Service-oriented highway engineering BIM model real geographic position fusion system and method

Abstract

The present application relates to a kind of service-oriented highway engineering BIM model real geographic position fusion system, namely method, belong to highway engineering BIM digital application fusion technical field.The method includes highway engineering BIM model plane space position coordinate system attribute matching fusion and elevation space position coordinate system attribute matching fusion two aspects of content, by constructing real geographic space position fusion microservice system and application realizes fusion.The present application can realize the conversion parameter of different plane space coordinate system and the conversion parameter of different elevation system automation, batch calculation, using these parameters, complete the plane space coordinate system and elevation space coordinate system matching fusion of BIM model, for the real geographic space position fusion expression of highway engineering BIM model provides more accurate, efficient, three-dimensional technical support.

Description

Technical Field

[0001] This invention belongs to the field of highway engineering BIM digital application integration technology, specifically involving a service-oriented highway engineering BIM model real geographic location fusion system and method. Background Technology

[0002] Currently, my country is vigorously promoting the construction of Digital China. In the transportation industry, the innovative application of digital BIM for infrastructure is advancing rapidly, and the integration of highway engineering infrastructure BIM models with geospatial locations has become a fundamental requirement. With the large-scale accumulation of digital information in highway engineering, an efficient, accurate, and three-dimensional geospatial fusion and matching method is particularly important for the accurate representation of the true geographical location of digital information in highway engineering.

[0003] In the application of BIM digitization in highway engineering, 3D scenes are typically based on the WGS84 or CGCS2000 ellipsoidal reference frame. The geographical location of the BIM model is expressed from two dimensions: planar spatial location and vertical elevation spatial location, ensuring accurate integration with the geographical environment. However, BIM models accumulated from actual highway engineering production and research are usually based on four ellipsoidal reference frames: Beijing1954, Xian1980, CGCS2000, and WGS84. Planar spatial locations are expressed using the corresponding projection plane coordinate system or latitude-longitude geodetic coordinate system for each ellipsoid, while vertical elevation spatial locations are expressed using the corresponding 1956 Yellow Sea Normal Height System, 1985 Yellow Sea Normal Height System, ellipsoidal geodetic height system, EGM96 geoid normal height system, and EGM2008 geoid normal height system. This creates two major problems: matching and integrating the coordinate system attributes of planar spatial locations and vertical elevation spatial locations.

[0004] Traditional methods for matching and fusing coordinate system attributes of planar spatial locations fall into two categories: First, if precise matching parameters exist, these parameters can be directly used to transform the coordinate system attributes of the planar spatial location to the target coordinate system based on the Bursa coordinate system fusion model. Second, if precise transformation parameters and control points for both planar spatial coordinate systems are unavailable, georeferencing techniques can be used to perform affine transformations to force a change in coordinate system attributes. In the first category, precise matching parameters are generally classified information and difficult to obtain. Even if declassified parameters are obtained, they require application and purchase from relevant departments, incurring both financial and time costs. Furthermore, the use of the Bursa coordinate system fusion model has a prerequisite: the coordinate system must be a geocentric rectangular spatial coordinate system. Many cases fail to consider this requirement, increasing the amount of transformation error. In the second category, georeferencing transformation techniques are based on the principle of affine transformation. Considering the curvature of the Earth, the transformation accuracy is limited. Additionally, this technique requires manual operation using specialized software, is highly specialized, and time-consuming, limiting its applicability.

[0005] Traditional methods for matching and fusing coordinate system attributes of vertical elevation spatial locations fall into two categories: First, when building a BIM model based on domestically collected elevation data, matching and fusing are performed using the precise conversion relationship between the two elevation systems. Second, when building a BIM model using publicly available foreign elevation data, the precise conversion relationship between the foreign and domestic elevation systems cannot be determined, so elevation system matching and fusing are not considered, and model application is based on ignoring errors. In the first method, precise matching parameters are generally classified information and difficult to obtain; even if declassified parameters are obtained, they require application and purchase from relevant departments, incurring both financial and time costs. The second method ignores the errors introduced by the two elevation systems, but during the integration of the BIM model and business data, there is an abnormal high-discrepancy problem between the two elevation systems.

[0006] In summary, existing methods for matching and fusing real-world geospatial locations, whether from a planar or elevation perspective, cannot fully meet the requirements of efficient, accurate, and three-dimensional BIM digital applications in highway engineering. They also have shortcomings in representing the real-world geographical locations within BIM information for highway engineering projects. Therefore, overcoming these shortcomings is a pressing issue that needs to be addressed in the field of BIM digital application fusion technology for highway engineering. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies and provide a service-oriented system and method for fusing the real geospatial location of highway engineering BIM models. This system can automate and batch calculate the transformation parameters of different planar spatial coordinate systems and different elevation systems. Using these parameters, the system can quickly complete the matching and fusion of planar coordinate systems and elevation coordinate systems of BIM models, providing more accurate, efficient, and comprehensive technical support for the fusion and expression of the real geospatial location of highway engineering BIM models.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A service-oriented highway engineering BIM model-to-real-location fusion system includes the following fusion business modules:

[0010] The Highway Engineering BIM Project Management Module is used to manage highway engineering BIM project data that needs to be matched and fused with coordinate systems. It determines the set of BIM models to be processed and matched in a single batch based on the project boundary.

[0011] The BIM model coordinate system definition module is used for the semantic definition of the BIM model coordinate system to be matched and merged. Based on the highway engineering surveying parameters, it determines the plane position reference and elevation position reference of the model, defines the semantics of the coordinate system parameters, and associates the model.

[0012] The module for matching corresponding points in different coordinate systems is used for matching corresponding points in the source plane spatial coordinate system and the target plane spatial coordinate system of the BIM model to be matched and fused, as well as matching corresponding points in the source elevation spatial coordinate system and the target elevation spatial coordinate system.

[0013] The coordinate system fusion parameter calculation module is used to calculate the coordinate system fusion model parameters of the BIM model to be matched and fused. It fits and calculates the fusion relationship between different coordinate systems based on the set of corresponding point pairs, the plane space coordinate system fusion model, and the elevation space coordinate system fusion model.

[0014] The gravity anomaly model analysis module is used to analyze gravity anomaly models; it is also used to extract the compensation height based on the geoid corresponding to the gravity anomaly model according to latitude and longitude.

[0015] The BIM model planar spatial coordinate system matching and fusion module is used for the planar spatial coordinate system fusion transformation of the BIM model to be matched and fused. Based on the planar spatial coordinate system semantics, coordinate system fusion parameters, and coordinate system fusion model of the BIM model, it calculates the position in the target planar spatial coordinate system to achieve planar spatial position matching and fusion of the BIM model.

[0016] The BIM model elevation space coordinate system matching and fusion module is used for the elevation space coordinate system fusion transformation of the BIM model to be matched and fused. Based on the semantics of the elevation space coordinate system of the BIM model, the coordinate system fusion parameters, and the coordinate system fusion model, it calculates the position under the target elevation space coordinate system to achieve elevation space position matching and fusion of the BIM model.

[0017] Furthermore, preferably, it also includes the following auxiliary business modules:

[0018] The business service registration center module is used for the registration, discovery, monitoring and management of computer hardware nodes for the business services included in the service-oriented highway engineering BIM model real geolocation fusion system.

[0019] The business service gateway module is used for access routing calculation and load balancing control of business services included in the service-oriented highway engineering BIM model real geolocation fusion system.

[0020] Furthermore, preferably, it also includes the following auxiliary business modules:

[0021] The computing power management and scheduling module is used to meet the computing power service requirements of the service-oriented highway engineering BIM model real geolocation fusion system. It elastically scales up and down computer resources and isolates faulty resources based on the traffic of user access to business services.

[0022] The data storage module is used to store temporary and business data related to the real-geographic location fusion system of the BIM model for this service-oriented highway engineering project.

[0023] The message queue module is used for communication between business services in the service-oriented highway engineering BIM model real geolocation fusion system.

[0024] This invention also provides a service-oriented method for fusing the real-geographic location of a highway engineering BIM model, which employs the aforementioned service-oriented highway engineering BIM model real-geographic location fusion system and includes the following steps:

[0025] Call the highway engineering BIM project management module, create a management project for which coordinate system data to be matched and integrated, set the priority, and upload the BIM model;

[0026] The highway engineering BIM project management module notifies the BIM model coordinate system definition module to define and associate source coordinate system attributes and target coordinate system attributes to be matched for the BIM model. The attributes are divided into: plane space coordinate system and elevation space coordinate system.

[0027] The highway engineering BIM project management module notifies the coordinate system corresponding point pair adaptation module to match, merge and associate the coordinate system corresponding point pairs required for the BIM model coordinate system.

[0028] The highway engineering BIM project management module notifies the coordinate system fusion parameter calculation module to select the plane space coordinate system fusion model and the elevation space coordinate system fusion model, input the coordinate system semantics and the same point pairs, and calculate the fusion parameters for BIM model coordinate system matching and fusion.

[0029] The highway engineering BIM project management module notifies the plane spatial coordinate system matching and fusion module and the elevation spatial coordinate system matching and fusion module through the message queue module, selects the plane spatial coordinate system fusion model and the elevation spatial coordinate system fusion model, and inputs the parameter calculation results corresponding to each model to achieve BIM model coordinate system matching and fusion.

[0030] This invention also provides a service-oriented method for fusing the real-geographic location of a highway engineering BIM model, which employs the aforementioned service-oriented highway engineering BIM model real-geographic location fusion system and includes the following steps:

[0031] Step (1): Start the service-oriented highway engineering BIM model real geolocation fusion system. Each business service is automatically registered to the business service registration center module. The computing power management and scheduling module allocates computer resources to each module's business services according to the default configuration. The business service gateway module, data storage module, and message queue module connect the business services of each module.

[0032] Step (2): Call the highway engineering BIM project management module, create a project, and set a priority so that the system can identify the priority projects and upload the BIM model.

[0033] Step (3): The highway engineering BIM project management module notifies the BIM model coordinate system definition module through the message queue module to define and associate the source coordinate system attributes and the target coordinate system attributes to be matched for the BIM model. The attributes are divided into: plane space coordinate system and elevation space coordinate system.

[0034] Step (4): The highway engineering BIM project management module notifies the different coordinate system corresponding point pair adaptation module through the message queue module to match the coordinate system corresponding point pairs required for BIM model coordinate system matching, fusion and association.

[0035] Step (5): The highway engineering BIM project management module notifies the coordinate system fusion parameter calculation module through the message queue module to select the plane space coordinate system fusion model and the elevation space coordinate system fusion model, input the coordinate system semantics and the same point pair, and calculate the fusion parameters for BIM model coordinate system matching and fusion.

[0036] Step (6): The highway engineering BIM project management module notifies the plane spatial coordinate system matching and fusion module and the elevation spatial coordinate system matching and fusion module through the message queue module to select the plane spatial coordinate system fusion model and the elevation spatial coordinate system fusion model, and input the parameter calculation results corresponding to each model to realize the BIM model coordinate system matching and fusion.

[0037] Furthermore, preferably, in step (3), defining and associating the source coordinate system attributes and the target coordinate system attributes to be matched for the BIM model specifically includes the following steps:

[0038] (3.1) Plane spatial coordinate systems include projected plane coordinate systems and latitude-longitude geodetic coordinate systems;

[0039] (3.1.1) The definition method of the latitude and longitude geodetic coordinate system is as follows:

[0040] Calculate the Earth reference ellipsoid shape parameters of the latitude and longitude geodetic coordinate system: The Earth reference ellipsoid shape parameters include the semi-major axis radius R, the ellipsoidal flattening f, and the prime meridian PRIMEM; specifically, it is calculated based on the following relationship using the frame reference ellipsoid shape parameters and elevation projection surface parameters of the planar spatial coordinate system:

[0041] R = R 框架参考椭球 +H 高程投影面

[0042] f = f 框架参考椭球

[0043] PRIMEM = ["Greenwich", 0.0]

[0044] In the formula, R 框架参考椭球 f represents the semi-major axis radius of the frame reference ellipsoid. 框架参考椭球 H represents the flattening of the frame reference ellipsoid. 高程投影面 This indicates the elevation projection height, and ["Greenwich", 0.0] represents the Greenwich Meridian;

[0045] (3.1.2) The definition method of the projection plane coordinate system is as follows:

[0046] Determine the actual projection plane coordinate system parameters of the project: The projection plane coordinate system parameters include the ellipsoid semi-major axis radius R, ellipsoid flattening f, prime meridian PRIMEM, central meridian longitude L0, origin latitude B0, east-west offset False_Easting, north-south offset False_Northing, and scale factor; specifically, using the ellipsoid semi-major axis radius R, ellipsoid flattening f, and prime meridian PRIMEM obtained in (3.1.1), the central meridian longitude, origin latitude, east-west offset, north-south offset, and scale factor are extracted from the basic survey data of the highway engineering project as the semantics of the projection plane coordinate system definition;

[0047] (3.2) The method for defining the elevation coordinate system is as follows:

[0048] Determine the actual elevation coordinate system used in the project data: The elevation coordinate system semantics are uniquely identified by the identifier name, and the elevation coordinate system type is determined; the elevation coordinate system type includes normal height system and geodetic height system.

