distributed and eliminated. This optimization method based on the control grid and adjustment calculation not only improves the overall accuracy of the coordinate transformation, but also ensures the consistency between the transformation results and the known control points, making the final output coordinate value more reliable and stable.

[0019] In a second aspect, the present application provides a coordinate system conversion system, the system comprising: a first acquisition module, a first combination module, a conversion module, a second acquisition module and a second combination module; wherein the first acquisition module is used to acquire a first coordinate type of multiple coordinate systems to be converted and a second coordinate type of a target coordinate system set by a user, wherein each of the coordinate systems to be converted is associated with each other through a preset coordinate system association matrix; the first combination module is used to combine the first coordinate type and the second coordinate type to determine the conversion parameters of each of the coordinate systems to be converted; the conversion module is used to convert each of the coordinate systems to be converted into the target coordinate system according to the conversion parameters, and convert the first coordinate point under each of the coordinate systems to be converted into the second coordinate point under the target coordinate system; the second acquisition module is used to acquire the geographical location information of the area corresponding to each of the coordinate systems to be converted, and determine the geographical feature parameters associated with each of the coordinate systems to be converted according to the geographical location information; the second combination module is used to combine the geographical feature parameters and the coordinate system association matrix to adjust each of the second coordinate points to generate a target coordinate point.

[0020] In a third aspect, the present application provides an electronic device that adopts the following technical solution: it includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes a computer program such as any of the above-mentioned coordinate system conversion methods.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: storing a computer program that can be loaded by a processor and execute any of the above-mentioned coordinate system conversion methods.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] The present invention uses a coordinate system association matrix to establish an association relationship between multiple coordinate systems to be converted, and determines geographic feature parameters in combination with geographic location information. In the coordinate conversion process, not only the conversion rules between coordinate types are considered, but also the influence of regional geographic features is introduced. This dual constraint mechanism based on the association matrix and geographic feature parameters enables the second coordinate point to fully consider the spatial relationship between regions during the adjustment process, so that the generated target coordinate point not only meets the mathematical requirements of the coordinate system conversion, but also maintains the geometric relationship between the original coordinate points. This solution is particularly suitable for coordinate conversion in cross-regional projects, and can effectively solve the problem of coordinate discontinuity at the border of regions, improving the overall accuracy and reliability of coordinate conversion. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flowchart of a coordinate system conversion method provided in an embodiment of the present application;

[0025] Figure 2 It is a structural schematic diagram of a coordinate system conversion system provided in an embodiment of the present application;

[0026] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0027] Description of reference numerals: 1000, electronic device; 1001, processor; 1002, communication bus; 1003, user interface; 1004, network interface; 1005, memory. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0029] In the description of the embodiments of the present application, words such as "illustrative", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "illustrative", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "illustrative", "for example" or "for example" is intended to present related concepts in a concrete way.

[0030] Figure 1 is a flow chart of a coordinate system conversion method provided in an embodiment of the present application. Figure 1 As shown, the method includes S101-S105:

[0031] S101, obtaining a first coordinate type of a plurality of coordinate systems to be converted and a second coordinate type of a target coordinate system set by a user, wherein the coordinate systems to be converted are associated with each other through a preset coordinate system association matrix.

[0032] Specifically, before performing the coordinate system conversion, it is first necessary to obtain the first coordinate type of the coordinate system to be converted and the second coordinate type of the target coordinate system set by the user. In actual engineering applications, engineering projects constructed in different regions or at different times may use different coordinate systems. For example, the A dock of a port uses the Beijing 54 coordinate system, the B dock uses the Xi'an 80 coordinate system, and the C dock uses the CGCS2000 coordinate system. There are complex spatial relationships between these coordinate systems, and direct independent conversion may cause the positional relationship between the regions to change. Therefore, this embodiment introduces a coordinate system association matrix to describe the association relationship between the coordinate systems to be converted, ensuring that the original spatial relationship between the regions is maintained during the coordinate conversion process.

[0033] The coordinate system to be converted refers to the original coordinate system that needs to be converted. Taking the port project as an example, it includes the Beijing 54 coordinate system of Terminal A, the Xi'an 80 coordinate system of Terminal B, and the CGCS2000 coordinate system of Terminal C. Each coordinate system to be converted has its specific origin, reference plane, and projection method, which together constitute the defining characteristics of the coordinate system.

[0034] The target coordinate system is the final coordinate system specified by the user to which all coordinate systems to be converted need to be converted. In practical applications, a newer coordinate system is usually selected as the target coordinate system, such as the CGCS2000 coordinate system, which can facilitate docking with modern surveying and mapping systems and improve the versatility of data.

[0035] The coordinate system association matrix is ​​used to describe the spatial association relationship between the coordinate systems to be transformed.

[0036] Specifically, this is an n×n square matrix (n is the number of coordinate systems to be converted), and each element aij in the matrix represents the relationship between the i-th coordinate system and the j-th coordinate system. Take the port project as an example:

[0037] Among them, a12 (a21) may include the spatial constraint information of the oil pipeline shared by Terminal A and Terminal B, such as the connection point coordinates and direction angles of the pipeline;

[0038] a23(a32) may include geometric parameters of rail transit between Terminal B and Terminal C, such as track centerline, curvature, etc.;

[0039] a13(a31) may include the node position relationship of the power supply system shared by three terminals.

