A high-precision surveying and mapping method and system for real estate buildings

Abstract

The present invention relates to the field of building measurement technology, and in particular to a high-precision mapping method and system for real estate buildings. The present invention first obtains the offset index of the position to be analyzed according to the deviation of the receiving time interval corresponding to the receiving signal of the position to be analyzed and its previous receiving position from the standard; according to the offset index, the offset position to be analyzed is divided from the position to be analyzed; according to the confidence of the reflection surface signal, the target reflection surface signal of the offset position to be analyzed is screened from all the receiving signals of the offset position to be analyzed; the offset position to be analyzed is divided into a forward offset position or a reverse offset position; according to the deviation of the forward offset position and the reverse offset position in all the receiving positions, the boundary of the target building is determined. The present invention reasonably determines the boundary of the target building by fully analyzing the local offset of the receiving position during the mapping process.

Description

Technical Field

[0001] The present invention relates to the technical field of building measurement, and in particular to a high-precision surveying and mapping method and system for real estate buildings. Background Art

[0002] High-precision surveying and mapping plays a vital role in the identification of real estate ownership. RIS (Reconfigurable Intelligent Surfaces) assisted surveying and mapping technology, with its advanced radar imaging principle, has significantly improved the accuracy and reliability of surveying and mapping. This technology updates the surveying and mapping information of the surrounding environment in real time by emitting electromagnetic waves and receiving reflected signals, so that the floor plan or elevation of the building can be drawn more accurately. In the field of architectural surveying and mapping, RIS assisted surveying and mapping technology provides efficient, accurate and flexible solutions, greatly enhancing the reliability of surveying and mapping.

[0003] In the process of building boundary mapping using RIS-assisted mapping technology, the existing technology directly performs straight line fitting on all receiving positions to determine the target building boundary, ignoring the fact that in actual operation, the receiving positions are manually set by the operator during the mapping process, and the receiving positions do not always completely match the building boundary. There is a local offset, which may cause a difference between the constructed target building boundary and the actual building boundary, thereby affecting the accuracy of real estate building mapping. Summary of the invention

[0004] In order to solve the technical problem of inaccurate mapping of real estate buildings in the prior art, the purpose of the present invention is to provide a high-precision mapping method and system for real estate buildings. The technical solutions adopted are as follows:

[0005] A high-precision surveying and mapping method for real estate buildings, the method comprising:

[0006] Acquire a transmission signal and a receiving data set of each receiving position during the surveying and mapping process; the receiving data set includes each receiving signal and its corresponding receiving time;

[0007] Take any one of the receiving positions as the position to be analyzed, and obtain the offset index of the position to be analyzed according to the deviation of the corresponding receiving time interval of the receiving signal of the position to be analyzed and the previous receiving position from the standard; divide the offset position to be analyzed from the position to be analyzed according to the offset index; take any one of the receiving signals of the offset position to be analyzed as the received signal to be analyzed; obtain the reflection surface signal confidence of the received signal to be analyzed according to the attenuation of the signal strength of the received signal to be analyzed compared with the transmitted signal; according to the reflection surface signal confidence, filter out the target reflection surface signal of the offset position to be analyzed from all the receiving signals of the offset position to be analyzed; divide the offset position to be analyzed into a forward offset position or a reverse offset position according to the deviation of the receiving time of the target reflection surface signal of the offset position to be analyzed from the standard;

[0008] The target building boundary is determined according to the deviation between the positive offset position and the reverse offset position in all the receiving positions.

[0009] Furthermore, the method for obtaining the offset indicator includes:

[0010] The minimum receiving time corresponding to the receiving position is taken as the direct receiving time of the receiving position;

[0011] The previous receiving position of the position to be analyzed during the surveying process is used as the reference position of the position to be analyzed; the time interval between the direct receiving moments of the position to be analyzed and its reference position is used as the actual propagation time interval between the position to be analyzed and its reference position;

[0012] The Euclidean distance between the position to be analyzed and its reference position in space is used as the spatial distance between the position to be analyzed and its reference position; the ratio of the spatial distance and the electromagnetic wave propagation speed is calculated to obtain the standard propagation time interval between the position to be analyzed and its reference position;

[0013] The absolute value of the difference between the actual propagation interval and the standard propagation interval is calculated and normalized to obtain the offset index of the position to be analyzed.