[0049] Furthermore, preferably, in step (4), the coordinate system corresponding point pairs required for BIM model coordinate system matching, fusion and association include the following types: measurement control point pairs under different plane spatial coordinate systems, feature point pairs under different plane spatial coordinate systems, measurement control point and feature point pairs under different plane spatial coordinate systems, and measurement control point pairs under different elevation spatial coordinate systems.

[0050] Specifically, it includes the following steps:

[0051] (3.1) For the adaptation of measurement control point pairs: control survey points of the engineering plane coordinate system of the highway project are measured on-site. The coordinate values ​​of the corresponding points are extracted according to the control point number. The corresponding point pairs are organized in the format of "control point number, east-west coordinates of the source coordinate system control point, north-south coordinates of the source coordinate system control point, elevation of the source coordinate system control point, east-west coordinates of the target coordinate system control point, north-south coordinates of the target coordinate system control point, elevation of the target coordinate system control point".

[0052] (3.2) For feature point pair adaptation:

[0053] The feature point acquisition method is as follows: acquire image feature points at the same position in the source coordinate system and the target coordinate system;

[0054] Collection principle: Corner points with obvious ground features are used as feature points. The number of feature points is ≥6 and they are evenly distributed. The feature point number is used as the feature point number.

[0055] Extract the coordinate values ​​of the corresponding points based on the feature point number, and organize the corresponding point pairs according to the conventional format of "feature point number, east-west coordinates of the feature point in the source coordinate system, north-south coordinates of the feature point in the source coordinate system, elevation of the feature point in the source coordinate system, east-west coordinates of the feature point in the target coordinate system, north-south coordinates of the feature point in the target coordinate system, elevation of the feature point in the target coordinate system".

[0056] Furthermore, preferably, in step (5), the fusion parameters for matching and fusing the BIM model coordinate system are calculated, and the specific method is as follows:

[0057] The calculation of fusion parameters under different planar spatial coordinate systems includes the following cases: calculation based on a three-dimensional seven-parameter model of geodetic coordinates, calculation based on a two-dimensional seven-parameter model of geodetic coordinates, calculation based on a geodetic ellipsoidal polynomial fitting model, calculation based on a Bursa model of geocentric rectangular coordinates, calculation based on a three-dimensional four-parameter model of geocentric rectangular coordinates, calculation based on a two-dimensional four-parameter model of geocentric rectangular coordinates, and calculation based on a polynomial fitting model of geocentric rectangular coordinates, as detailed below:

[0058] (5.1) Calculation method based on three-dimensional seven-parameter model of geodetic coordinates:

[0059] The fusion parameter to be solved is: T x ,T y ,T z ,R x ,R y ,R z D, where T x ,T y ,T z R represents the offset in the XYZ directions. x ,R y ,R z This represents the rotation amount in the XYZ directions, and D represents the scaling amount.

[0060] The input parameters are: latitude and longitude geodetic coordinate system parameters associated with the BIM model and a set of corresponding point pairs associated with the BIM model;

[0061] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0062] The parsing results in a set of corresponding point pairs associated with the BIM model: point number, source latitude and longitude geodetic coordinates (east-west direction L). 源 The north-south coordinates of the geodetic coordinate system originating from latitude and longitude, B.源 Elevation H in latitude and longitude geodetic coordinate system 源 The target's latitude and longitude coordinates in the geodetic coordinate system are L (east-west direction). 目 The target's north-south coordinates in the geodetic coordinate system are B. 目 Target latitude and longitude geodetic coordinate system elevation H 目 If the same point (X) 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted to a latitude and longitude geodetic coordinate system. The specific method is as follows:

[0063]

[0064] in,

[0065] B f Through iterative calculation: When (B) f ) i+1 -(B f ) i The iteration is completed when the value is less than or equal to δ.

[0066]

[0067] or

[0068] X0 = Y 源 δ is the control error variable calculated iteratively, and its value in this system is 0.0000000002.

[0069]

[0070]

[0071] y = X 源 -500000,a=a 源 f = f 源 L0 is the central longitude;

[0072] L and B are the results of geodetic coordinate calculations for latitude and longitude.

[0073] In the formulas of this invention, unless otherwise specified, the identifiers represent temporary variables introduced for ease of calculation and have no explicit physical meaning.

[0074] The transformation formula based on the three-dimensional seven-parameter fusion model of geodetic coordinates is as follows:

[0075]

[0076] in,

[0077] a6=cosBcosL, a7=sinBsinL, a8=sinB,

[0078]

[0079] c2=(N+H)-Ne 2 sin 2 B,

[0080]

[0081] a = a 源 f = f 源 ,Δa=a 目 -a 源 ,Δf=f 目 -f 源 ,

[0082] L = L 源 B = B 源 H = H 源 ,ΔL=L 目 -L 源 ,ΔB=B 目 -B 源 ,ΔH=H 目 -H 源 ,

[0083]

[0084] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows: Let:

[0085] ΔL i =(L 目 -L 源 ) i ,ΔB i = (B 目 -B 源 ) i ,ΔH i =(H 目 -h 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0086]

[0087] θ=[T x T y T z R x Ry R z D] T

[0088] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e. there are n sets;

[0089] Then, according to equation (2), the matrix equation can be obtained:

[0090] v=Pθ,

[0091] in,

[0092]

[0093] Based on the least squares statistical regression analysis method, we can find:

[0094]

[0095] The value calculated by fitting θ is used to solve the problem using the householderQr decomposition method to obtain the fusion parameters based on the three-dimensional seven-parameter model of geodetic coordinates.

[0096] (5.2) Calculation method based on two-dimensional seven-parameter model of geodetic coordinates:

[0097] The fusion parameter to be solved is: T x ,T y ,T z ,R x ,R y ,R z D, where T x ,T y ,T z R represents the offset in the XYZ directions. x ,R y ,R z This represents the rotation amount in the XYZ directions, and D represents the scaling amount.

[0098] The input parameters are: latitude and longitude geodetic coordinate system parameters associated with the BIM model and a set of corresponding point pairs associated with the BIM model;

[0099] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0100] The parsing results in a set of corresponding point pairs associated with the BIM model: point number, source latitude and longitude geodetic coordinates (east-west direction L). 源 The north-south coordinates of the geodetic coordinate system originating from latitude and longitude, B. 源 The target's latitude and longitude coordinates in the geodetic coordinate system are L (east-west direction). 目 The target's north-south coordinates in the geodetic coordinate system are B. 目 If the same point (X) 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system, which needs to be converted to a latitude and longitude geodetic coordinate system, as shown in (Equation 1);

[0101] The transformation formula based on the two-dimensional seven-parameter geodetic coordinate fusion model is as follows:

[0102]

[0103] in,

[0104] b0=tanBcosL, b1=tanBsinL, b3=-sinL, b4=cosL,

[0105]

[0106] a = a 源 f = f 源 ,Δa=a 目 -a 源 ,Δf=f 目 -f 源 ,

[0107] L = L 源 B = B 源 ,ΔL=L 目 -L 源 ,ΔB=B 目 -B 源 ,

[0108] e 2 =2f-f 2 ,

[0109] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0110] make:

[0111] ΔL i =(L 目 -L 源 ) i ,ΔBi = (B 目 -B 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0112]

[0113] θ=[T x T y T z R x R y R z D] T

[0114] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0115] Then, according to equation (3), the matrix equation can be obtained:

[0116] v=Pθ,

[0117] in

[0118]

[0119] Based on the least squares statistical regression analysis method, we can find:

[0120]

[0121] The value calculated by fitting θ is used to solve the problem using the householderQr decomposition method to obtain the fusion parameters based on the two-dimensional seven-parameter model of geodetic coordinates.

[0122] (5.3) Calculation method based on geodetic coordinate ellipsoid polynomial fitting model:

[0123] The fusion parameters to be solved are: α1, α2, α3, α4, α5, α6, β1, β2, β3, β4, β5, β6, which represent the coefficients of the polynomial fitting model based on the geodetic coordinate ellipsoid.

[0124] The input parameters are: latitude and longitude geodetic coordinate system parameters associated with the BIM model and a set of corresponding point pairs associated with the BIM model;

[0125] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f目 ;

[0126] The parsing results in a set of corresponding point pairs associated with the BIM model: point number, source latitude and longitude geodetic coordinates (east-west direction L). 源 The north-south coordinates of the geodetic coordinate system originating from latitude and longitude, B. 源 The target's latitude and longitude coordinates in the geodetic coordinate system are L (east-west direction). 目 The target's north-south coordinates in the geodetic coordinate system are B. 目 If the same point (X) 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system, which needs to be converted to a latitude and longitude geodetic coordinate system, as shown in (Equation 1);

[0127] The transformation formula for the geodetic coordinate ellipsoid polynomial fitting and fusion model is as follows:

[0128]

[0129] Where L=L 源 B = B 源 ,ΔL=L 目 -L 源 ,ΔB=B 目 -B 源 ,

[0130] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0131] make:

[0132] ΔL i =(L 目 -L 源 ) i ,ΔBi=(B 目 -B 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0133]

[0134] θ=[α1 α2 α3 α4 α5 α6 β1 β2 β3 β4 β5 β6] T

[0135] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e. there are n sets;

[0136] Then, according to equation (4), the matrix equation can be obtained:

[0137] v=Pθ,

[0138] in

[0139]

[0140] Based on the least squares statistical regression analysis method, we can find:

[0141]

[0142] The value calculated by fitting θ is used to solve the problem using the householder Qr decomposition method to obtain the fusion parameters based on the geodetic coordinate ellipsoid polynomial fitting model.

[0143] (5.4) Calculation method based on the Bursa model of geocentric rectangular coordinates:

[0144] The fusion parameter to be solved is: T x ,T y ,T z ,R x ,R y ,R z D, where T x ,T y ,T z R represents the offset in the XYZ directions. x ,R y ,R z This represents the rotation amount in the XYZ directions, and D represents the scaling amount.

[0145] The input parameters are: the geocentric rectangular coordinate system parameters associated with the BIM model and the set of corresponding point pairs associated with the BIM model;

[0146] The parameters of the geocentric rectangular coordinate system associated with the BIM model are: the radius of the semi-major axis of the source geocentric rectangular coordinate system ellipsoid, a. 源 The source geocentric rectangular coordinate system coordinate system ellipsoid flattening f 源 The radius of the semi-major axis of the ellipsoid in the target geocentric rectangular coordinate system is a. 目 The flattening f of the ellipsoid in the target geocentric rectangular coordinate system 目 ;

[0147] This is resolved to a set of corresponding point pairs associated with the BIM model: point number, and the x-coordinate of the source geocentric rectangular coordinate system (east-west direction). 源 The north-south coordinates of the source geocentric rectangular coordinate system are y 源 Elevation z in the geocentric rectangular coordinate system 源 The target's east-west coordinates in the geocentric rectangular coordinate system (x-axis) 目 The target's north-south coordinates in the geocentric rectangular coordinate system are y 目 Target elevation z in geocentric rectangular coordinate system 目If the same point (L) 源 B 源 H 源 The coordinate system is a latitude and longitude geodetic coordinate system, which needs to be converted to a geocentric rectangular coordinate system, see (Equation 5); if the corresponding points (X 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted to a latitude and longitude geodetic coordinate system, see (Equation 1), and then the latitude and longitude geodetic coordinate system is converted to a geocentric rectangular coordinate system, see (Equation 5).