[0040] Through this association matrix, the system can consider the constraints between multiple coordinate systems when performing coordinate transformation, ensuring that the transformed coordinate points not only meet the transformation requirements of each coordinate system, but also maintain the original spatial relationship between the coordinate systems. For example, when transforming the coordinates of the oil pipeline connection, the system will refer to the constraints in the a12 element to ensure that the transformed pipeline connection points maintain the correct position relationship in both dock coordinate systems.

[0041] S102: Determine conversion parameters of each coordinate system to be converted by combining the first coordinate type and the second coordinate type.

[0042] Conversion parameters are the key mathematical descriptions for realizing coordinate conversion between different coordinate systems. They include translation parameters (ΔX, ΔY, ΔZ), rotation parameters (ωx, ωy, ωz) and scale parameters (k). Taking the port project as an example, when the Beijing 54 coordinate system of Terminal A needs to be converted to the CGCS2000 coordinate system, the translation parameters need to be determined first by calculating the relative position between the origins of the two coordinate systems through known common points (such as astronomical reference points), such as ΔX=-24.15 meters, ΔY=123.78 meters, ΔZ=18.92 meters; then the rotation angle is calculated using the difference in the reference ellipsoid parameters to obtain the rotation parameters, such as ωx=2.35", ωy=-1.87", ωz=3.42"; finally, the scale parameters are determined according to the proportional relationship between the two coordinate systems, such as k=1.000002483. These parameters together constitute the mathematical model of coordinate conversion, and points in one coordinate system can be converted to another coordinate system through matrix operations.

[0043] In specific applications, assuming that the facility point P1 (X1, Y1, Z1) on Pier A needs to be converted to the point P2 (X2, Y2, Z2) in the CGCS2000 coordinate system, the coordinate conversion can be achieved through the conversion matrix R (a 3×3 matrix consisting of rotation parameters), the scale factor k, and the translation vector. To ensure the accuracy of the conversion parameters, control points need to be evenly distributed in the project area. These points have accurate coordinates in both coordinate systems. Then, the least squares adjustment method is used to calculate the conversion parameters and the parameter accuracy is evaluated through residual analysis. At the same time, the parameter accuracy threshold is set (such as position accuracy ±5mm). The reliability of the conversion parameters is verified by verification points, and the coordinate consistency of the shared facilities is checked in particular, and the degree of compliance of the conversion results with the project requirements is analyzed.

[0044] In one example, it is first necessary to obtain the coordinate system transformation matrix and coordinate system translation vector between each coordinate system to be transformed and the target coordinate system. Among them, the coordinate system transformation matrix is ​​used to characterize the rotation and scaling relationship of the coordinate system to be transformed relative to the target coordinate system. Taking three-dimensional coordinate transformation as an example, the transformation matrix is ​​usually a 3×3 matrix, and its elements are determined by the rotation angle and scale factor between the two coordinate systems. At the same time, the coordinate system translation vector is used to characterize the translation relationship of the coordinate system to be transformed relative to the target coordinate system. It is a three-dimensional vector that contains the displacement of the coordinate origin in three directions.

[0045] The process of determining the conversion parameters uses a rigorous mathematical model. For example, when the first coordinate type is Gaussian plane rectangular coordinates (X, Y, Z) and the second coordinate type is geodetic coordinates (B, L, H), it is necessary to consider factors such as projection transformation and ellipsoid parameter transformation. The system first establishes the observation equation through known control points (points with exact coordinates in both coordinate systems), and then uses the least squares adjustment method to solve the conversion parameters. In the solution process, the weight distribution of the control points also needs to be considered to ensure the reliability of the calculation results.

[0046] In order to improve the accuracy of the conversion parameters, this embodiment also considers the constraints in the coordinate system association matrix during the parameter solution process. For example, for the control points in the shared facility area, the corresponding constraints are introduced when establishing the observation equation according to the spatial constraint relationship recorded in the association matrix. This ensures that the conversion parameters not only meet the conversion requirements of a single coordinate system, but also maintain the spatial association relationship between multiple coordinate systems.

[0047] Taking the port project as an example, when using these parameters for coordinate conversion, the facility coordinates of Terminal A can be accurately converted from the Beijing 54 coordinate system to the CGCS2000 coordinate system. The converted coordinate points not only maintain the spatial relationship with the shared facilities of Terminals B and C, but also meet the accuracy requirements of engineering construction.

[0048] Based on the above embodiment, as an optional implementation, in S102, combining the first coordinate type and the second coordinate type, determining the conversion parameters of each coordinate system to be converted specifically includes S201-S202:

[0049] S201, obtaining a coordinate system transformation matrix and a coordinate system translation vector between each coordinate system to be transformed and a target coordinate system.

[0050] Specifically, taking the port project as an example, the coordinates of Pier A and Pier B, which use the Beijing 54 coordinate system and Xi'an 80 coordinate system respectively, need to be uniformly converted to the CGCS2000 coordinate system. In order to obtain accurate conversion parameters, a GPS control network is first laid out in the project area, and control points are set at locations with stable terrain and good visibility. Each area to be converted has no less than 4 control points, and it is ensured that these points have high-precision coordinate values ​​in both the original coordinate system and the target coordinate system.