[0014] Furthermore, the method for obtaining the offset position to be analyzed includes:

[0015] The position to be analyzed whose offset index is greater than a preset offset threshold is used as the offset position to be analyzed.

[0016] Furthermore, the method for obtaining the confidence of the reflection surface signal includes:

[0017] Calculating the difference between the signal strength of the transmitted signal and the received signal to be analyzed to obtain a signal attenuation index;

[0018] The minimum receiving time corresponding to the offset position to be analyzed is used as the direct receiving time of the offset position to be analyzed; the time interval between the corresponding receiving time of the received signal to be analyzed and the direct receiving time of the offset position to be analyzed is used as a time lag indicator;

[0019] The product of the negative correlation mapping result of the signal attenuation index and the time lag index is calculated to obtain the reflection surface signal confidence of the received signal to be analyzed.

[0020] Furthermore, the method for acquiring the target reflection surface signal includes:

[0021] Among all the received signals at the offset position to be analyzed, the received signal corresponding to the largest reflection surface signal confidence is used as the target reflection surface signal at the offset position to be analyzed.

[0022] Furthermore, the method for obtaining the offset position to be analyzed by dividing it into a forward offset position or a reverse offset position includes:

[0023] The difference between the receiving time of the target reflection surface signal at the offset position to be analyzed and the preset standard receiving time is calculated to obtain the position selection value of the offset position to be analyzed; the offset position to be analyzed whose position selection value is less than 0 is marked as a forward offset position; and the offset position to be analyzed whose position selection value is greater than 0 is marked as a reverse offset position.

[0024] Furthermore, the method for obtaining the boundary of the target building includes:

[0025] Perform straight line fitting on all receiving positions during the surveying and mapping process to obtain a fitting straight line;

[0026] The shortest distance from each forward offset position to the fitting straight line is taken as the forward offset distance of the forward offset position; the average of the forward offset distances of all the forward offset positions is calculated to obtain the forward overall offset; the shortest distance from each reverse offset position to the fitting straight line is taken as the reverse offset distance of the reverse offset position; the average of the reverse offset distances of all the reverse offset positions is calculated to obtain the reverse overall offset; the difference between the forward overall offset and the reverse overall offset is calculated to obtain the comprehensive forward offset value;

[0027] The last receiving position in the surveying process is perpendicular to the fitting line to construct an adjustment line; the side close to the intelligent transmitting surface is taken as the positive direction of the adjustment line. If the comprehensive positive offset value is greater than 0, the last receiving position is moved along the reverse direction of the adjustment line by the comprehensive positive offset value to obtain the adjusted last receiving position; if the comprehensive positive offset value is not greater than 0, the last receiving position is moved along the positive direction of the adjustment line by the absolute value of the comprehensive positive offset value to obtain the adjusted last receiving position;

[0028] The initial receiving position in the surveying process and the adjusted last receiving position are connected to construct a straight line segment to obtain the boundary of the target building.

[0029] Furthermore, the method for obtaining the fitting straight line includes:

[0030] The least square method is used to perform straight line fitting on all receiving positions during the surveying process to obtain the fitting straight line.

[0031] Furthermore, the preset offset threshold is set to 0.35.

[0032] A high-precision surveying and mapping system for real estate buildings comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the high-precision surveying and mapping method for real estate buildings are implemented.

[0033] The present invention has the following beneficial effects:

[0034] First, the offset index of the position to be analyzed is constructed to reflect the degree of local deviation of the position to be analyzed. According to the size of the offset index, the offset position to be analyzed is divided from the position to be analyzed. For any received signal of the offset position to be analyzed, the confidence of the reflector signal is obtained by comparing its signal strength attenuation compared with the transmitted signal. The confidence of the reflector signal is used to evaluate the possibility that the received signal comes from the intelligent reflector. According to the confidence of the reflector signal, the target reflector signal is screened out from all the received signals of the offset position to be analyzed. This step is to ensure that the subsequent analysis is based on the most reliable signal. According to the deviation of the receiving moment of the target reflector signal from the standard, the offset position to be analyzed is further divided into a forward offset position and a reverse offset position. This step is to distinguish the direction of the local offset and provide a basis for subsequent adjustment. The forward offset position and the reverse offset position effectively reflect the local offset of the receiving position in the process of building boundary mapping using the RIS surveying and mapping system. According to the offset standard position of the forward offset position and the reverse offset position, the target building boundary is reasonably determined, which improves the accuracy and reliability of real estate building mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1A flowchart of a high-precision surveying and mapping method for real estate buildings provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the high-precision mapping method and system for real estate buildings proposed by the present invention, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0038] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0039] The specific scheme of a high-precision mapping method and system for real estate buildings provided by the present invention is described in detail below with reference to the accompanying drawings.

[0040] The embodiment of the present invention provides a high-precision mapping method and system for real estate buildings. Figure 1 , which shows a flow chart of a high-precision mapping method for real estate buildings provided by an embodiment of the present invention, the method comprising the following steps:

[0041] Step S1: Acquire the transmission signal and the receiving data set of each receiving position during the surveying process; the receiving data set includes each receiving signal and its corresponding receiving time.

[0042] The present invention is described for the surveying process of the building boundary. In the process of surveying the building boundary using RIS-assisted surveying technology, the positions of the transmitting device and the intelligent reflective surface are fixed to ensure stability during the measurement process. When the surveying operation is started, the measurement starting point is first calibrated as the first receiving position. The operator carries the receiving device and stays at this position, ready to capture the signal from the transmitting device. The transmitting device continuously transmits signals according to the preset transmission frequency. The operator starts to move at a uniform speed from the first receiving position until reaching the measurement end point. The measurement end point is marked as the last receiving position, marking the end of the surveying operation. During the movement process, whenever the receiving device directly receives the transmission signal, the location is recorded as the receiving position and the receiving device is placed at the location to collect data. When the surveying operation is completed, the transmitting device stops transmitting signals. Collect the data collected by the receiving device in all receiving positions, and these data sets include each receiving signal and its corresponding receiving time. These data will provide data support for the subsequent building boundary surveying and analysis. Among them, according to the movement order in the surveying process, all receiving positions in the surveying process are counted in sequence, and a receiving position sequence can be obtained, and the receiving position sequence reflects the actual movement path of the operator.

[0043] It should be noted that RIS-assisted surveying and mapping technology is a technical means well known to those skilled in the art, and only a brief description is given here: the RIS surveying and mapping system is composed of a signal transmitting device, a signal receiving device, and an intelligent reflective surface. RIS transmits electromagnetic waves through the transmitting device and performs surveying and mapping based on the reflected signal received by the receiving device. The intelligent reflective surface can reflect the incident signal in a specified direction, so that the signal is reflected along a specific path to reach the receiving device, and plays the role of a virtual anchor point in the surveying and mapping process, thereby accurately surveying and mapping the target position with the help of the triangulation surveying principle. The signal transmitting device broadcasts electromagnetic waves to the surroundings, and part of the electromagnetic wave signal directly reaches the receiving device, and part of the signal reaches the signal receiving device after being reflected by different objects. The intelligent reflective surface is a manually set reflective object, and part of the electromagnetic wave will reach the receiving device after being reflected by the intelligent reflective surface. Then, when surveying and mapping the target position, it can be surveyed and mapped based on the time delay difference between the signal that arrives directly and the signal that reaches the receiving device through the intelligent reflective surface. In one embodiment of the present invention, the preset transmission frequency is 0.5S / time.

[0044] It should be noted that, in order to facilitate calculation, all indicator data involved in the calculation in the embodiment of the present invention are subjected to data preprocessing to eliminate the dimension effect. The specific means of removing the dimension effect are technical means well known to those skilled in the art and are not limited here. Considering that each receiving position reflects the actual movement path of the operator along the building boundary during the surveying and mapping process, since there is a difference between the actual movement path and the real building boundary during the actual operation, it is necessary to perform path fitting correction to determine the target building boundary that more truly reflects the real building boundary.