[0148]

[0149] in, e 2 =2f-f 2 a=a 源 f = f 源 L=L 源 B = B 源 H = H 源 ,

[0150] (x,y,z) are geocentric rectangular coordinates;

[0151] The transformation formula based on the Bursa fusion model of geocentric rectangular coordinates is as follows:

[0152]

[0153] Where, x = x 源 ,y=y 源 ,z=z 源 ,Δx=x 目 -x 源 ,Δy=y 目 -y 源 ,Δz=z 目 -z 源 ,

[0154] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0155] make:

[0156] Δx i =(x 目 -x 源 ) i ,Δy i =(y 目 -y 源 ) i ,Δz i =(z 目 -z源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0157]

[0158] θ=[T x T y T z R x R y R z D] T

[0159] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0160] Then, according to equation (6), the matrix equation can be obtained:

[0161] v=Pθ,

[0162] in

[0163]

[0164] Based on the least squares statistical regression analysis method, we can find:

[0165]

[0166] That is, the value calculated by fitting θ, which is solved using the householderQr decomposition method to obtain the fusion parameters based on the geocentric rectangular coordinate Bursa model;

[0167] (5.5) Calculation method based on three-dimensional four-parameter model of geocentric rectangular coordinates:

[0168] The fusion parameter to be solved is: T x ,T y ,T z D, where T x ,T y ,T z This represents the offset in the XYZ directions, and D represents the scaling factor.

[0169] The input parameter is: a set of corresponding point pairs associated with the BIM model;

[0170] This is resolved to a set of corresponding point pairs associated with the BIM model: point number, and the x-coordinate of the source geocentric rectangular coordinate system (east-west direction). 源 The north-south coordinates of the source geocentric rectangular coordinate system are y 源 Elevation z in the geocentric rectangular coordinate system 源 The target's east-west coordinates in the geocentric rectangular coordinate system (x-axis) 目The target's north-south coordinates in the geocentric rectangular coordinate system are y 目 Target elevation z in geocentric rectangular coordinate system 目 If the same point (L) 源 B 源 H 源 The coordinate system is a latitude and longitude geodetic coordinate system, which needs to be converted to a geocentric rectangular coordinate system. The specific method is shown in Equation 5; if the corresponding points (X... 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted into a latitude and longitude geodetic coordinate system. The specific method is shown in (Equation 1). Then, the latitude and longitude geodetic coordinate system is converted into a geocentric rectangular coordinate system. The specific method is shown in (Equation 5).

[0171] The transformation formula based on the geocentric rectangular coordinate three-dimensional four-parameter fusion model is as follows:

[0172]

[0173] in,

[0174] Δx=x 目 -x 源 ,Δy=y 目 -y 源 ,Δz=z 目 -z 源 ,

[0175] α0=z 源 cosB0sinL0-Y 源 sinB0,α1=-z 源 cosB0cosl0+x 源 sinB0,α2=Y 源 cosB0cosL0-x 源 cosB0sinL0,

[0176] L0, B0 represent the central geodetic coordinates of the region formed by the set of points with the same name.

[0177] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0178] make:

[0179] Δx i =(x 目 -x 源 ) i ,Δy i =(y 目 -y 源 ) i,Δz i =(z 目 -z 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0180]

[0181] θ=[T x T y T z D] T

[0182] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0183] Then, according to equation (7), the matrix equation can be obtained:

[0184] v=Pθ,

[0185] in

[0186]

[0187] Based on the least squares statistical regression analysis method, we can find:

[0188]

[0189] The value is calculated by fitting θ, and the householder Qr decomposition method is used to solve it to obtain the fusion parameters based on the three-dimensional four-parameter model of geocentric rectangular coordinates;

[0190] (5.6) Calculation method based on two-dimensional four-parameter model of geocentric rectangular coordinates:

[0191] The fusion parameter to be solved is: T x ,T y ,m,D, where T x ,T y This represents the offset in the XY direction, m represents the control parameters introduced in the calculation, and D represents the scale scaling amount;

[0192] The input parameter is: a set of corresponding point pairs associated with the BIM model;

[0193] This is resolved to a set of corresponding point pairs associated with the BIM model: point number, and the x-coordinate of the source geocentric rectangular coordinate system (east-west direction). 源 The north-south coordinates of the source geocentric rectangular coordinate system are y 源 Elevation z in the geocentric rectangular coordinate system 源 The target's east-west coordinates in the geocentric rectangular coordinate system (x-axis) 目 The target's north-south coordinates in the geocentric rectangular coordinate system are y目 Target elevation z in geocentric rectangular coordinate system 目 If the same point (L) 源 B 源 H 源 The coordinate system is a latitude and longitude geodetic coordinate system, which needs to be converted to a geocentric rectangular coordinate system. The specific method is shown in Equation 5; if the corresponding points (X... 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted into a latitude and longitude geodetic coordinate system. The specific method is shown in (Equation 1). Then, the latitude and longitude geodetic coordinate system is converted into a geocentric rectangular coordinate system. The specific method is shown in (Equation 5).

[0194] The transformation formula based on the two-dimensional four-parameter fusion model of geocentric rectangular coordinates is as follows:

[0195]

[0196] in,

[0197] α0=(1+m)cosD, α1=(1+m)sinD,

[0198]

[0199] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0200] make:

[0201] (x 目 ) i ,(y 目 ) i ,(z 目 ) i ,(x 源 ) i ,(y 源 ) i ,(z 源 ) i : Represents the coordinates of the i-th pair of points with the same name.

[0202]

[0203] θ=[T x T y α0 α1] T

[0204] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0205] Then, according to equation (8), the matrix equation can be obtained:

[0206] v=Pθ,

[0207] in

[0208]

[0209] Based on the least squares statistical regression analysis method, we can find:

[0210]

[0211] The value is calculated by fitting θ, and the householder Qr decomposition method is used to solve it to obtain the fusion parameters based on the two-dimensional four-parameter model of geocentric rectangular coordinates.

[0212] (5.7) Calculation method based on geocentric rectangular coordinate polynomial fitting model:

[0213] The fusion parameters to be solved are: α0, α1, α2, α3, α4, α5, α6, α7, α8, α9, β0, β1, β2, β3, β4, β5, β6, β7, β8, β9, which represent the coefficients of the geocentric rectangular coordinate polynomial fitting model;

[0214] The input parameter is: a set of corresponding point pairs associated with the BIM model;

[0215] This is resolved to a set of corresponding point pairs associated with the BIM model: point number, and the x-coordinate of the source geocentric rectangular coordinate system (east-west direction). 源 The north-south coordinates of the source geocentric rectangular coordinate system are y 源 Elevation z in the geocentric rectangular coordinate system 源 The target's east-west coordinates in the geocentric rectangular coordinate system (x-axis) 目 The target's north-south coordinates in the geocentric rectangular coordinate system are y 目 Target elevation z in geocentric rectangular coordinate system 目 If the same point (L) 源 B 源 H 源 The coordinate system is a latitude and longitude geodetic coordinate system, which needs to be converted to a geocentric rectangular coordinate system. The specific method is shown in Equation 5; if the corresponding points (X... 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted into a latitude and longitude geodetic coordinate system. The specific method is shown in (Equation 1). Then, the latitude and longitude geodetic coordinate system is converted into a geocentric rectangular coordinate system. The specific method is shown in (Equation 5).

[0216] The transformation formula for the geocentric rectangular coordinate polynomial fitting and fusion model is as follows:

[0217]

[0218] in,

[0219] Δx=x 目 -x 源 ,Δy=y 目 -y 源 X = x 源 Y = y 源 ,

[0220] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0221] make:

[0222] Δx i =(x 目 -x 源 ) i ,Δy i =(y 目 -y 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0223]

[0224] θ=[α0 α1 α2 α3 α4 α5 α6 α7 α8 α9 β0 β1 β2 β3 β4 β5 β6 β7 β8 β9] T

[0225] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0226] Then, according to equation (9), the matrix equation can be obtained:

[0227] v=Pθ,

[0228] in

[0229]

[0230] Based on the least squares statistical regression analysis method, we can find:

[0231]

[0232] That is, the value calculated by fitting θ is solved using the householderQr decomposition method to obtain the fusion parameters based on the geocentric rectangular coordinate polynomial fitting model;

[0233] (5.8) The calculation of fusion parameters under different elevation spatial coordinate systems includes the following cases: the 1956 Yellow Sea normal height and CGCS2000 ellipsoidal geodetic height transformation model, the 1985 Yellow Sea normal height and CGCS2000 ellipsoidal geodetic height transformation model, the 1956 Yellow Sea normal height and 1985 Yellow Sea normal height transformation model, the EGM96 geoid normal height and WGS84 ellipsoidal geodetic height transformation model, and the EGM2008 geoid normal height and WGS84 ellipsoidal geodetic height transformation model. The coordinate system fusion method based on these models is the same, see (Equation 10), only the elevation compensation parameters of these models are different.

[0234] H 目 =H 源 +H δ (Equation 10)

[0235] Among them, H 目 H represents the elevation value under the target elevation system. 源 H represents the elevation value under the source elevation system. δ This indicates the elevation compensation value.

[0236] Furthermore, preferably, H δ The calculation is achieved through two methods: extracting compensation values ​​based on the set of control point pairs and extracting compensation values ​​based on the ellipsoid approximation theory;

[0237] (5.8.1) Extracting compensation values ​​based on the set of control points:

[0238] The semantics of the elevation coordinate system associated with the BIM model are parsed, and the elevation system type is determined based on the semantics: normal height system and geodetic height system.

[0239] This is resolved to a set of corresponding point pairs in the BIM model's elevation system: corresponding point number, normal elevation system elevation H. 正 Elevation H of the geodetic height system 大 ;

[0240] Based on the corresponding control point pairs, calculate the elevation compensation value according to (Equation 11):

[0241] H δ =H 大 -H 正 (Equation 11)

[0242] (5.8.2) Extracting compensation values ​​based on ellipsoidal approximation theory:

[0243] The semantics of the elevation coordinate system associated with the BIM model are parsed, and the elevation system type is determined based on the semantics: normal height system and geodetic height system.

[0244] Based on the elevation system semantics and elevation system gravity anomaly model mapping table shown in Table 1, an approximate gravity anomaly model is obtained.

[0245] Table 1. Mapping Table of Gravity Anomaly Model (EGM) for Elevation System

[0246] 1985 Yellow Sea Normal High System EGM2008 1956 Yellow Sea Normal High System EGM96

[0247] Based on the mapped gravity anomaly model, the highway engineering BIM project management service notifies the gravity anomaly model analysis module through the message queue module to obtain the elevation compensation of the corresponding gravity anomaly model based on the location, which is used for the approximate expression conversion of different elevation systems.

[0248] Furthermore, preferably, the specific method of step (6) is as follows:

[0249] (6.1) For the matching and fusion of the plane spatial coordinate system of the BIM model, the highway engineering BIM project management service notifies the BIM model plane spatial coordinate system matching and fusion service through the message queue module, and realizes the matching and fusion of the plane spatial coordinate system of the BIM model according to the plane spatial coordinate system fusion model and fusion parameters.

[0250] The fusion models under different planar spatial coordinate systems include: a three-dimensional seven-parameter model based on geodetic coordinates, a two-dimensional seven-parameter model based on geodetic coordinates, a polynomial fitting model based on geodetic coordinates ellipsoids, a Bursa model based on geocentric rectangular coordinates, a three-dimensional four-parameter model based on geocentric rectangular coordinates, a two-dimensional four-parameter model based on geocentric rectangular coordinates, and a polynomial fitting model based on geocentric rectangular coordinates.

[0251] The specific usage methods for various situations are as follows:

[0252] (6.1.1) Calculation method based on three-dimensional seven-parameter model of geodetic coordinates:

[0253] The BIM model origin (X0, Y0, Z0) is obtained by parsing and then converted into geodetic latitude and longitude coordinates (L0, B0, H0). The specific method is shown in (Equation 1).

[0254] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0255] Based on the geodetic coordinate three-dimensional seven-parameter model and the fusion parameter calculation results of method (5.1) (T) x ,T y ,T z ,R x ,R y ,R z (D), convert (L0,B0,H0) into target geodetic latitude and longitude coordinates. The specific calculation method is as follows:

[0256]

[0257] in,

[0258]

[0259] a6=cosBcosL, a7=sinBsinL, a8=sinB,

[0260]

[0261]

[0262] c2=(N+H)-Ne 2 sin 2 B,

[0263]

[0264] a = a 源 f = f 源 ,Δa=a 目 -a 源 ,Δf=f 目 -f 源 ,

[0265] e 2 =2f-f 2 ,

[0266]

[0267] The target's latitude and longitude coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target geodetic latitude and longitude coordinates need to be converted. Convert to target projection plane coordinates The specific method is as follows:

[0268]

[0269] in,

[0270] t=tanB,η 2 =é 2 cos 2 B, e 2 =2f-f 2 ,

[0271]

[0272] or

[0273]

[0274] a is the semi-major axis of the ellipsoid, f is the flattening of the ellipsoid, and L is the semi-major axis of the ellipsoid. 中 This is the central longitude of the projected plane coordinate system.