[0051] High-precision GNSS receivers are used for observation to obtain the three-dimensional coordinates of the control points in the CGCS2000 coordinate system, and the coordinate values ​​of these points in the original coordinate system are collected. Based on the coordinate data of the same-name points, the Bursa-Wolf seven-parameter transformation model is used to obtain the transformation matrix R and the translation vector T through least squares adjustment calculation. The transformation matrix R contains the information of three rotation angles (ωx, ωy, ωz) and the scale factor k, while the translation vector T contains the translation of the origin of the coordinate system (ΔX, ΔY, ΔZ). In order to improve the reliability of the parameters, a gross error detection mechanism is introduced in the calculation process, and suspicious observations are identified and eliminated through the data detection algorithm.

[0052] For example, in the A dock area, the accuracy of the transformation matrix calculated by 8 control points is better than 0.1", and the translation vector accuracy reaches ±5mm; the transformation parameters of similar accuracy are obtained by 6 control points in the B dock area. At the same time, in order to verify the validity of the transformation parameters, several check points are set in the project area. By comparing the difference between the converted coordinates of the check points and the actual measured coordinates, the reliability of the transformation parameters is evaluated.

[0053] S202, using the coordinate system transformation matrix and the coordinate system translation vector as transformation parameters of each coordinate system to be transformed; wherein the coordinate system transformation matrix is ​​used to characterize the rotation and scaling relationship of each coordinate system to be transformed relative to the target coordinate system, and the coordinate system translation vector is used to characterize the translation relationship of the coordinate system to be transformed relative to the target coordinate system.

[0054] Specifically, taking port engineering as an example, for the conversion of the Beijing 54 coordinate system to the CGCS2000 coordinate system of Pier A, the transformation matrix Ra contains three basic rotation matrices and the scale factor ka, which is specifically expressed as: Ra=ka·Rz(ωz)·Ry(ωy)·Rx(ωx), where Rx, Ry, and Rz represent the rotation matrices around the X-axis, Y-axis, and Z-axis, ωx=2.35", ωy=-1.87", ωz=3.42", ka=1.000002483; the translation vector Ta=[ΔX, ΔY, ΔZ]T=[-24.15m, 123. 78m, 18.92m]T. For the Xi'an 80 coordinate system of Pier B, the transformation matrix Rb and translation vector Tb are also established. These transformation parameters are obtained through least squares adjustment calculation, where the transformation matrices Ra and Rb respectively describe the rotation and scaling relationship between the two coordinate systems to be transformed and the CGCS2000 coordinate system, and the translation vectors Ta and Tb reflect the relative position relationship between the origins of the coordinate systems. In order to ensure the practicality and reliability of the parameters, the system establishes a parameter management database, stores the transformation parameters of each coordinate system in a standard format, and records the accuracy information and applicable range of the parameters.

[0055] In practical applications, when the coordinates of a control point P1 (X1, Y1, Z1) of an oil pipeline at Terminal A need to be converted, the system automatically calls the corresponding transformation matrix Ra and translation vector Ta, and calculates the coordinates P2 (X2, Y2, Z2) of the point in the CGCS2000 coordinate system through the coordinate conversion formula P2=Ra·P1+Ta.

[0056] S103: Convert each coordinate system to be converted into a target coordinate system according to the conversion parameter, and convert the first coordinate point in each coordinate system to be converted into a second coordinate point in the target coordinate system.

[0057] In one example, for the first coordinate point in each coordinate system to be transformed, the coordinate transformation is performed using the coordinate system transformation matrix and the translation vector according to the previously determined transformation parameters. The transformation calculation can be expressed as: P2=R×P1+T, where P2 represents the second coordinate point in the target coordinate system, P1 represents the first coordinate point in the coordinate system to be transformed, R represents the transformation matrix, and T represents the translation vector. In actual calculations, coordinate type conversion also needs to be considered. For example, when converting Gaussian plane rectangular coordinates to geodetic coordinates, operations such as projection inversion and ellipsoid conversion are required.

[0058] In order to ensure the accuracy of the conversion, this embodiment introduces an iterative optimization mechanism in the conversion process. First, a rough conversion is performed to obtain the initial result, and then the conversion result is optimized and adjusted according to the spatial constraints recorded in the coordinate system association matrix. For example, when converting the coordinates of the connection points of the oil pipeline shared by Terminal A and Terminal B, the system will ensure that the converted connection points meet the positional relationship requirements in both terminal areas according to the constraints in the association matrix. If it is found that the conversion result deviates from the constraints, it is fine-tuned through iterative calculation until the preset accuracy requirements are met.

[0059] Numerical stability control measures are also used in the conversion process. Since coordinate conversion involves a large number of floating-point operations, numerical cumulative errors may occur. To this end, the system uses high-precision numerical calculation methods and sets up numerical verification mechanisms at key steps. For example, when calculating the coordinates of shared facility points, the system will convert from two adjacent coordinate systems at the same time and compare the consistency of the results. If the difference exceeds the allowable range, the exception handling process will be initiated.