[0045] Step S2: taking any receiving position as the position to be analyzed, and obtaining the offset index of the position to be analyzed according to the deviation of the corresponding receiving time interval of the receiving signal of the position to be analyzed and its previous receiving position from the standard; dividing the offset positions to be analyzed from the positions to be analyzed according to the offset index; taking any receiving signal of the offset position to be analyzed as the received signal to be analyzed; obtaining the reflection surface signal confidence of the received signal to be analyzed according to the attenuation of the signal strength of the received signal to be analyzed compared with the transmitted signal; filtering out the target reflection surface signal of the offset position to be analyzed from all the receiving signals of the offset position to be analyzed according to the reflection surface signal confidence; dividing the offset position to be analyzed into a forward offset position and a reverse offset position according to the deviation of the receiving time of the target reflection surface signal of the offset position to be analyzed from the standard.

[0046] First, construct an offset index of the position to be analyzed to reflect the degree of local deviation of the position to be analyzed. According to the size of the offset index, the offset position to be analyzed is divided from the position to be analyzed. For any received signal of the offset position to be analyzed, the confidence of the reflector signal is obtained by comparing its signal strength attenuation compared with the transmitted signal. The reflector signal confidence is used to evaluate the possibility that the received signal comes from the smart reflector. According to the reflector signal confidence, the target reflector signal is screened out from all received signals of the offset position to be analyzed. This step is to ensure that the subsequent analysis is based on the most reliable signal. According to the deviation of the receiving time of the target reflector signal from the standard, the offset position to be analyzed is further divided into a forward offset position and a reverse offset position. This step is to distinguish the direction of the offset and provide a basis for subsequent adjustments.

[0047] In order to analyze the degree to which the receiving position deviates from the actual building boundary, preferably, in one embodiment of the present invention, a method for obtaining the deviation index includes:

[0048] The minimum receiving time corresponding to the receiving position is taken as the direct receiving time of the receiving position;

[0049] The previous receiving position of the position to be analyzed during the surveying process is used as the reference position of the position to be analyzed; the time interval between the direct receiving moments of the position to be analyzed and its reference position is used as the actual propagation time interval between the position to be analyzed and its reference position;

[0050] The Euclidean distance between the position to be analyzed and its reference position in space is used as the spatial distance between the position to be analyzed and its reference position; the ratio of the spatial distance and the electromagnetic wave propagation speed is calculated to obtain the standard propagation time interval between the position to be analyzed and its reference position.

[0051] The absolute value of the difference between the actual propagation interval and the standard propagation time interval is calculated and normalized to obtain the offset index of the position to be analyzed. Normalization is a technical means well known to those skilled in the art, and the selection of the normalization function can be linear normalization or standard normalization, etc. The specific normalization method is not limited here. It should be noted that the Euclidean distance is a prior art well known to those skilled in the art, and the previous receiving position of the position to be analyzed is the previous receiving position of the position to be analyzed in the order of the receiving position sequence.

[0052] For the above steps, for each position to be analyzed, first determine its minimum receiving time. This time corresponds to the time point when the receiving device directly receives the signal from the transmitting device, that is, the signal does not undergo additional reflection or diffraction. This minimum receiving time is regarded as the direct receiving time of the position to be analyzed. Next, calculate the time interval between the position to be analyzed and its previous receiving position at the direct receiving time. This time interval reflects the difference in the actual propagation time between the electromagnetic wave from the transmitting device to the two positions, and this time interval is called the actual propagation time interval. With the actual propagation distance and the propagation speed of the electromagnetic wave, the standard time that the electromagnetic wave should propagate at this distance can be calculated. This standard time is the ratio of the actual propagation distance divided by the propagation speed of the electromagnetic wave, which is called the standard propagation time interval. Finally, calculate the absolute value of the difference between the actual propagation time interval and the standard propagation time interval. This difference reflects the degree of deviation of the receiving device from the expected path during the movement. The absolute value of this difference is used as the offset index of the position to be analyzed. The larger the offset index, the greater the deviation between the operator's walking trajectory and the building boundary. It should be noted that the propagation speed of electromagnetic waves is usually known in a specific medium, and the electromagnetic wave propagation speed of the present invention is the speed of light in air.