[0275] (6.1.2) Calculation method based on a two-dimensional seven-parameter geodetic coordinate model: This method is applicable to the fusion and matching of the source latitude and longitude geodetic coordinate system to the target latitude and longitude geodetic coordinate system; the specific process is as follows:

[0276] The BIM model origin (X0, Y0, Z0) is obtained by parsing and then converted into geodetic latitude and longitude coordinates (L0, B0, H0). The specific method is shown in (Equation 1).

[0277] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0278] Based on the geodetic coordinate two-dimensional seven-parameter model and the fusion parameter calculation results of method (5.2) (T) x ,T y ,T z ,R x ,R y ,R z (D), convert (L0,B0,H0) into target geodetic latitude and longitude coordinates. The specific calculation method is as follows:

[0279]

[0280] in,

[0281] b0=tanBcosL, b1=tanBsinL, b3=-sinL, b4=cosL,

[0282]

[0283] a = a 源 f = f 源 ,Δa=a 目 -a 源 ,Δf=f 目 -f 源 ,

[0284] e 2 =2f-f 2 ,

[0285]

[0286] Where ΔH=0

[0287] The target's latitude and longitude coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target geodetic latitude and longitude coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0288] (6.1.3) Calculation method based on geodetic coordinate ellipsoid polynomial fitting model:

[0289] The BIM model origin (X0, Y0, Z0) is obtained by parsing and then converted into geodetic latitude and longitude coordinates (L0, B0, H0). The specific method is shown in (Equation 1).

[0290] Based on the fusion parameter calculation results (α1, α2, α3, α4, α5, α6, β1, β2, β3, β4, β5, β6) of the geodetic coordinate ellipsoid polynomial fitting model and method (5.3), (L0, B0, H0) is converted into target geodetic latitude and longitude coordinates. The specific calculation method is as follows:

[0291]

[0292] Where L = L0, B = B0,

[0293]

[0294] Where ΔH=0

[0295] The target's latitude and longitude coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target geodetic latitude and longitude coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0296] (6.1.4) Calculation method based on the Bursa model of geocentric rectangular coordinates: This method is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system; the specific process is as follows:

[0297] The BIM model origin (X0, Y0, Z0) is obtained by parsing and converting it into geodetic latitude and longitude coordinates (L0, B0, H0), as shown in Equation 1; then the geodetic latitude and longitude coordinates (L0, B0, H0) are converted into geocentric rectangular coordinates (x0, y0, z0), as shown in Equation 5.

[0298] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0299] Based on the calculation results of the fusion parameters of the Bursa model in geocentric rectangular coordinates and method (5.4) (T) x ,T y ,T z ,R x ,R y ,R z D), convert (x0, y0, z0) to the target geocentric rectangular coordinates. The specific calculation method is as follows:

[0300]

[0301] The target's geocentric rectangular coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system requires a latitude and longitude geodetic coordinate system, the target geocentric rectangular coordinates need to be converted. Convert to target latitude and longitude geodetic coordinates The specific method is shown in (Equation 13); if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target latitude and longitude geodetic coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0302]

[0303] in,

[0304]

[0305] b = a(1-f),

[0306] a = a 目 f = f 目 ,

[0307] (6.1.5) Calculation method based on three-dimensional four-parameter model of geocentric rectangular coordinates:

[0308] The BIM model origin (X0, Y0, Z0) is obtained by parsing and converting it into geodetic latitude and longitude coordinates (L0, B0, H0), as shown in Equation 1; then the geodetic latitude and longitude coordinates (L0, B0, H0) are converted into geocentric rectangular coordinates (x0, y0, z0), as shown in Equation 5.

[0309] Based on the geocentric rectangular coordinate three-dimensional four-parameter model and the fusion parameter calculation results of method (5.5) (T) x ,T y ,T z D), convert (x0, y0, z0) to the target geocentric rectangular coordinates. The specific calculation method is as follows:

[0310]

[0311] Among them, L 中 B 中 Indicates the center geodetic coordinates of the area where the BIM model is located;

[0312] The target's geocentric rectangular coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system requires a latitude and longitude geodetic coordinate system, the target geocentric rectangular coordinates need to be converted. Convert to target latitude and longitude geodetic coordinates The specific method is shown in (Equation 13); if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target latitude and longitude geodetic coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0313] (6.1.6) Calculation method based on two-dimensional four-parameter model of geocentric rectangular coordinates:

[0314] The BIM model origin (X0, Y0, Z0) is obtained by parsing and converting it into geodetic latitude and longitude coordinates (L0, B0, H0), as shown in Equation 1; then the geodetic latitude and longitude coordinates (L0, B0, H0) are converted into geocentric rectangular coordinates (x0, y0, z0), as shown in Equation 5.

[0315] Based on the geocentric rectangular coordinate two-dimensional four-parameter model and the fusion parameter calculation results of method (5.6) (T) x ,T y ,α,m), convert (x0,y0,z0) to the target geocentric rectangular coordinates. The specific calculation method is as follows:

[0316]

[0317] The target's geocentric rectangular coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system requires a latitude and longitude geodetic coordinate system, the target geocentric rectangular coordinates need to be converted. Convert to target latitude and longitude geodetic coordinates The specific method is shown in (Equation 13); if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target latitude and longitude geodetic coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0318] (6.1.7) Calculation method based on geocentric rectangular coordinate polynomial fitting model: This method is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system; the specific process is as follows:

[0319] The BIM model origin (X0, Y0, Z0) is obtained by parsing and converting it into geodetic latitude and longitude coordinates (L0, B0, H0), as shown in Equation 1; then the geodetic latitude and longitude coordinates (L0, B0, H0) are converted into geocentric rectangular coordinates (x0, y0, z0), as shown in Equation 5.

[0320] Based on the geocentric rectangular coordinate polynomial fitting model and the fusion parameter calculation results (α0,α1,α2,α3,α4,α5,α6,α7,α8,α9,β0,β1,β2,β3,β4,β5,β6,β7,β8,β9) of method (5.7), (x0,y0,z0) is converted into the target geocentric rectangular coordinates. The specific calculation method is as follows:

[0321]

[0322] The target's geocentric rectangular coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system requires a latitude and longitude geodetic coordinate system, the target geocentric rectangular coordinates need to be converted. Convert to target latitude and longitude geodetic coordinates The specific method is shown in (Equation 13); if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target latitude and longitude geodetic coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0323] (6.2) For the matching and fusion of the elevation space coordinate system of the BIM model, the highway engineering BIM project management service notifies the BIM model elevation space coordinate system matching and fusion service through the message queue module. Based on the elevation space coordinate system fusion model and the fusion model parameters, the BIM model elevation space coordinate system matching and fusion is calculated according to (Equation 10) to achieve the matching and fusion of the elevation space coordinate system of the BIM model.

[0324] This invention makes full use of server cluster hardware resources to deploy a service-oriented real geospatial location fusion system for highway engineering BIM models, realizing automated and batch processing of both planar spatial location coordinate system matching and fusion and elevation spatial location coordinate system matching and fusion of highway engineering BIM models.

[0325] In this invention, the service-oriented highway engineering BIM model-to-real-location geolocation fusion system includes the following fusion business modules:

[0326] The Highway Engineering BIM Project Management Module is used to manage highway engineering BIM project data that needs to be matched and fused with coordinate systems. It determines the set of BIM models to be processed and matched in a single batch based on the project boundary.

[0327] The BIM model coordinate system definition module is used for the semantic definition of the BIM model coordinate system to be matched and merged. Based on the highway engineering surveying parameters, it determines the plane position reference and elevation position reference of the model, defines the semantics of the coordinate system parameters, and associates the model.

[0328] The module for matching corresponding point pairs in different coordinate systems is used to match corresponding point pairs between sets of measurement control points or image feature points in the source and target plane spatial coordinate systems of the BIM model to be matched and merged, as well as corresponding point pairs between sets of measurement control points in the source and target elevation spatial coordinate systems. The source plane spatial coordinate system refers to the plane coordinate system used during BIM model building; the target plane spatial coordinate system refers to the plane coordinate system used in the digital application of the BIM model; the source and target elevation spatial coordinate systems are similarly defined; corresponding point pairs refer to coordinate pairs of the same location in different coordinate systems; measurement control points refer to points determined by surveying and mapping according to the national basic survey control network; and feature points refer to points with obvious physical features, including corner points of road facilities, road intersections, building corner points, water system corner points, and water system intersections.

[0329] The coordinate system fusion parameter calculation module is used to calculate the coordinate system fusion model parameters of the BIM model to be matched and fused. It calculates the fusion relationship between different coordinate systems based on the set of corresponding point pairs, the plane space coordinate system fusion model, and the elevation space coordinate system fusion model. The aforementioned planar spatial coordinate system fusion model refers to the coordinate system transformation models specified in the "CH / T 2014-2016 Technical Specification for Coordinate Transformation of Geodetic Control Points": three-dimensional seven-parameter geodetic coordinate model, two-dimensional seven-parameter geodetic coordinate model, geodetic coordinate ellipsoid polynomial fitting model, geocentric rectangular coordinate Bursa model, three-dimensional four-parameter geocentric rectangular coordinate model, two-dimensional four-parameter geocentric rectangular coordinate model, and geocentric rectangular coordinate polynomial fitting model; the aforementioned elevation spatial coordinate system fusion model refers to the coordinate system transformation models specified by the State Bureau of Surveying and Mapping: 1956 Yellow Sea normal height to ellipsoidal geodetic height transformation model, 1985 Yellow Sea normal height to ellipsoidal geodetic height transformation model, 1956 Yellow Sea normal height to 1985 Yellow Sea normal height transformation model, EGM96 geoid normal height to ellipsoidal geodetic height transformation model, and EGM2008 geoid normal height to ellipsoidal geodetic height transformation model.

[0330] The gravity anomaly model analysis module is used to analyze publicly available gravity anomaly models from both domestic and international sources, including EGM84, EGM96, and EGM2008. It is also used to extract the compensation height based on the geoid corresponding to the gravity anomaly model, according to latitude and longitude. The compensation height refers to the transformation parameters of different elevation system conversion models.

[0331] The BIM model planar spatial coordinate system matching and fusion module is used for the planar spatial coordinate system fusion transformation of the BIM model to be matched and fused. Based on the planar spatial coordinate system semantics, coordinate system fusion parameters, and coordinate system fusion model of the BIM model, it calculates the position in the target planar spatial coordinate system to achieve planar spatial position matching and fusion of the BIM model.

[0332] The BIM model elevation space coordinate system matching and fusion module is used for the elevation space coordinate system fusion transformation of the BIM model to be matched and fused. Based on the semantics of the elevation space coordinate system of the BIM model, the coordinate system fusion parameters, and the coordinate system fusion model, it calculates the position under the target elevation space coordinate system to achieve elevation space position matching and fusion of the BIM model.

[0333] In this invention, the auxiliary business modules included in the service-oriented highway engineering BIM model-to-real-location fusion system include:

[0334] The business service registration center module is used for resource registration, discovery, and monitoring management of computer hardware nodes for the business services included in this system.

[0335] The business service gateway module is used for calculating access routes and load balancing control for the business services included in this system.

[0336] The computing power management and scheduling module is used to meet the computing power service needs of the services included in this system. Based on the traffic of user access to the service, it elastically scales up and down computer resources and isolates faulty resources.

[0337] The data storage module is used to store temporary and business data required by this system.

[0338] The message queue module is used for communication between business services in this system.

[0339] This invention achieves automated and batch processing of two aspects of highway engineering BIM model: matching and fusing plane spatial coordinate system attributes and matching and fusing elevation spatial coordinate system attributes, by coordinating the functions of various business modules. The specific method is as follows:

[0340] In step (3) of this invention, the user determines the source plane spatial coordinate system, target plane spatial coordinate system, source elevation spatial coordinate system, and target elevation spatial coordinate system of the BIM model based on the actual surveying coordinate system and digital application environment of the highway engineering. The highway engineering BIM project management service notifies the BIM model coordinate system definition module through the message queue module to define and associate the source coordinate system attributes and target coordinate system attributes for the BIM model.

[0341] This invention standardizes the parameters of the latitude and longitude geodetic coordinate system: based on the semi-major axis radius R and the flattening f of the ellipsoid, as well as the prime meridian PRIMEM, it defines the latitude and longitude geodetic coordinate system; and based on ESRI's prj coordinate system specification and OSGeo's PROJ coordinate system specification, it forms a shareable, standardized, and universal definition.

[0342] This invention standardizes the parameters of the projection plane coordinate system. Based on the calculated parameter combinations, the projection plane coordinate system is defined. Furthermore, based on ESRI's prj coordinate system specification and OSGeo's PROJ coordinate system specification, a shareable, standardized, and universal definition is formed.