[0060] Taking the port project as an example, after the facility coordinates of Terminal A, Terminal B and Terminal C were uniformly converted to the CGCS2000 coordinate system, the spatial relationship between the terminals was well maintained. The position deviation of the oil pipeline connection was controlled at the millimeter level, the geometry of the rail transit remained smooth, and the layout structure of the power supply system was complete and unified.

[0061] S104, obtaining geographical location information of the area corresponding to each coordinate system to be converted, and determining geographical feature parameters associated with each coordinate system to be converted according to the geographical location information.

[0062] In one example, after completing the coordinate conversion, in order to further improve the accuracy and reliability of the conversion results, it is necessary to consider the influence of the geographical characteristics of the area where each coordinate system to be converted is located. This is because different geographical locations have unique geographical environment characteristics, such as gravity anomalies, crustal deformation, etc. These factors will have a small but non-negligible impact on the coordinate system.

[0063] Taking the port project as an example, Terminal A is located in a shallow sea area and is significantly affected by tides; Terminal B is close to the mountains and has large terrain fluctuations; Terminal C is located in a plain area and has relatively stable geology. These different geographical environmental characteristics will have different degrees of impact on the coordinate system and need to be corrected through geographical feature parameters. When obtaining specific geographic location information, a multi-source data fusion method is used, including topographic map data, satellite remote sensing images, geological survey data, etc. For example, a digital elevation model (DEM) is used to obtain terrain undulation information, gravity anomaly distribution is obtained through gravity measurement data, and geological drilling data is used to understand the characteristics of the stratigraphic structure.

[0064] Based on these basic data, the system calculates and determines the geographic characteristic parameters of each area. For the A wharf area, the focus is on the tidal influence coefficient and sea level change parameters; for the B wharf area, the focus is on calculating the terrain undulation correction coefficient and gravity anomaly; for the C wharf area, the main considerations are the stratum settlement parameters and crust deformation rate. In practical applications, these geographic characteristic parameters are associated with the coordinate transformation results through mathematical models to achieve fine correction of the transformation results.

[0065] For example, when processing the coordinates of shared facilities between Pier A and Pier B, the system will make appropriate adjustments to the conversion results based on the differences in the geographic feature parameters of the two areas to ensure that the final coordinate values ​​meet both the engineering accuracy requirements and the actual geographic environment characteristics.

[0066] Based on the above embodiment, as an optional implementation, in S104, the geographical location information includes longitude, latitude and altitude information, and determining the geographical feature parameters associated with each coordinate system to be converted according to the geographical location information specifically includes S401-S403:

[0067] S401, calculating the radius of curvature of the earth corresponding to each coordinate system to be converted according to the longitude and latitude information.

[0068] In one example, in the process of port engineering coordinate conversion, in order to improve the conversion accuracy, it is necessary to consider the impact of the earth's curvature on the coordinate value. Since the curvature of the earth's surface is not the same everywhere, it is necessary to calculate the actual curvature radius for different areas.

[0069] Taking the two terminals A and B as examples, we first selected multiple feature points in each terminal area. These points are mainly distributed at the locations of important engineering facilities and obvious terrain features. Specifically, 15 feature points were selected in the A terminal area, including the terminal front, yard boundary and pipeline node; 12 feature points were selected in the B terminal area, distributed in key locations such as loading and unloading areas, storage areas and transportation channels. These feature points were observed using a high-precision GNSS receiver to obtain their precise longitude and latitude coordinates. For example, the longitude of a feature point P1 at the A terminal is 118°45'36.8" and the latitude is 32°03'24.5"; the longitude of a feature point P2 at the B terminal is 118°46'42.3" and the latitude is 32°04'15.7". Based on the acquired longitude and latitude information of the feature points, the longitude and latitude sample matrices MA and MB of the A and B terminal areas are constructed respectively.

[0070] Taking Pier A as an example, its sample matrix MA is a 15×2 matrix, and each row contains the longitude and latitude values ​​of a feature point. The spherical least squares fitting algorithm is used to process the sample matrix and establish a curvature radius function model. The algorithm takes into account the geometric characteristics of the earth's ellipsoid surface and obtains the optimal fitting parameters through iterative calculation.

[0071] Specifically, the curvature radius function RA(φ, λ) of the A wharf area is expressed as: RA(φ, λ)=R0+a1(φ-φ0)+a2(λ-λ0)+a3(φ-φ0)(λ-λ0), where R0 is the reference curvature radius, φ0 and λ0 are the longitude and latitude of the center point of the area, and a1, a2, and a3 are fitting coefficients; similarly, the curvature radius function RB(φ, λ) of the B wharf area is obtained. Substitute the longitude and latitude of the center point of each wharf area into the corresponding curvature radius function to calculate the actual curvature radius of the area. For example, the longitude and latitude of the center point of the A terminal area are (118°45'48.5", 32°03'36.2"), and the calculated radius of curvature is 6378245.328 meters; the longitude and latitude of the center point of the B terminal area are (118°46'28.7", 32°04'08.9"), and the calculated radius of curvature is 6378246.156 meters.

[0072] S402: Calculate the elevation anomaly correction value of each area corresponding to the coordinate system to be converted according to the elevation information.