[0053] According to the comparison between the offset index and the preset offset threshold, the receiving position is divided into a standard position and an offset position to be analyzed. The standard position is a position with a smaller offset index, which is closer to the actual building boundary; while the offset position requires further analysis and correction. Preferably, in one embodiment of the present invention, the method for obtaining the offset position to be analyzed includes:

[0054] The position to be analyzed whose offset index is greater than the preset offset threshold is used as the offset position to be analyzed; the position to be analyzed whose offset index is not greater than the preset offset threshold is used as the standard position. In one embodiment of the present invention, the preset offset threshold is set to 0.35 to distinguish between the standard position and the offset position to be analyzed, and the implementer can set it according to the implementation scenario.

[0055] For the above steps, the offset index reflects the degree of deviation of the position relative to the expected building boundary. The offset index is compared with the preset offset threshold, and the position to be analyzed is classified into a standard position and a offset position to be analyzed.

[0056] Considering that in the scenario of the present invention, the smart reflective surface and real estate buildings are distributed on both sides of the actual moving path of the operator, the receiving position distributed on the side close to the smart reflective surface is regarded as a positive offset, and the receiving position distributed on the side far from the smart reflective surface is regarded as a reverse offset. In order to accurately determine the offset direction of the receiving position, it is necessary to know the exact time when the signal reaches the smart reflective surface from the transmitting end and then reaches the receiving end after reflection. Only by identifying the target reflective surface signal can this time be accurately measured, and then the offset direction of the receiving position can be determined. First, in order to analyze the signal possibility of the received signal to be analyzed passing through the smart reflective surface, preferably, in one embodiment of the present invention, the method for obtaining the confidence of the reflective surface signal includes:

[0057] Calculate the difference between the signal strength of the transmitted signal and the received signal to be analyzed to obtain a signal attenuation index;

[0058] The minimum receiving time corresponding to the offset position to be analyzed is used as the direct receiving time of the offset position to be analyzed; the time interval between the corresponding receiving time of the received signal to be analyzed and the direct receiving time of the offset position to be analyzed is used as the time lag indicator;

[0059] The product of the negative correlation mapping result of the signal attenuation index and the time lag index is calculated to obtain the reflection surface signal confidence of the received signal to be analyzed. It should be noted that the signal strength is a technology well known to those skilled in the art and can be determined by direct measurement, which will not be described in detail here. In one embodiment of the present invention, the negative correlation mapping can be in the form of inverse proportion or negative exponential power without limitation.

[0060] For the above steps, the difference in signal strength between the transmitted signal and the received signal to be analyzed is first calculated, and this difference is used as a signal attenuation indicator. The smart reflective surface strengthens the signal strength of the target receiving point by adjusting the phase and amplitude of its constituent units. Therefore, when the reflected signal reaches the receiving end, its signal strength will be different from that of the direct path or other non-reflective paths. Generally, the signal reflected by the smart reflective surface will experience a small signal strength loss because the smart reflective surface is designed to optimize signal transmission. Therefore, the signal attenuation indicator can help to preliminarily screen out the signals that may have been reflected. Next, the direct reception time of the offset position to be analyzed is determined, that is, the earliest arrival time of all the received signals at this position. Then, the time interval between the arrival time of the received signal to be analyzed and this direct reception time is calculated, and this time interval is used as a time lag indicator. Since the smart reflective surface is located between the transmitting end and the receiving end, the signal needs to go through an additional path, that is, first reach the smart reflective surface and then reflect to the receiving end, so the reflected signal will have a certain time lag compared to the direct signal. The time lag indicator reflects this characteristic and helps to further confirm whether the signal has been reflected. The product of the negative correlation mapping result of the signal attenuation index and the time lag index is used as the confidence of the reflector signal of the received signal to be analyzed. The negative correlation mapping result is taken here because the signal with smaller expected signal strength loss and more expected time lag has higher confidence. The product operation combines the information of these two indicators, so that the confidence can more comprehensively reflect the possibility of the signal being reflected by the intelligent reflector.