[0343] This invention standardizes the identifier name for elevation coordinate systems. Based on ESRI's prj coordinate system specification, it forms a shareable, standardized, and universal definition.

[0344] In this invention, the commonly used elevation coordinate system identifiers for domestic data include "1956 Yellow Sea Normal Height System", "1985 Yellow Sea Normal Height System", "CGCS2000 Ellipsoid Geodetic Height System", "WGS84 Ellipsoid Geodetic Height System", "EGM96 Geoid Normal Height System", and "EGM2008 Geoid Normal Height System".

[0345] The standardized semantic definition of the source plane spatial coordinate system, target plane spatial coordinate system, source elevation spatial coordinate system, and target elevation spatial coordinate system of the BIM model is completed through step (3) of the present invention.

[0346] In step (4) of this invention, the user determines the corresponding point pairs of the plane spatial coordinate system and the corresponding point pairs of the elevation spatial coordinate system of the highway project based on the actual surveying and mapping basic data of the highway project, and associates them with the BIM model.

[0347] This invention extracts the coordinate values ​​of corresponding points based on feature point numbers and organizes corresponding point pairs according to the conventional format of "feature point number, east-west coordinates of the feature point (measurement control point) in the source coordinate system, north-south coordinates of the feature point (measurement control point) in the source coordinate system, elevation of the feature point (measurement control point) in the source coordinate system, east-west coordinates of the feature point (measurement control point) in the target coordinate system, north-south coordinates of the feature point (measurement control point) in the target coordinate system, and elevation of the feature point (measurement control point) in the target coordinate system".

[0348] The present invention completes the adaptation and association of corresponding point pairs between the source plane spatial coordinate system and the target plane spatial coordinate system of the BIM model through step (4), as well as the adaptation and association of corresponding point pairs between the source elevation spatial coordinate system and the target elevation spatial coordinate system.

[0349] In step (5) of this invention, the user selects the plane spatial coordinate system fusion model and the elevation spatial coordinate system fusion model based on the corresponding point pairs adapted in step (4), and determines the fusion parameters of different plane spatial coordinate systems and different elevation spatial coordinate systems for highway engineering. The highway engineering BIM project management service notifies the coordinate system fusion parameter calculation service through the message queue module to calculate the fusion parameters for matching the BIM model coordinate system.

[0350] In step (5) of this invention, at least 3 pairs of corresponding points must be satisfied in steps (5.1), (5.2), (5.4), (5.5), and (5.6), otherwise the error will be too large. In step (5.3), at least 6 pairs of corresponding points must be satisfied, otherwise the error will be too large.

[0351] In this invention (5.1), a three-dimensional seven-parameter model calculation method based on geodetic coordinates is applicable to the case of fusion and matching of the source latitude and longitude geodetic coordinate system to the target latitude and longitude geodetic coordinate system.

[0352] In this invention (5.2), a calculation method based on a two-dimensional seven-parameter geodetic coordinate model is used. This method is applicable to the fusion and matching of the source latitude and longitude geodetic coordinate system to the target latitude and longitude geodetic coordinate system.

[0353] In this invention (5.3), a calculation method based on a geodetic coordinate ellipsoid polynomial fitting model is used. This method is applicable to the fusion and matching of the source latitude and longitude geodetic coordinate system to the target latitude and longitude geodetic coordinate system.

[0354] In this invention (5.4), a calculation method based on the geocentric rectangular coordinate Bursa model is used, which is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system.

[0355] In this invention (5.5), a three-dimensional four-parameter model calculation method based on geocentric rectangular coordinates is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system.

[0356] In this invention (5.6), a two-dimensional four-parameter model calculation method based on geocentric rectangular coordinates is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system.

[0357] In this invention (5.7), a calculation method based on a geocentric rectangular coordinate polynomial fitting model is used, which is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system.

[0358] In this invention (5.8.1), compensation values ​​are extracted based on a set of control point pairs. This method is applicable to the conversion between different elevation systems in China and requires the provision of measurement control point pairs between the normal height system and the geodetic height system.

[0359] In this invention (5.8.2), compensation values ​​are extracted based on the ellipsoid approximation theory. This method is applicable to the conversion between different elevation systems at home and abroad, but the conversion error is larger than that of the method based on the set of control points to extract compensation values.

[0360] In this invention (5.8.2), an approximate expression of the EGM is obtained based on the semantics of the elevation system and the mapping table of the elevation system gravity anomaly model (EGM) (see Table 1).

[0361] Table 1. Mapping Table of Gravity Anomaly Model (EGM) for Elevation System

[0362]

[0363] Step (5) of this invention completes the calculation of matching and fusion parameters of the source plane spatial coordinate system and the target plane spatial coordinate system of the BIM model, as well as the calculation of matching and fusion parameters of the source elevation spatial coordinate system and the target elevation spatial coordinate system.

[0364] In step (6) of this invention, for the matching and fusion of the plane spatial coordinate system of the BIM model, the highway engineering BIM project management service notifies the BIM model plane spatial coordinate system matching and fusion service through the message queue module, and realizes the matching and fusion of the plane spatial coordinate system of the BIM model based on the plane spatial coordinate system fusion model and the calculation results of step (5).

[0365] In this invention (6.1.1), a calculation method based on a three-dimensional seven-parameter geodetic coordinate model is used. This method is applicable to the fusion and matching of the source latitude and longitude geodetic coordinate system to the target latitude and longitude geodetic coordinate system.

[0366] In this invention (6.1.2), a calculation method based on a two-dimensional seven-parameter geodetic coordinate model is used. This method is applicable to the fusion and matching of the source latitude and longitude geodetic coordinate system to the target latitude and longitude geodetic coordinate system.

[0367] In this invention (6.1.3), the calculation method based on the geodetic coordinate ellipsoid polynomial fitting model is applicable to the case of fusion matching between the source latitude and longitude geodetic coordinate system and the target latitude and longitude geodetic coordinate system.

[0368] In this invention (6.1.4), a calculation method based on the geocentric rectangular coordinate Bursa model is used, which is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system.

[0369] In this invention (6.1.5), a three-dimensional four-parameter model calculation method based on geocentric rectangular coordinates is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system.

[0370] In this invention (6.1.6), a two-dimensional four-parameter model calculation method based on geocentric rectangular coordinates is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system.

[0371] In this invention (6.1.7), a calculation method based on a geocentric rectangular coordinate polynomial fitting model is used, which is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system.

[0372] Step (6) of this invention completes the process of fusing the BIM model from the source plane spatial coordinate system to the target plane spatial coordinate system, and the process of fusing the BIM model from the source elevation spatial coordinate system to the target elevation spatial coordinate system.

[0373] The method of this invention includes two aspects: matching and fusing the plane spatial coordinate system attributes and matching and fusing the elevation spatial coordinate system attributes of highway engineering BIM models. It achieves fusion by constructing and applying a service-oriented highway engineering BIM model real-geographical location fusion system. This service-oriented highway engineering BIM model real-geographical location fusion system includes highway engineering BIM project management services, BIM model coordinate system definition services, cross-coordinate system matching services, coordinate system fusion parameter calculation services, plane spatial coordinate system matching and fusion services, elevation spatial coordinate system matching and fusion services, a business service registration center module, a computing power management and scheduling module, a business service gateway module, a data storage module, and a message queue module.

[0374] Compared with the prior art, the beneficial effects of this invention are as follows:

[0375] This invention calculates coordinate system fusion model parameters based on the statistical least squares method, and derives calculation formulas suitable for various BIM modeling methods. By supplementing feature points, it makes up for the shortcomings of traditional methods that cannot obtain coordinate system transformation parameters and thus cannot perform fusion, greatly meeting the BIM model fusion needs of digital highway engineering projects.

[0376] This invention adds a process for calculating fusion model parameters based on image feature point sets, on the basis of calculating matching and fusion model parameters based on highway engineering survey control point sets. The matching accuracy can reach the centimeter or even millimeter level, which is more than 10 times higher than the traditional geographic registration method.

[0377] This invention uses the householderQr decomposition method to solve the least squares regression equation, which achieves higher solution accuracy than traditional methods while maintaining a high solution speed.

[0378] Based on the principle of approximate expression, this invention proposes a matching and fusion method for different elevation systems, which solves the elevation difference problem caused by data fusion of different elevation systems in traditional digital applications of highway engineering.

[0379] This invention adopts a service-oriented approach to automate and batch back-calculate the matching and fusion parameters of multiple projects, meeting the needs of the large-scale implementation of BIM digital applications in current highway engineering, and improving project implementation efficiency by more than 5 times; at the same time, it also realizes the automation and batching of elevation spatial matching and fusion of multiple projects, improving project implementation efficiency by more than 10 times, and the efficiency becomes more obvious as the number of points increases by the magnitude.

[0380] This invention achieves a matching and fusion service scheduling method based on the principle of optimality and minimum cost, and flexibly utilizes computing resources according to the number and scale of projects, thereby reducing costs. Attached Figure Description

[0381] Figure 1 This is a flowchart illustrating the matching and fusion of real geospatial locations in a highway engineering BIM model according to the present invention.

[0382] Figure 2 A schematic diagram of the structure of a service-oriented highway engineering BIM model real-geographic location fusion system. Detailed Implementation

[0383] The present invention will now be described in further detail with reference to the embodiments.

[0384] Those skilled in the art will understand that the following embodiments are for illustrative purposes only and should not be construed as limiting the scope of the invention. Where specific techniques or conditions are not specified in the embodiments, they are performed in accordance with the techniques or conditions described in the literature in the field or according to the product instructions. Materials or equipment whose manufacturers are not specified are all conventional products that can be obtained by purchase.

[0385] A service-oriented highway engineering BIM model-to-real-location fusion system includes the following fusion business modules:

[0386] The Highway Engineering BIM Project Management Module is used to manage highway engineering BIM project data that needs to be matched and fused with coordinate systems. It determines the set of BIM models to be processed and matched in a single batch based on the project boundary.

[0387] The BIM model coordinate system definition module is used for the semantic definition of the BIM model coordinate system to be matched and merged. Based on the highway engineering surveying parameters, it determines the plane position reference and elevation position reference of the model, defines the semantics of the coordinate system parameters, and associates the model.

[0388] The module for matching corresponding points in different coordinate systems is used for matching corresponding points in the source plane spatial coordinate system and the target plane spatial coordinate system of the BIM model to be matched and fused, as well as matching corresponding points in the source elevation spatial coordinate system and the target elevation spatial coordinate system.

[0389] The coordinate system fusion parameter calculation module is used to calculate the coordinate system fusion model parameters of the BIM model to be matched and fused. It fits and calculates the fusion relationship between different coordinate systems based on the set of corresponding point pairs, the plane space coordinate system fusion model, and the elevation space coordinate system fusion model.

[0390] The gravity anomaly model analysis module is used to analyze gravity anomaly models; it is also used to extract the compensation height based on the geoid corresponding to the gravity anomaly model according to latitude and longitude.

[0391] The BIM model planar spatial coordinate system matching and fusion module is used for the planar spatial coordinate system fusion transformation of the BIM model to be matched and fused. Based on the planar spatial coordinate system semantics, coordinate system fusion parameters, and coordinate system fusion model of the BIM model, it calculates the position in the target planar spatial coordinate system to achieve planar spatial position matching and fusion of the BIM model.

[0392] The BIM model elevation space coordinate system matching and fusion module is used for the elevation space coordinate system fusion transformation of the BIM model to be matched and fused. Based on the semantics of the elevation space coordinate system of the BIM model, the coordinate system fusion parameters, and the coordinate system fusion model, it calculates the position under the target elevation space coordinate system to achieve elevation space position matching and fusion of the BIM model.

[0393] It also includes the following auxiliary business modules:

[0394] The business service registration center module is used for the registration, discovery, monitoring and management of computer hardware nodes for the business services included in the service-oriented highway engineering BIM model real geolocation fusion system.

[0395] The business service gateway module is used for access routing calculation and load balancing control of business services included in the service-oriented highway engineering BIM model real geolocation fusion system.

[0396] It also includes the following auxiliary business modules:

[0397] The computing power management and scheduling module is used to meet the computing power service requirements of the service-oriented highway engineering BIM model real geolocation fusion system. It elastically scales up and down computer resources and isolates faulty resources based on the traffic of user access to business services.

[0398] The data storage module is used to store temporary and business data related to the real-geographic location fusion system of the BIM model for this service-oriented highway engineering project.

[0399] The message queue module is used for communication between business services in the service-oriented highway engineering BIM model real geolocation fusion system.