[0073] In one example, in the coordinate conversion process of the port project, in order to ensure the uniformity of the elevation benchmark and the conversion accuracy, the elevation anomalies in each area need to be accurately calculated and corrected. Taking the two terminals A and B as examples, the observation data of the known elevation points in each area are first collected. 12 known elevation points were selected in the A terminal area. These points are mainly distributed in key locations such as the front of the terminal, the yard benchmark point and the pipeline control point. Each point has a normal elevation value measured by leveling and a geodetic elevation value measured by GNSS.

[0074] For example, the level elevation of a certain oil pipeline control point P1 in the A terminal area is 8.456 meters, and the geodetic elevation is 8.892 meters; 10 known elevation points were selected in the B terminal area, distributed in the loading and unloading area benchmark points, storage area control points and other locations. For example, the level elevation of a certain loading and unloading area benchmark point P2 is 9.724 meters, and the geodetic elevation is 10.156 meters. These known elevation points are re-measured using a high-precision digital level to obtain the latest elevation observation values, which are compared with the standard elevation values ​​of the 2000 national elevation benchmark. By calculating the difference between the measured elevation value and the standard elevation value of each known elevation point, the elevation anomaly value of the point is obtained.

[0075] For example, the elevation anomaly value of the control point P1 of Pier A is -0.436 meters, and the elevation anomaly value of the benchmark point P2 of Pier B is -0.432 meters. In order to obtain a continuous elevation anomaly field in the entire project area, the Kriging spatial interpolation method is used for calculation. This method can take into account the spatial correlation of elevation anomalies and describe the variation law of elevation anomalies by constructing a semivariogram model.

[0076] In the specific implementation, according to the distribution characteristics of known elevation points, the semivariogram models of the A and B wharf areas were established respectively. The A wharf area adopted a spherical model with a range of 3.5 kilometers and a base value of 0.015m²; the B wharf area adopted an exponential model with a range of 3.2 kilometers and a base value of 0.012m². Through Kriging interpolation calculation, the elevation anomaly correction value field of the entire port engineering area was obtained.

[0077] S403: Using the earth curvature radius and the elevation anomaly correction value as geographic feature parameters associated with each coordinate system to be converted.

[0078] S105, combining the geographic feature parameters and the coordinate system association matrix, adjusting each second coordinate point to generate a target coordinate point.

[0079] In one example, after obtaining the geographic feature parameters, the converted second coordinate point needs to be further adjusted to generate the final target coordinate point. This is because the second coordinate point obtained by simple mathematical conversion may not fully consider the relationship between the geographic environment features and the coordinate system, and comprehensive analysis is needed to optimize the conversion result.

[0080] Taking the port project as an example, when processing the coordinates of the shared facilities of Terminal A, Terminal B and Terminal C, it is necessary not only to consider the influence of the geographical characteristics of each region, but also to maintain the geometric relationship between the facilities. The specific adjustment process adopts an iterative optimization algorithm. First, the objective function is constructed, which contains two parts: geographical characteristic parameter items and spatial constraint items. The geographical characteristic parameter items reflect the influence of environmental characteristics of each region, such as the tidal impact correction value of the Terminal A area and the terrain undulation correction coefficient of the Terminal B area; the spatial constraint items are based on the coordinate system association matrix, reflecting the positional relationship requirements between different facilities, such as the continuity conditions of the oil pipeline and the geometric morphology constraints of rail transit.

[0081] In actual calculations, the system first applies geographic feature parameters to each second coordinate point for preliminary correction, such as considering the tidal effect on the oil pipeline control point at Terminal A and the terrain undulation effect on the elevation point at Terminal B. Then, the associated coordinate points are optimized and adjusted as a whole according to the spatial constraint relationship recorded in the coordinate system association matrix. The optimization process uses the weighted least squares method, in which the weight coefficient is determined according to the reliability of the geographic feature parameters and the importance of the spatial constraints.

[0082] For example, for an oil pipeline that crosses Terminal A and Terminal B, the system will consider the geographical features of both areas and maintain the geometric continuity of the pipeline. Through multiple iterative calculations, the target coordinate point that meets all constraints is finally obtained.

[0083] Based on the above embodiment, as an optional implementation, in S105, combining the geographic feature parameters and the coordinate system association matrix, adjusting each second coordinate point, and generating the target coordinate point specifically includes S501-S503:

[0084] S501, obtaining coordinate system relative position parameters in a coordinate system association matrix, where the coordinate system relative position parameters are used to characterize the relative position relationship between the coordinate systems to be converted.

[0085] In one example, in the process of integrating the coordinate system of a port project, in order to establish the connection between different coordinate systems, it is necessary to construct and obtain the relative position parameters in the coordinate system association matrix. Taking docks A and B as examples, dock A uses the Beijing 54 coordinate system and dock B uses the Xi'an 80 coordinate system, which need to be uniformly converted to the CGCS2000 coordinate system. First, a 3×3 coordinate system association matrix M is established, and the matrix element mij represents the position parameter of the i-th coordinate system relative to the j-th coordinate system.

[0086] Specifically, for the Beijing 54 coordinate system of Pier A (denoted as system 1), the Xi'an 80 coordinate system of Pier B (denoted as system 2) and the target CGCS2000 coordinate system (denoted as system 3), the elements in the association matrix M include the relative translation, rotation angle and scale factor between the coordinate systems.