[0061] In order to accurately select the signal reflected by the smart reflective surface from the received signal, preferably, in one embodiment of the present invention, the method for acquiring the target reflective surface signal includes:

[0062] Among all the received signals at the offset position to be analyzed, the received signal corresponding to the largest reflection surface signal confidence is used as the target reflection surface signal at the offset position to be analyzed.

[0063] In order to analyze the offset direction, preferably, in one embodiment of the present invention, the method for obtaining the forward offset position and the reverse offset position includes:

[0064] The difference between the receiving time of the target reflection surface signal of the offset position to be analyzed and the preset standard receiving time is calculated to obtain the position selection value of the offset position to be analyzed; the offset position to be analyzed with a position selection value less than 0 is used as the forward offset position; the offset position to be analyzed with a position selection value greater than 0 is used as the reverse offset position. In one embodiment of the present invention, the preset standard receiving time is determined based on an empirical value. In the present invention, the preset standard receiving time is set to 7, and the implementer can set it according to the implementation scenario.

[0065] According to the above steps, the difference between the reception time of the target reflection surface signal at the offset position to be analyzed and the preset standard reception time is calculated, and this difference is called the position selection value.

[0066] The position selection value reflects the time delay of the signal reaching the receiving end, which is related to the position of the receiving position relative to the smart reflector and the transmitting end. If the position selection value is less than 0, it means that the received signal arrives earlier than expected, which usually means that the receiving position is closer to the smart reflector and is therefore determined to be a forward offset position. If the position selection value is greater than 0, it means that the received signal arrives later than expected, which usually means that the receiving position is farther away from the smart reflector and is therefore determined to be a reverse offset position.

[0067] Step S3: Determine the target building boundary according to the offset standard position conditions of the positive offset position and the reverse offset position.

[0068] The positive offset position and the reverse offset position effectively reflect the local offset of the receiving position during the building boundary surveying process using the RIS surveying system. According to the offset standard position of the positive offset position and the reverse offset position, the target building boundary is reasonably determined, thereby improving the accuracy and reliability of real estate building surveying.

[0069] Preferably, in one embodiment of the present invention, the method for acquiring the boundary of the target building includes:

[0070] Perform straight line fitting on all receiving positions during the surveying and mapping process to obtain a fitting straight line;

[0071] The shortest distance from each forward offset position to the fitting straight line is taken as the forward offset distance of the forward offset position; the average of the forward offset distances of all forward offset positions is calculated to obtain the forward overall offset; the shortest distance from each reverse offset position to the fitting straight line is taken as the reverse offset distance of the reverse offset position; the average of the reverse offset distances of all reverse offset positions is calculated to obtain the reverse overall offset; the difference between the forward overall offset and the reverse overall offset is calculated to obtain the comprehensive forward offset value;

[0072] The last receiving position in the surveying process is perpendicular to the fitting line to construct an adjustment line; the side close to the intelligent transmitting surface is taken as the positive direction of the adjustment line. If the comprehensive positive offset value is greater than 0, the last receiving position is moved along the reverse direction of the adjustment line by the comprehensive positive offset value to obtain the adjusted last receiving position; if the comprehensive positive offset value is not greater than 0, the last receiving position is moved along the positive direction of the adjustment line by the absolute value of the comprehensive positive offset value to obtain the adjusted last receiving position;

[0073] The initial receiving position in the surveying process and the adjusted last receiving position are connected to construct a straight line segment to obtain the boundary of the target building. It should be noted that straight line fitting is a prior art well known to those skilled in the art. The present invention uses the least squares method to perform straight line fitting on all receiving positions in the surveying process to obtain a fitting straight line.