[0400] The service-oriented method for fusing real-geographic locations of BIM models in highway engineering, using the aforementioned service-oriented BIM model real-geographic location fusion system for highway engineering, includes the following steps:

[0401] Call the highway engineering BIM project management module, create a management project for which coordinate system data to be matched and integrated, set the priority, and upload the BIM model;

[0402] The highway engineering BIM project management module notifies the BIM model coordinate system definition module to define and associate source coordinate system attributes and target coordinate system attributes to be matched for the BIM model. The attributes are divided into: plane space coordinate system and elevation space coordinate system.

[0403] The highway engineering BIM project management module notifies the coordinate system corresponding point pair adaptation module to match, merge and associate the coordinate system corresponding point pairs required for the BIM model coordinate system.

[0404] The highway engineering BIM project management module notifies the coordinate system fusion parameter calculation module to select the plane space coordinate system fusion model and the elevation space coordinate system fusion model, input the coordinate system semantics and the same point pairs, and calculate the fusion parameters for BIM model coordinate system matching and fusion.

[0405] The highway engineering BIM project management module notifies the plane spatial coordinate system matching and fusion module and the elevation spatial coordinate system matching and fusion module through the message queue module, selects the plane spatial coordinate system fusion model and the elevation spatial coordinate system fusion model, and inputs the parameter calculation results corresponding to each model to achieve BIM model coordinate system matching and fusion.

[0406] A service-oriented method for fusing real-geographic locations of BIM models in highway engineering, employing the aforementioned service-oriented BIM model real-geographic location fusion system for highway engineering, includes the following steps:

[0407] Step (1): Start the service-oriented highway engineering BIM model real geolocation fusion system. Each business service is automatically registered to the business service registration center module. The computing power management and scheduling module allocates computer resources to each module's business services according to the default configuration. The business service gateway module, data storage module, and message queue module connect the business services of each module.

[0408] Step (2): Call the highway engineering BIM project management module, create a project, and set a priority so that the system can identify the priority projects and upload the BIM model.

[0409] Step (3): The highway engineering BIM project management module notifies the BIM model coordinate system definition module through the message queue module to define and associate the source coordinate system attributes and the target coordinate system attributes to be matched for the BIM model. The attributes are divided into: plane space coordinate system and elevation space coordinate system.

[0410] Step (4): The highway engineering BIM project management module notifies the different coordinate system corresponding point pair adaptation module through the message queue module to match the coordinate system corresponding point pairs required for BIM model coordinate system matching, fusion and association.

[0411] Step (5): The highway engineering BIM project management module notifies the coordinate system fusion parameter calculation module through the message queue module to select the plane space coordinate system fusion model and the elevation space coordinate system fusion model, input the coordinate system semantics and the same point pair, and calculate the fusion parameters for BIM model coordinate system matching and fusion.

[0412] Step (6): The highway engineering BIM project management module notifies the plane spatial coordinate system matching and fusion module and the elevation spatial coordinate system matching and fusion module through the message queue module to select the plane spatial coordinate system fusion model and the elevation spatial coordinate system fusion model, and input the parameter calculation results corresponding to each model to realize the BIM model coordinate system matching and fusion.

[0413] In step (3), the source coordinate system attributes and the target coordinate system attributes to be matched are defined and associated for the BIM model, which specifically includes the following steps:

[0414] (3.1) Plane spatial coordinate systems include projected plane coordinate systems and latitude-longitude geodetic coordinate systems;

[0415] (3.1.1) The definition method of the latitude and longitude geodetic coordinate system is as follows:

[0416] Calculate the Earth reference ellipsoid shape parameters of the latitude and longitude geodetic coordinate system: The Earth reference ellipsoid shape parameters include the semi-major axis radius R, the ellipsoidal flattening f, and the prime meridian PRIMEM; specifically, it is calculated based on the following relationship using the frame reference ellipsoid shape parameters and elevation projection surface parameters of the planar spatial coordinate system:

[0417] R = R 框架参考椭球 +H 高程投影面

[0418] f = f 框架参考椭球

[0419] PRIMEM = ["Greenwich", 0.0]

[0420] In the formula, R 框架参考椭球 f represents the semi-major axis radius of the frame reference ellipsoid. 框架参考椭球 H represents the flattening of the frame reference ellipsoid. 高程投影面 This indicates the elevation projection height, and ["Greenwich", 0.0] represents the Greenwich Meridian;

[0421] (3.1.2) The definition method of the projection plane coordinate system is as follows:

[0422] Determine the actual projection plane coordinate system parameters of the project: The projection plane coordinate system parameters include the ellipsoid semi-major axis radius R, ellipsoid flattening f, prime meridian PRIMEM, central meridian longitude L0, origin latitude B0, east-west offset False_Easting, north-south offset False_Northing, and scale factor; specifically, using the ellipsoid semi-major axis radius R, ellipsoid flattening f, and prime meridian PRIMEM obtained in (3.1.1), the central meridian longitude, origin latitude, east-west offset, north-south offset, and scale factor are extracted from the basic survey data of the highway engineering project as the semantics of the projection plane coordinate system definition;

[0423] (3.2) The method for defining the elevation coordinate system is as follows:

[0424] Determine the actual elevation coordinate system used in the project data: The elevation coordinate system semantics are uniquely identified by the identifier name, and the elevation coordinate system type is determined; the elevation coordinate system type includes normal height system and geodetic height system.

[0425] In step (4), the coordinate system matching and fusion association required for the BIM model coordinate system includes the following types of corresponding point pairs: measurement control point pairs under different plane spatial coordinate systems, feature point pairs under different plane spatial coordinate systems, measurement control point and feature point pairs under different plane spatial coordinate systems, and measurement control point pairs under different elevation spatial coordinate systems.

[0426] Specifically, it includes the following steps:

[0427] (3.1) For the adaptation of measurement control point pairs: control survey points of the engineering plane coordinate system of the highway project are measured on-site. The coordinate values ​​of the corresponding points are extracted according to the control point number. The corresponding point pairs are organized in the format of "control point number, east-west coordinates of the source coordinate system control point, north-south coordinates of the source coordinate system control point, elevation of the source coordinate system control point, east-west coordinates of the target coordinate system control point, north-south coordinates of the target coordinate system control point, elevation of the target coordinate system control point".

[0428] (3.2) For feature point pair adaptation:

[0429] The feature point acquisition method is as follows: acquire image feature points at the same position in the source coordinate system and the target coordinate system;

[0430] Collection principle: Corner points with obvious ground features are used as feature points. The number of feature points is ≥6 and they are evenly distributed. The feature point number is used as the feature point number.

[0431] Extract the coordinate values ​​of the corresponding points based on the feature point number, and organize the corresponding point pairs according to the conventional format of "feature point number, east-west coordinates of the feature point in the source coordinate system, north-south coordinates of the feature point in the source coordinate system, elevation of the feature point in the source coordinate system, east-west coordinates of the feature point in the target coordinate system, north-south coordinates of the feature point in the target coordinate system, elevation of the feature point in the target coordinate system".

[0432] In step (5), the fusion parameters are calculated for the BIM model coordinate system matching and fusion. The specific method is as follows:

[0433] The calculation of fusion parameters under different planar spatial coordinate systems includes the following cases: calculation based on a three-dimensional seven-parameter model of geodetic coordinates, calculation based on a two-dimensional seven-parameter model of geodetic coordinates, calculation based on a geodetic ellipsoidal polynomial fitting model, calculation based on a Bursa model of geocentric rectangular coordinates, calculation based on a three-dimensional four-parameter model of geocentric rectangular coordinates, calculation based on a two-dimensional four-parameter model of geocentric rectangular coordinates, and calculation based on a polynomial fitting model of geocentric rectangular coordinates, as detailed below:

[0434] (5.1) Calculation method based on three-dimensional seven-parameter model of geodetic coordinates:

[0435] The fusion parameter to be solved is: T x ,T y ,T z ,R x ,R y ,R z D, where T x ,T y ,T z R represents the offset in the XYZ directions. x ,R y ,R z This represents the rotation amount in the XYZ directions, and D represents the scaling amount.

[0436] The input parameters are: latitude and longitude geodetic coordinate system parameters associated with the BIM model and a set of corresponding point pairs associated with the BIM model;

[0437] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0438] The parsing results in a set of corresponding point pairs associated with the BIM model: point number, source latitude and longitude geodetic coordinates (east-west direction L). 源 The north-south coordinates of the geodetic coordinate system originating from latitude and longitude, B. 源Elevation H in latitude and longitude geodetic coordinate system 源 The target's latitude and longitude coordinates in the geodetic coordinate system are L (east-west direction). 目 The target's north-south coordinates in the geodetic coordinate system are B. 目 Target latitude and longitude geodetic coordinate system elevation H 目 If the same point (X) 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted to a latitude and longitude geodetic coordinate system. The specific method is as follows:

[0439]

[0440] in,

[0441] B f Through iterative calculation: When (B) f ) i+1 -(B f ) i The iteration is completed when the value is less than or equal to δ.

[0442]

[0443] or

[0444] X0 = Y 源 δ is the control error variable calculated iteratively, and its value in this system is 0.0000000002.

[0445]

[0446] e 2 =2f-f 2 , t f =tanB f ,

[0447]

[0448] y = X 源 -500000,a=a 源 f = f 源 L0 is the central longitude;

[0449] L and B are the results of geodetic coordinate calculations for latitude and longitude.

[0450] Unless otherwise specified, the identifiers in the formula represent temporary variables introduced for ease of calculation and have no explicit physical meaning;

[0451] The transformation formula based on the three-dimensional seven-parameter fusion model of geodetic coordinates is as follows:

[0452]

[0453] in,

[0454] a6=cosBcosL, a7=sinBsinL, a8=sinB,

[0455]

[0456] c2=(N+H)-Ne 2 sin 2 B,

[0457]

[0458] a = a 源 f = f 源 ,Δa=a 目 -a 源 ,Δf=f 目 -f 源 ,

[0459] L = L 源 B = B 源 H = H 源 ,Δ'=L 目 -L 源 ,ΔB=B 目 -B 源 ,ΔH=H 目 -H 源 ,

[0460] e 2 =2f-f 2 ,

[0461] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows: Let:

[0462] ΔL i =(L 目 -L 源 ) i ,ΔB i = (B 目 -B 源 ) i ,ΔH i =(H 目 -H 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0463]

[0464] θ=[T x T y T z R x R y R z D] T

[0465] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e. there are n sets;

[0466] Then, according to equation (2), the matrix equation can be obtained:

[0467] v=Pθ,

[0468] in,

[0469]

[0470] Based on the least squares statistical regression analysis method, we can find:

[0471]

[0472] The value calculated by fitting θ is used to solve the problem using the householderQr decomposition method to obtain the fusion parameters based on the three-dimensional seven-parameter model of geodetic coordinates.

[0473] (5.2) Calculation method based on two-dimensional seven-parameter model of geodetic coordinates:

[0474] The fusion parameter to be solved is: T x ,T y ,T z ,R x ,R y ,R z D, where T x ,T y ,T z R represents the offset in the XYZ directions. x ,R y ,R z This represents the rotation amount in the XYZ directions, and D represents the scaling amount.

[0475] The input parameters are: latitude and longitude geodetic coordinate system parameters associated with the BIM model and a set of corresponding point pairs associated with the BIM model;

[0476] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源, the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0477] The parsing results in a set of corresponding point pairs associated with the BIM model: point number, source latitude and longitude geodetic coordinates (east-west direction L). 源 The north-south coordinates of the geodetic coordinate system originating from latitude and longitude, B. 源 The target's latitude and longitude coordinates in the geodetic coordinate system are L (east-west direction). 目 The target's north-south coordinates in the geodetic coordinate system are B. 目 If the same point (X) 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system, which needs to be converted to a latitude and longitude geodetic coordinate system, as shown in (Equation 1);

[0478] The transformation formula based on the two-dimensional seven-parameter geodetic coordinate fusion model is as follows:

[0479]

[0480] in,

[0481] b0=tanBcosL, b1=tanBsinL, b3=-sinL, b4=cosL,

[0482]

[0483] a = a 源 f = f 源 ,Δa=a 目 -a 源 ,Δf=f 目 -f 源 ,

[0484] L = L 源 B = B 源 ,ΔL=L 目 -L 源 ,ΔB=B 目 -B 源 ,

[0485] e 2 =2f-f 2 ,

[0486] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0487] make:

[0488] ΔL i =(L 目 -L 源 ) i ,ΔB i = (B 目 -B 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0489]

[0490] θ=[T x T y T z R x R y R z D] T

[0491] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0492] Then, according to equation (3), the matrix equation can be obtained:

[0493] v=Pθ,

[0494] in

[0495]

[0496] Based on the least squares statistical regression analysis method, we can find:

[0497]

[0498] The value calculated by fitting θ is used to solve the problem using the householderQr decomposition method to obtain the fusion parameters based on the two-dimensional seven-parameter model of geodetic coordinates.