[0087] For example, m13 represents the position parameters of the Beijing 54 coordinate system relative to the CGCS2000 coordinate system, including the translation [ΔX13=-24.15m, ΔY13=123.78m, ΔZ13=18.92m], rotation angle [ωx13=2.35", ωy13=-1.87", ωz13=3.42"] and scale factor k13=1.000002483; m23 represents the position parameters of the Xi'an 80 coordinate system relative to the CGCS2000 coordinate system, including the translation [ΔX23=-18.92m, ΔY23=115.46m, ΔZ23=15.78m], rotation angle [ωx23=2.12", ωy23=-1.65", ωz23=3.28"] and scale factor k23=1.000002156. In particular, m12 represents the position parameters of the Beijing 54 coordinate system relative to the Xi'an 80 coordinate system, which are indirectly calculated using the known m13 and m23. In this way, the relative position relationship between the coordinate systems is fully recorded in the same association matrix. These relative position parameters are calculated using common control points within the two terminal areas, such as the intersection of oil pipelines, shared transportation channels, and other control points.

[0088] S502: Calculate the adjustment amount of each second coordinate point according to the relative position parameter of the coordinate system and the geographic feature parameter.

[0089] In one example, in a port project, in order to ensure the accuracy of coordinate conversion, it is necessary to adjust and calculate each second coordinate point according to the coordinate system relative position parameters and geographic feature parameters obtained above. Taking the data conversion of two docks A and B as an example, the position parameters in the established coordinate system association matrix M are used, combined with the curvature radius and elevation anomaly correction value of each area, to calculate the coordinate adjustment amount of each measurement point.

[0090] For the measuring point PA1 (X1, Y1, Z1) in the A wharf area, the calculation of its adjustment amount needs to consider three aspects: first, according to the relative position parameters in the association matrix, including the translation [ΔX13=-24.15m, ΔY13=123.78m, ΔZ13=18.92m], the rotation angle [ωx13=2.35", ωy13=-1.87", ωz13=3.42"] and the scale factor k13=1.000002483, the initial adjustment value of the point is calculated; secondly, the curvature radius RA=6378245.328m of the area is used for projection transformation correction; finally, the elevation anomaly correction value δHA=-0.436m of the location of the point is applied for elevation correction.

[0091] For the measurement point PB1 (X2, Y2, Z2) in the B wharf area, the corresponding position parameters, curvature radius RB = 6378246.156m and elevation anomaly correction value δHB = -0.432m are also used for adjustment calculation. The specific adjustment amount is calculated using a seven-parameter conversion model, combined with the Gaussian projection forward and inverse calculation formula, and the final adjustment value is obtained through iterative calculation. For example, for a pipeline control point at Wharf A, the calculated plane position adjustment is ΔP = (-0.125m, 0.236m), and the elevation adjustment is ΔH = -0.458m; for a loading and unloading area control point at Wharf B, the obtained plane position adjustment is ΔP = (-0.118m, 0.228m), and the elevation adjustment is ΔH = -0.446m.

[0092] S503, superimposing the adjustment amount of each second coordinate point on the corresponding second coordinate point to obtain an adjusted target coordinate point; wherein the relative position relationship between each coordinate point in the target coordinate point is consistent with the relative position relationship between the first coordinate points in each coordinate system to be converted.

[0093] In one example, after the adjustment amount calculation of each measuring point is completed, these adjustment amounts need to be superimposed on the corresponding second coordinate point to ensure that the converted target coordinate point not only meets the requirements of the unified coordinate system but also maintains the geometric relationship between the original measuring points.

[0094] Taking the data conversion of the two docks A and B as an example, for the second coordinate point PA1 (X1, Y1, Z1) in the A dock area, the calculated adjustment amount ΔPA1 (-0.125m, 0.236m, -0.458m) is superimposed on the original coordinates to obtain the target coordinate point P'A1 (X1-0.125m, Y1+0.236m, Z1-0.458m); for the second coordinate point PB1 (X2, Y2, Z2) in the B dock area, the adjustment amount ΔPB1 (-0.118m, 0.228m, -0.446m) is also superimposed to obtain the target coordinate point P'B1 (X2-0.118m, Y2+0.228m, Z2-0.446m).

[0095] Special attention is paid to the shared facilities at the junction of the two docks, such as the connecting section of the oil pipeline. The adjustment of adjacent measuring points needs to be superimposed to ensure the continuity of the pipeline. For example, the coordinate values ​​of the control points PA5 and PB3 at the intersection of the pipelines are P'A5 (3586324.865m, 552468.732m, 8.456m) and P'B3 (3586324.872m, 552468.738m, 8.458m) after adjustment. The relative position relationship between the two points is basically consistent with the original measurement data, and the maximum deviation does not exceed 6mm. Through this adjustment superposition method, the unified conversion of the coordinate system is achieved, while maintaining the geometric relationship between the original measurement points.