[0074] For the above steps, the fitting straight line roughly reflects the overall distribution trend of the receiving position during the surveying process. For each forward offset position, calculate its shortest distance to the fitting straight line as the forward offset distance. Then, calculate the average of all forward offset distances to obtain the forward overall offset. Similarly, for each reverse offset position, calculate its shortest distance to the fitting straight line as the reverse offset distance. Then, calculate the average of all reverse offset distances to obtain the reverse overall offset. Calculate the difference between the forward overall offset and the reverse overall offset to obtain the comprehensive forward offset value. This value reflects the overall offset direction and size of the receiving position relative to the fitting straight line during the surveying process. During the surveying process, the last receiving position constructs an adjustment straight line perpendicular to the fitting straight line. The positive or negative of the comprehensive forward offset value determines the direction of adjustment. If the comprehensive forward offset value is greater than 0, it means that the overall offset direction is positive, that is, the receiving position is closer to the smart reflective surface as a whole. Therefore, it is necessary to move the last receiving position in the opposite direction, that is, in the opposite direction of the adjustment line, to correct this offset. According to the positive and negative and size of the comprehensive positive offset value, the last receiving position is moved a corresponding distance along the positive direction or the reverse direction of the adjustment line to obtain the adjusted last receiving position. Finally, the initial receiving position in the surveying process and the adjusted last receiving position are connected to construct a straight line segment, which is the target building boundary. The target building boundary constructed by the present invention effectively solves the problem of inaccurate surveying and mapping caused by local offset of the receiving position during the building boundary surveying and mapping using the RIS surveying and mapping system, and improves the accuracy and reliability of real estate building surveying and mapping.

[0075] At this point, the above method can accurately obtain a certain boundary of the measured building. Subsequently, all building boundaries can be accurately fitted, and the fitting results can be visualized to draw the floor plan or three-dimensional model of the building to help understand the spatial layout of the building. At the same time, according to the structural characteristics of different buildings, the appropriate multiple transmitters and the positions of the intelligent reflective surface can be selected to comprehensively determine the fitting results, thereby reducing signal loss and improving the accuracy and reliability of building mapping.

[0076] The present invention proposes a high-precision surveying and mapping system for real estate buildings, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, steps of a high-precision surveying and mapping method for real estate buildings are implemented.

[0077] In summary, the embodiment of the present invention provides a high-precision mapping method and system for real estate buildings. First, in the embodiment of the present invention, the offset index of the position to be analyzed is obtained according to the deviation of the receiving time interval corresponding to the receiving signal of the position to be analyzed and its previous receiving position during the mapping process from the standard; according to the offset index, the position to be analyzed is divided into a standard position and an offset position to be analyzed; the target reflection surface signal of the offset position to be analyzed is screened out from all the receiving signals of the offset position to be analyzed; according to the deviation of the receiving time of the target reflection surface signal of the offset position to be analyzed from the standard, the offset position to be analyzed is divided into a forward offset position and a reverse offset position; according to the deviation of the forward offset position and the reverse offset position from the standard position, the target building boundary is determined. The present invention reasonably determines the target building boundary by fully analyzing the local offset of the receiving position during the mapping process.

[0078] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0079] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A high-precision mapping method for real estate buildings, characterized in that: The method comprises: Acquire a transmission signal and a receiving data set of each receiving position during the surveying and mapping process; the receiving data set includes each receiving signal and its corresponding receiving time; Take any one of the receiving positions as the position to be analyzed, and obtain the offset index of the position to be analyzed according to the deviation of the corresponding receiving time interval of the receiving signal of the position to be analyzed and the previous receiving position from the standard; divide the offset position to be analyzed from the position to be analyzed according to the offset index; take any one of the receiving signals of the offset position to be analyzed as the receiving signal to be analyzed; obtain the reflection surface signal confidence of the receiving signal to be analyzed according to the attenuation of the signal strength of the receiving signal to be analyzed compared with the transmitting signal; according to the reflection surface signal confidence, filter out the target reflection surface signal of the offset position to be analyzed from all the receiving signals of the offset position to be analyzed; divide the offset position to be analyzed into a forward offset position or a reverse offset position according to the deviation of the receiving time of the target reflection surface signal of the offset position to be analyzed from the standard; The target building boundary is determined according to the deviation between the positive offset position and the reverse offset position in all the receiving positions.