[0499] (5.3) Calculation method based on geodetic coordinate ellipsoid polynomial fitting model:

[0500] The fusion parameters to be solved are: α1, α2, α3, α4, α5, α6, β1, β2, β3, β4, β5, β6, which represent the coefficients of the polynomial fitting model based on the geodetic coordinate ellipsoid.

[0501] The input parameters are: latitude and longitude geodetic coordinate system parameters associated with the BIM model and a set of corresponding point pairs associated with the BIM model;

[0502] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0503] The parsing results in a set of corresponding point pairs associated with the BIM model: point number, source latitude and longitude geodetic coordinates (east-west direction L). 源 The north-south coordinates of the geodetic coordinate system originating from latitude and longitude, B. 源 The target's latitude and longitude coordinates in the geodetic coordinate system are L (east-west direction). 目 The target's north-south coordinates in the geodetic coordinate system are B. 目 If the same point (X) 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system, which needs to be converted to a latitude and longitude geodetic coordinate system, as shown in (Equation 1);

[0504] The transformation formula for the geodetic coordinate ellipsoid polynomial fitting and fusion model is as follows:

[0505]

[0506] Where L = l 源 B = B 源 ,Δl=l 目 -l 源 ,ΔB=B 目 -B 源 ,

[0507] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0508] make:

[0509] ΔL i =(L 目 -L 源 ) i ,ΔB i = (B 目 -B 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0510]

[0511] θ=[α1 α2 α3 α4 α5 α6 β1 β2 β3 β4 β5 β6]T

[0512] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e. there are n sets;

[0513] Then, according to equation (4), the matrix equation can be obtained:

[0514] v=Pθ,

[0515] in

[0516]

[0517] Based on the least squares statistical regression analysis method, we can find:

[0518]

[0519] The value calculated by fitting θ is used to solve the problem using the householder Qr decomposition method to obtain the fusion parameters based on the geodetic coordinate ellipsoid polynomial fitting model.

[0520] (5.4) Calculation method based on the Bursa model of geocentric rectangular coordinates:

[0521] The fusion parameter to be solved is: T x ,T y ,T z ,R x ,R y ,R z D, where T x ,T y ,T z R represents the offset in the XYZ directions. x ,R y ,R z This represents the rotation amount in the XYZ directions, and D represents the scaling amount.

[0522] The input parameters are: the geocentric rectangular coordinate system parameters associated with the BIM model and the set of corresponding point pairs associated with the BIM model;

[0523] The parameters of the geocentric rectangular coordinate system associated with the BIM model are: the radius of the semi-major axis of the source geocentric rectangular coordinate system ellipsoid, a. 源 The source geocentric rectangular coordinate system coordinate system ellipsoid flattening f 源 The radius of the semi-major axis of the ellipsoid in the target geocentric rectangular coordinate system is a. 目 The flattening f of the ellipsoid in the target geocentric rectangular coordinate system 目 ;

[0524] This is resolved to a set of corresponding point pairs associated with the BIM model: point number, and the x-coordinate of the source geocentric rectangular coordinate system (east-west direction).源 The north-south coordinates of the source geocentric rectangular coordinate system are y 源 Elevation z in the geocentric rectangular coordinate system 源 The target's east-west coordinates in the geocentric rectangular coordinate system (x-axis) 目 The target's north-south coordinates in the geocentric rectangular coordinate system are y 目 Target elevation z in geocentric rectangular coordinate system 目 If the same point (L) 源 B 源 H 源 The coordinate system is a latitude and longitude geodetic coordinate system, which needs to be converted to a geocentric rectangular coordinate system, see (Equation 5); if the corresponding points (X 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted to a latitude and longitude geodetic coordinate system, see (Equation 1), and then the latitude and longitude geodetic coordinate system is converted to a geocentric rectangular coordinate system, see (Equation 5).

[0525]

[0526] in, e 2 =2f-f 2 a=a 源 f = f 源 L=L 源 B = B 源 H = H 源 ,

[0527] (x,y,z) are geocentric rectangular coordinates;

[0528] The transformation formula based on the Bursa fusion model of geocentric rectangular coordinates is as follows:

[0529]

[0530] Where, x = x 源 ,y=y 源 ,z=z 源 ,Δx=x 目 -x 源 ,Δy=y 目 -y 源 ,Δz=z 目 -z 源 ,

[0531] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0532] make:

[0533] Δxi =(x 目 -x 源 ) i ,Δy i =(y 目 -y 源 ) i ,Δz i =(z 目 -z 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0534]

[0535] θ=[T x T y T z R x R y R z D] T

[0536] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0537] Then, according to equation (6), the matrix equation can be obtained:

[0538] v=Pθ,

[0539] in

[0540]

[0541] Based on the least squares statistical regression analysis method, we can find:

[0542]

[0543] That is, the value calculated by fitting θ, which is solved using the householderQr decomposition method to obtain the fusion parameters based on the geocentric rectangular coordinate Bursa model;

[0544] (5.5) Calculation method based on three-dimensional four-parameter model of geocentric rectangular coordinates:

[0545] The fusion parameter to be solved is: T x ,T y ,T z D, where T x ,T y ,T z This represents the offset in the XYZ directions, and D represents the scaling factor.

[0546] The input parameter is: a set of corresponding point pairs associated with the BIM model;

[0547] This is resolved to a set of corresponding point pairs associated with the BIM model: point number, and the x-coordinate of the source geocentric rectangular coordinate system (east-west direction). 源 The north-south coordinates of the source geocentric rectangular coordinate system are y 源 Elevation z in the geocentric rectangular coordinate system 源 The target's east-west coordinates in the geocentric rectangular coordinate system (x-axis) 目 The target's north-south coordinates in the geocentric rectangular coordinate system are y 目 Target elevation z in geocentric rectangular coordinate system 目 If the same point (L) 源 B 源 H 源 The coordinate system is a latitude and longitude geodetic coordinate system, which needs to be converted to a geocentric rectangular coordinate system. The specific method is shown in Equation 5; if the corresponding points (X... 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted into a latitude and longitude geodetic coordinate system. The specific method is shown in (Equation 1). Then, the latitude and longitude geodetic coordinate system is converted into a geocentric rectangular coordinate system. The specific method is shown in (Equation 5).

[0548] The transformation formula based on the geocentric rectangular coordinate three-dimensional four-parameter fusion model is as follows:

[0549]

[0550] in,

[0551] Δx=x 目 -x 源 ,Δy=y 目 -y 源 ,Δz=z 目 -z 源 ,

[0552] α0=z 源 cosB0sinL0-y 源 sinB0,α1=-z 源 cosB0cosL0+x 源 sinB0, α2=y 源 cosB0cosL0-x 源 cosB0sinL0,

[0553] L0, B0 represent the central geodetic coordinates of the region formed by the set of points with the same name.

[0554] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0555] make:

[0556] Δx i =(x 目 -x 源 ) i ,Δy i =(y 目 -y 源 ) i ,Δz i =(z 目 -z 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0557]

[0558] θ=[T x T y T z D] T

[0559] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0560] Then, according to equation (7), the matrix equation can be obtained:

[0561] v=Pθ,

[0562] in

[0563]

[0564] Based on the least squares statistical regression analysis method, we can find:

[0565]

[0566] The value is calculated by fitting θ, and the householder Qr decomposition method is used to solve it to obtain the fusion parameters based on the three-dimensional four-parameter model of geocentric rectangular coordinates;

[0567] (5.6) Calculation method based on two-dimensional four-parameter model of geocentric rectangular coordinates:

[0568] The fusion parameter to be solved is: T x ,T y ,m,D, where T x ,T y This represents the offset in the XY direction, m represents the control parameters introduced in the calculation, and D represents the scale scaling amount;

[0569] The input parameter is: a set of corresponding point pairs associated with the BIM model;

[0570] This is resolved to a set of corresponding point pairs associated with the BIM model: point number, and the x-coordinate of the source geocentric rectangular coordinate system (east-west direction). 源 The north-south coordinates of the source geocentric rectangular coordinate system are y 源 Elevation z in the geocentric rectangular coordinate system 源 The target's east-west coordinates in the geocentric rectangular coordinate system (x-axis) 目 The target's north-south coordinates in the geocentric rectangular coordinate system are y 目 Target elevation z in geocentric rectangular coordinate system 目 If the same point (L) 源 B 源 H 源 The coordinate system is a latitude and longitude geodetic coordinate system, which needs to be converted to a geocentric rectangular coordinate system. The specific method is shown in Equation 5; if the corresponding points (X... 源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted into a latitude and longitude geodetic coordinate system. The specific method is shown in (Equation 1). Then, the latitude and longitude geodetic coordinate system is converted into a geocentric rectangular coordinate system. The specific method is shown in (Equation 5).

[0571] The transformation formula based on the two-dimensional four-parameter fusion model of geocentric rectangular coordinates is as follows:

[0572]

[0573] in,

[0574] α0=(1+m)cosD, α1=(1+m)sinD,

[0575]

[0576] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0577] make:

[0578] (x 目 ) i ,(y 目 ) i ,(z 目 ) i ,(x 源 ) i ,(y 源 ) i ,(z 源 ) i : Represents the coordinates of the i-th pair of points with the same name.

[0579]

[0580] θ=[T x T y α0 α1] T

[0581] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0582] Then, according to equation (8), the matrix equation can be obtained:

[0583] v=Pθ,

[0584] in

[0585]

[0586] Based on the least squares statistical regression analysis method, we can find:

[0587]

[0588] The value is calculated by fitting θ, and the householder Qr decomposition method is used to solve it to obtain the fusion parameters based on the two-dimensional four-parameter model of geocentric rectangular coordinates.

[0589] (5.7) Calculation method based on geocentric rectangular coordinate polynomial fitting model:

[0590] The fusion parameters to be solved are: α0, α1, α2, α3, α4, α5, α6, α7, α8, α9, β0, β1, β2, β3, β4, β5, β6, β7, β8, β9, which represent the coefficients of the geocentric rectangular coordinate polynomial fitting model;

[0591] The input parameter is: a set of corresponding point pairs associated with the BIM model;

[0592] This is resolved to a set of corresponding point pairs associated with the BIM model: point number, and the x-coordinate of the source geocentric rectangular coordinate system (east-west direction). 源 The north-south coordinates of the source geocentric rectangular coordinate system are y 源 Elevation z in the geocentric rectangular coordinate system 源 The target's east-west coordinates in the geocentric rectangular coordinate system (x-axis) 目 The target's north-south coordinates in the geocentric rectangular coordinate system are y 目 Target elevation z in geocentric rectangular coordinate system 目 If the same point (L) 源 B 源 H 源 The coordinate system is a latitude and longitude geodetic coordinate system, which needs to be converted to a geocentric rectangular coordinate system. The specific method is shown in Equation 5; if the corresponding points (X...源 ,Y 源 Z 源 The coordinate system is a projected plane spatial coordinate system. It needs to be converted into a latitude and longitude geodetic coordinate system. The specific method is shown in (Equation 1). Then, the latitude and longitude geodetic coordinate system is converted into a geocentric rectangular coordinate system. The specific method is shown in (Equation 5).

[0593] The transformation formula for the geocentric rectangular coordinate polynomial fitting and fusion model is as follows:

[0594]

[0595] in,

[0596] Δx=x 目 -x 源 ,Δy=y 目 -y 源 X = x 源 Y = y 源 ,

[0597] The fusion parameters are calculated based on coordinate system parameters, the set of corresponding point pairs, and statistical regression analysis using least squares. The specific calculation method is as follows:

[0598] make:

[0599] Δx i =(x 目 -x 源 ) i ,Δy i =(y 目 -y 源 ) i : Represents the coordinate difference between the i-th pair of points with the same name.