[0096] After adjusting each second coordinate point to generate the target coordinate point, the method further includes:

[0097] Obtain a control point grid corresponding to each coordinate system to be converted, wherein the control point grid includes multiple control points, and each control point has a preset coordinate value; construct a geometric constraint condition between the coordinate value of the target coordinate point and the coordinate value of the control point according to the spatial position relationship between the target coordinate point and the control point; adjust the coordinate value of the target coordinate point according to the geometric constraint condition to obtain the adjusted target coordinate point, and output the adjusted target coordinate point as the final coordinate conversion result.

[0098] In one example, after completing the preliminary coordinate transformation, in order to further improve the accuracy and reliability of the target coordinate points, it is necessary to use the existing control point grid for constrained adjustment. Taking the two docks A and B as examples, a triangular grid consisting of 15 control points is built in the A dock area. These control points are obtained by high-precision GPS-RTK measurement, and their coordinate values ​​are more accurate than ±2cm in the CGCS2000 coordinate system; a quadrilateral grid consisting of 12 control points is built in the B dock area, which also has high-precision known coordinate values. In order to introduce the constraints of these control grids into the coordinate transformation process, it is first necessary to clarify the spatial position relationship between the target coordinate points and the control points.

[0099] For example, the target coordinate point P'A1 of an oil pipeline at Terminal A is located in the triangle formed by control points C1, C2 and C3, and a geometric constraint based on area ratio can be established; the target coordinate point P'B1 of a loading and unloading area at Terminal B is located in the quadrilateral formed by control points C8, C9, C10 and C11, and a geometric constraint based on bilinear interpolation can be established.

[0100] Specifically, for the point P'A1 in the triangular mesh, its constraint condition can be expressed as: P'A1 = k1 × C1 + k2 × C2 + k3 × C3, where k1, k2, k3 are area ratio coefficients, and k1 + k2 + k3 = 1; for the point P'B1 in the quadrilateral mesh, its constraint condition can be expressed as: P'B1 = (1-u)(1-v)C8 + u(1-v)C9 + uvC10 + (1-u)vC11, where u and v are normalized parameter coordinates. Based on these geometric constraints, the indirect adjustment model is used for calculation. In the observation equation, the initial coordinates of the target coordinate point are taken as the observed value, and the coordinates of the control point are taken as the known value, and the optimal coordinate value is solved by the least squares principle. For example, for point P'A1, its coordinates before adjustment are (3586324.865m, 552468.732m, 8.456m), and its coordinates after constrained adjustment are (3586324.858m, 552468.728m, 8.452m), and the adjustment amount is at the centimeter level.

[0101] Based on the above method, the present application also discloses a coordinate system conversion system, such as Figure 2 As shown, Figure 2 It is a structural schematic diagram of a coordinate system conversion system provided by an embodiment of the present application, and the system includes: a first acquisition module, a first combination module, a conversion module, a second acquisition module and a second combination module; wherein the first acquisition module is used to acquire the first coordinate type of multiple coordinate systems to be converted and the second coordinate type of the target coordinate system set by the user, wherein each coordinate system to be converted is associated with each other through a preset coordinate system association matrix; the first combination module is used to combine the first coordinate type and the second coordinate type to determine the conversion parameters of each coordinate system to be converted; the conversion module is used to convert each coordinate system to be converted into a target coordinate system according to the conversion parameters, and convert the first coordinate point under each coordinate system to be converted into a second coordinate point under the target coordinate system; the second acquisition module is used to acquire the geographical location information of the area corresponding to each coordinate system to be converted, and determine the geographical feature parameters associated with each coordinate system to be converted according to the geographical location information; the second combination module is used to adjust each second coordinate point in combination with the geographical feature parameters and the coordinate system association matrix to generate a target coordinate point.

[0102] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0103] See also Figure 3 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0104] The communication bus 1002 is used to realize the connection and communication between these components.

[0105] The user interface 1003 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0106] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0107] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0108] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 3 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program of a coordinate system conversion method.

[0109] exist Figure 3In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call an application program storing a coordinate system conversion method in the memory 1005. When executed by one or more processors, the electronic device executes one or more methods described in the above embodiments.

[0110] An electronic device readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute one or more of the methods described in the above embodiments.

[0111] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0112] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0114] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0115] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0116] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0117] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A coordinate system conversion method, characterized in that: The method comprises: obtaining a first coordinate type of a plurality of coordinate systems to be converted and a second coordinate type of a target coordinate system set by a user, wherein the coordinate systems to be converted are associated with each other through a preset coordinate system association matrix; combining the first coordinate type and the second coordinate type, determining a conversion parameter of each coordinate system to be converted; According to the conversion parameters, each of the coordinate systems to be converted is converted into the target coordinate system, and a first coordinate point in each of the coordinate systems to be converted is converted into a second coordinate point in the target coordinate system; Acquire geographical location information of the area corresponding to each of the coordinate systems to be converted, and determine geographical feature parameters associated with each of the coordinate systems to be converted according to the geographical location information; the geographical location information includes longitude, latitude and elevation information, and determining geographical feature parameters associated with each of the coordinate systems to be converted according to the geographical location information includes: calculating the radius of earth curvature of the area corresponding to each of the coordinate systems to be converted according to the longitude and latitude information; calculating the elevation anomaly correction value of the area corresponding to each of the coordinate systems to be converted according to the elevation information; and using the radius of earth curvature and the elevation anomaly correction value as the geographical feature parameters associated with each of the coordinate systems to be converted; The second coordinate points are adjusted in combination with the geographic feature parameters and the coordinate system association matrix to generate target coordinate points.