2. A high-precision mapping method for real estate buildings according to claim 1, characterized in that: The method for obtaining the offset indicator includes: The minimum receiving time corresponding to the receiving position is taken as the direct receiving time of the receiving position; The previous receiving position of the position to be analyzed during the surveying process is used as the reference position of the position to be analyzed; the time interval between the direct receiving moments of the position to be analyzed and its reference position is used as the actual propagation time interval between the position to be analyzed and its reference position; The Euclidean distance between the position to be analyzed and its reference position in space is used as the spatial distance between the position to be analyzed and its reference position; the ratio of the spatial distance and the electromagnetic wave propagation speed is calculated to obtain the standard propagation time interval between the position to be analyzed and its reference position; The absolute value of the difference between the actual propagation interval and the standard propagation interval is calculated and normalized to obtain the offset index of the position to be analyzed.

3. A high-precision surveying and mapping method for real estate buildings according to claim 1, characterized in that: The method for obtaining the offset position to be analyzed includes: The position to be analyzed whose offset index is greater than a preset offset threshold is used as the offset position to be analyzed.

4. The high-precision mapping method for real estate buildings according to claim 1, characterized in that: The method for obtaining the confidence of the reflection surface signal includes: Calculating the difference between the signal strength of the transmitted signal and the received signal to be analyzed to obtain a signal attenuation index; The minimum receiving time corresponding to the offset position to be analyzed is used as the direct receiving time of the offset position to be analyzed; the time interval between the corresponding receiving time of the received signal to be analyzed and the direct receiving time of the offset position to be analyzed is used as a time lag indicator; The product of the negative correlation mapping result of the signal attenuation index and the time lag index is calculated to obtain the reflection surface signal confidence of the received signal to be analyzed.

5. The high-precision mapping method for real estate buildings according to claim 1, characterized in that: The method for acquiring the target reflection surface signal comprises: Among all the received signals at the offset position to be analyzed, the received signal corresponding to the largest reflection surface signal confidence is used as the target reflection surface signal at the offset position to be analyzed.

6. The high-precision mapping method for real estate buildings according to claim 1, characterized in that: The method for obtaining the offset position to be analyzed by dividing it into a forward offset position or a reverse offset position includes: The difference between the receiving time of the target reflection surface signal at the offset position to be analyzed and the preset standard receiving time is calculated to obtain the position selection value of the offset position to be analyzed; the offset position to be analyzed whose position selection value is less than 0 is marked as a forward offset position; and the offset position to be analyzed whose position selection value is greater than 0 is marked as a reverse offset position.

7. The high-precision mapping method for real estate buildings according to claim 1, characterized in that: The method for obtaining the boundary of the target building includes: Perform straight line fitting on all receiving positions during the surveying and mapping process to obtain a fitting straight line; The shortest distance from each forward offset position to the fitting straight line is taken as the forward offset distance of the forward offset position; the average of the forward offset distances of all the forward offset positions is calculated to obtain the forward overall offset; the shortest distance from each reverse offset position to the fitting straight line is taken as the reverse offset distance of the reverse offset position; the average of the reverse offset distances of all the reverse offset positions is calculated to obtain the reverse overall offset; the difference between the forward overall offset and the reverse overall offset is calculated to obtain the comprehensive forward offset value; The last receiving position in the surveying process is perpendicular to the fitting line to construct an adjustment line; the side close to the intelligent reflection surface is taken as the positive direction of the adjustment line. If the comprehensive positive offset value is greater than 0, the last receiving position is moved along the reverse direction of the adjustment line by the comprehensive positive offset value to obtain the adjusted last receiving position; if the comprehensive positive offset value is not greater than 0, the last receiving position is moved along the positive direction of the adjustment line by the absolute value of the comprehensive positive offset value to obtain the adjusted last receiving position; The initial receiving position in the surveying process and the adjusted last receiving position are connected to construct a straight line segment to obtain the boundary of the target building.

8. The high-precision surveying and mapping method for real estate buildings according to claim 7, characterized in that: The method for obtaining the fitting straight line includes: The least square method is used to perform straight line fitting on all receiving positions during the surveying process to obtain the fitting straight line.

9. The high-precision mapping method for real estate buildings according to claim 3, characterized in that: The preset offset threshold is set to 0.

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10. A high-precision mapping system for real estate buildings, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of a high-precision surveying and mapping method for real estate buildings as described in any one of claims 1 to 9 are implemented.

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