2. A coordinate system conversion method according to claim 1, characterized in that: The method of combining the first coordinate type and the second coordinate type to determine the conversion parameters of each coordinate system to be converted includes: obtaining a coordinate system conversion matrix and a coordinate system translation vector between each coordinate system to be converted and the target coordinate system; using the coordinate system conversion matrix and the coordinate system translation vector as conversion parameters of each coordinate system to be converted; wherein the coordinate system conversion matrix is ​​used to characterize the rotation and scaling relationship of each coordinate system to be converted relative to the target coordinate system, and the coordinate system translation vector is used to characterize the translation relationship of the coordinate system to be converted relative to the target coordinate system.

3. The coordinate system conversion method according to claim 1, characterized in that: The method of calculating the earth curvature radius of the area corresponding to each coordinate system to be converted based on the longitude and latitude information includes: obtaining the longitude and latitude information of multiple feature points of the area corresponding to each coordinate system to be converted, and constructing a longitude and latitude sample matrix of the area corresponding to each coordinate system to be converted based on the longitude and latitude information of the multiple feature points; fitting the longitude and longitude sample matrix using a preset curvature fitting algorithm to obtain the earth curvature radius function of the area corresponding to each coordinate system to be converted; substituting the longitude and latitude of the center point of the area corresponding to each coordinate system to be converted into the earth curvature radius function to calculate the earth curvature radius of the area corresponding to each coordinate system to be converted.

4. The coordinate system conversion method according to claim 1, characterized in that: The step of calculating the elevation anomaly correction value of each area corresponding to the coordinate system to be converted based on the elevation information includes: obtaining the elevation values ​​of multiple known elevation points in the area corresponding to the coordinate system to be converted; comparing the elevation values ​​of the multiple known elevation points with preset standard elevation values ​​to obtain the elevation anomaly value of each known elevation point; and calculating the elevation anomaly correction value of each area corresponding to the coordinate system to be converted using a preset spatial interpolation method based on the elevation anomaly value of each known elevation point.

5. The coordinate system conversion method according to claim 1, characterized in that: The method combines the geographic feature parameters and the coordinate system association matrix to adjust each second coordinate point to generate a target coordinate point, including: obtaining a coordinate system relative position parameter in the coordinate system association matrix, the coordinate system relative position parameter being used to characterize the relative position relationship between each coordinate system to be converted; calculating an adjustment amount of each second coordinate point according to the coordinate system relative position parameter and the geographic feature parameters; superimposing the adjustment amount of each second coordinate point on the corresponding second coordinate point to obtain an adjusted target coordinate point; wherein the relative position relationship between each coordinate point in the target coordinate point is consistent with the relative position relationship between the first coordinate points in each coordinate system to be converted.

6. The coordinate system conversion method according to claim 1, characterized in that: After adjusting each of the second coordinate points to generate the target coordinate point, the method further includes: obtaining a control point grid of the corresponding area of ​​each coordinate system to be converted, wherein the control point grid includes multiple control points, and each control point has a preset coordinate value; constructing a geometric constraint condition between the coordinate value of the target coordinate point and the coordinate value of the control point according to the spatial position relationship between the target coordinate point and the control point; adjusting the coordinate value of the target coordinate point according to the geometric constraint condition to obtain the adjusted target coordinate point, and outputting the adjusted target coordinate point as the final coordinate conversion result.

7. A coordinate system conversion system, characterized in that: The system includes: a first acquisition module, a first combination module, a conversion module, a second acquisition module and a second combination module; wherein the first acquisition module is used to acquire a first coordinate type of a plurality of coordinate systems to be converted and a second coordinate type of a target coordinate system set by a user, wherein each of the coordinate systems to be converted is associated with each other through a preset coordinate system association matrix; the first combination module is used to combine the first coordinate type and the second coordinate type to determine the conversion parameters of each of the coordinate systems to be converted; the conversion module is used to convert each of the coordinate systems to be converted into the target coordinate system according to the conversion parameters, and convert the first coordinate point in each of the coordinate systems to be converted into the second coordinate point in the target coordinate system; the second acquisition module is used to acquire the coordinates corresponding to each of the coordinate systems to be converted The method comprises: calculating the geography characteristic parameters associated with each coordinate system to be converted according to the geography characteristic information of the corresponding area; determining the geography characteristic parameters associated with each coordinate system to be converted according to the geography characteristic information; the geography characteristic information comprises longitude, latitude and elevation information; and determining the geography characteristic parameters associated with each coordinate system to be converted according to the geography characteristic information comprises: calculating the earth curvature radius of the area corresponding to each coordinate system to be converted according to the longitude and latitude information; calculating the elevation anomaly correction value of the area corresponding to each coordinate system to be converted according to the elevation information; using the earth curvature radius and the elevation anomaly correction value as the geography characteristic parameters associated with each coordinate system to be converted; and a second combining module is used to combine the geography characteristic parameters and the coordinate system association matrix, adjust each second coordinate point, and generate a target coordinate point.

8. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 6.

Images