[0600]

[0601] θ=[α0 α1 α2 α3 α4 α5 α6 α7 α8 α9 β0 β1 β2 β3 β4 β5 β6 β7 β8 β9] T

[0602] i = 1, ..., n represents the number of corresponding point coordinate pairs in the source coordinate system and the target coordinate system, i.e., there are n sets;

[0603] Then, according to equation (9), the matrix equation can be obtained:

[0604] v=Pθ,

[0605] in

[0606]

[0607] Based on the least squares statistical regression analysis method, we can find:

[0608]

[0609] That is, the value calculated by fitting θ is solved using the householderQr decomposition method to obtain the fusion parameters based on the geocentric rectangular coordinate polynomial fitting model;

[0610] (5.8) The calculation of fusion parameters under different elevation spatial coordinate systems includes the following cases: the 1956 Yellow Sea normal height and CGCS2000 ellipsoidal geodetic height transformation model, the 1985 Yellow Sea normal height and CGCS2000 ellipsoidal geodetic height transformation model, the 1956 Yellow Sea normal height and 1985 Yellow Sea normal height transformation model, the EGM96 geoid normal height and WGS84 ellipsoidal geodetic height transformation model, and the EGM2008 geoid normal height and WGS84 ellipsoidal geodetic height transformation model. The coordinate system fusion method based on these models is the same, see (Equation 10), only the elevation compensation parameters of these models are different.

[0611] H 目 =H 源 +H δ (Equation 10)

[0612] Among them, H 目 H represents the elevation value under the target elevation system. 源 H represents the elevation value under the source elevation system. δ This indicates the elevation compensation value.

[0613] H δ The calculation is achieved through two methods: extracting compensation values ​​based on the set of control point pairs and extracting compensation values ​​based on the ellipsoid approximation theory;

[0614] (5.8.1) Extracting compensation values ​​based on the set of control points:

[0615] The semantics of the elevation coordinate system associated with the BIM model are parsed, and the elevation system type is determined based on the semantics: normal height system and geodetic height system.

[0616] This is resolved to a set of corresponding point pairs in the BIM model's elevation system: corresponding point number, normal elevation system elevation H. 正 Elevation H of the geodetic height system 大 ;

[0617] Based on the corresponding control point pairs, calculate the elevation compensation value according to (Equation 11):

[0618] H δ =H 大 -H 正 (Equation 11)

[0619] (5.8.2) Extracting compensation values ​​based on ellipsoidal approximation theory:

[0620] The semantics of the elevation coordinate system associated with the BIM model are parsed, and the elevation system type is determined based on the semantics: normal height system and geodetic height system.

[0621] Based on the elevation system semantics and elevation system gravity anomaly model mapping table shown in Table 1, an approximate gravity anomaly model is obtained.

[0622] Based on the mapped gravity anomaly model, the highway engineering BIM project management service notifies the gravity anomaly model analysis module through the message queue module to obtain the elevation compensation of the corresponding gravity anomaly model based on the location, which is used for the approximate expression conversion of different elevation systems.

[0623] The specific method for step (6) is as follows:

[0624] (6.1) For the matching and fusion of the plane spatial coordinate system of the BIM model, the highway engineering BIM project management service notifies the BIM model plane spatial coordinate system matching and fusion service through the message queue module, and realizes the matching and fusion of the plane spatial coordinate system of the BIM model according to the plane spatial coordinate system fusion model and fusion parameters.

[0625] The fusion models under different planar spatial coordinate systems include: a three-dimensional seven-parameter model based on geodetic coordinates, a two-dimensional seven-parameter model based on geodetic coordinates, a polynomial fitting model based on geodetic coordinates ellipsoids, a Bursa model based on geocentric rectangular coordinates, a three-dimensional four-parameter model based on geocentric rectangular coordinates, a two-dimensional four-parameter model based on geocentric rectangular coordinates, and a polynomial fitting model based on geocentric rectangular coordinates.

[0626] The specific usage methods for various situations are as follows:

[0627] (6.1.1) Calculation method based on three-dimensional seven-parameter model of geodetic coordinates:

[0628] The BIM model origin (X0, Y0, Z0) is obtained by parsing and then converted into geodetic latitude and longitude coordinates (L0, B0, H0). The specific method is shown in (Equation 1).

[0629] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0630] Based on the geodetic coordinate three-dimensional seven-parameter model and the fusion parameter calculation results of method (5.1) (T) x ,T y ,T z ,R x ,R y ,R z (D), convert (L0,B0,H0) into target geodetic latitude and longitude coordinates. The specific calculation method is as follows:

[0631]

[0632] in,

[0633]

[0634] a6=cosBcosL, a7=sinBsinL, a8=sinB,

[0635]

[0636] c2=(N+H)-Ne 2 sin 2 B,

[0637]

[0638]

[0639] a = a 源 f = f 源 ,Δa=a 目 -a 源 ,Δf=f 目 -f 源 ,

[0640] e 2 =2f-f 2 ,

[0641]

[0642] The target's latitude and longitude coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target geodetic latitude and longitude coordinates need to be converted. Convert to target projection plane coordinates The specific method is as follows:

[0643]

[0644] in,

[0645] t=tanB,η 2 =é 2 cos 2 B, e 2 =2f-f 2 ,

[0646]

[0647] or

[0648]

[0649] a is the semi-major axis of the ellipsoid, f is the flattening of the ellipsoid, and L is the semi-major axis of the ellipsoid. 中 This is the central longitude of the projected plane coordinate system.

[0650] (6.1.2) Calculation method based on a two-dimensional seven-parameter geodetic coordinate model: This method is applicable to the fusion and matching of the source latitude and longitude geodetic coordinate system to the target latitude and longitude geodetic coordinate system; the specific process is as follows:

[0651] The BIM model origin (X0, Y0, Z0) is obtained by parsing and then converted into geodetic latitude and longitude coordinates (L0, B0, H0). The specific method is shown in (Equation 1).

[0652] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0653] Based on the geodetic coordinate two-dimensional seven-parameter model and the fusion parameter calculation results of method (5.2) (T) x ,T y ,T z ,R x ,R y ,R z (D), convert (L0,B0,H0) into target geodetic latitude and longitude coordinates. The specific calculation method is as follows:

[0654]

[0655] in,

[0656] b0=tanBcosL, b1=tanBsinL, b3=-sinL, b4=cosL,

[0657]

[0658] a = a 源 f = f 源 ,Δa=a 目 -a 源 ,Δf=f 目 -f 源 ,

[0659] e 2 =2f-f 2 ,

[0660]

[0661] Where ΔH=0

[0662] The target's latitude and longitude coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target geodetic latitude and longitude coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0663] (6.1.3) Calculation method based on geodetic coordinate ellipsoid polynomial fitting model:

[0664] The BIM model origin (X0, Y0, Z0) is obtained by parsing and then converted into geodetic latitude and longitude coordinates (L0, B0, H0). The specific method is shown in (Equation 1).

[0665] Based on the fusion parameter calculation results (α1, α2, α3, α4, α5, α6, β1, β2, β3, β4, β5, β6) of the geodetic coordinate ellipsoid polynomial fitting model and method (5.3), (L0, B0, H0) is converted into target geodetic latitude and longitude coordinates. The specific calculation method is as follows:

[0666]

[0667] Where L = L0, B = B0,

[0668]

[0669] Where ΔH=0

[0670] The target's latitude and longitude coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target geodetic latitude and longitude coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0671] (6.1.4) Calculation method based on the Bursa model of geocentric rectangular coordinates: This method is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system; the specific process is as follows:

[0672] The BIM model origin (X0, Y0, Z0) is obtained by parsing and converting it into geodetic latitude and longitude coordinates (L0, B0, H0), as shown in Equation 1; then the geodetic latitude and longitude coordinates (L0, B0, H0) are converted into geocentric rectangular coordinates (x0, y0, z0), as shown in Equation 5.

[0673] The parameters of the latitude and longitude geodetic coordinate system associated with the BIM model are analyzed as follows: the semi-major axis radius a of the source latitude and longitude geodetic coordinate system ellipsoid. 源 , the flattening of the ellipsoid in the latitude and longitude geodetic coordinate system f 源 The semi-major axis radius a of the target latitude and longitude geodetic ellipsoid 目 Target latitude and longitude geodetic coordinate system ellipsoid flattening f 目 ;

[0674] Based on the calculation results of the fusion parameters of the Bursa model in geocentric rectangular coordinates and method (5.4) (T) x ,T y ,T z ,R x ,R y ,R z D), convert (x0, y0, z0) to the target geocentric rectangular coordinates. The specific calculation method is as follows:

[0675]

[0676] The target's geocentric rectangular coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system requires a latitude and longitude geodetic coordinate system, the target geocentric rectangular coordinates need to be converted. Convert to target latitude and longitude geodetic coordinates The specific method is shown in (Equation 13); if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target latitude and longitude geodetic coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0677]

[0678] in,

[0679]

[0680] b = a(1-f),

[0681] a = a 目 f = f 目 ,

[0682] (6.1.5) Calculation method based on three-dimensional four-parameter model of geocentric rectangular coordinates:

[0683] The BIM model origin (X0, Y0, Z0) is obtained by parsing and converting it into geodetic latitude and longitude coordinates (L0, B0, H0), as shown in Equation 1; then the geodetic latitude and longitude coordinates (L0, B0, H0) are converted into geocentric rectangular coordinates (x0, y0, z0), as shown in Equation 5.

[0684] Based on the geocentric rectangular coordinate three-dimensional four-parameter model and the fusion parameter calculation results of method (5.5) (T) x ,T y ,T z D), convert (x0, y0, z0) to the target geocentric rectangular coordinates. The specific calculation method is as follows:

[0685]

[0686] Among them, L 中 B 中 Indicates the center geodetic coordinates of the area where the BIM model is located;

[0687] The target's geocentric rectangular coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system requires a latitude and longitude geodetic coordinate system, the target geocentric rectangular coordinates need to be converted. Convert to target latitude and longitude geodetic coordinates The specific method is shown in (Equation 13); if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target latitude and longitude geodetic coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0688] (6.1.6) Calculation method based on two-dimensional four-parameter model of geocentric rectangular coordinates:

[0689] The BIM model origin (X0, Y0, Z0) is obtained by parsing and converting it into geodetic latitude and longitude coordinates (L0, B0, H0), as shown in Equation 1; then the geodetic latitude and longitude coordinates (L0, B0, H0) are converted into geocentric rectangular coordinates (x0, y0, z0), as shown in Equation 5.

[0690] Based on the geocentric rectangular coordinate two-dimensional four-parameter model and the fusion parameter calculation results of method (5.6) (T) x ,T y ,α,m), convert (x0,y0,z0) to the target geocentric rectangular coordinates. The specific calculation method is as follows:

[0691]

[0692] The target's geocentric rectangular coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system requires a latitude and longitude geodetic coordinate system, the target geocentric rectangular coordinates need to be converted. Convert to target latitude and longitude geodetic coordinates The specific method is shown in (Equation 13); if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target latitude and longitude geodetic coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0693] (6.1.7) Calculation method based on geocentric rectangular coordinate polynomial fitting model: This method is applicable to the case of fusion matching between the source geocentric rectangular coordinate system and the target geocentric rectangular coordinate system; the specific process is as follows:

[0694] The BIM model origin (X0, Y0, Z0) is obtained by parsing and converting it into geodetic latitude and longitude coordinates (L0, B0, H0), as shown in Equation 1; then the geodetic latitude and longitude coordinates (L0, B0, H0) are converted into geocentric rectangular coordinates (x0, y0, z0), as shown in Equation 5.

[0695] Based on the geocentric rectangular coordinate polynomial fitting model and the fusion parameter calculation results (α0,α1,α2,α3,α4,α5,α6,α7,α8,α9,β0,β1,β2,β3,β4,β5,β6,β7,β8,β9) of method (5.7), (x0,y0,z0) is converted into the target geocentric rectangular coordinates. The specific calculation method is as follows:

[0696]

[0697] The target's geocentric rectangular coordinates are obtained through the above calculations. Coordinate system matching and fusion have been completed; if the target plane spatial coordinate system requires a latitude and longitude geodetic coordinate system, the target geocentric rectangular coordinates need to be converted. Convert to target latitude and longitude geodetic coordinates The specific method is shown in (Equation 13); if the target plane spatial coordinate system is required to be a projected plane coordinate system, the target latitude and longitude geodetic coordinates need to be converted. Convert to target projection plane coordinates See Equation 12 for the specific method;

[0698] (6.2) For the matching and fusion of the elevation space coordinate system of the BIM model, the highway engineering BIM project management service notifies the BIM model elevation space coordinate system matching and fusion service through the message queue module. Based on the elevation space coordinate system fusion model and the fusion model parameters, the BIM model elevation space coordinate system matching and fusion is calculated according to (Equation 10) to achieve the matching and fusion of the elevation space coordinate system of the BIM model.

[0699] Application Examples

[0700] In this example, the service-oriented highway engineering BIM model real-geographic location fusion system is implemented based on the Spring Cloud Alibaba framework, and the various business services are implemented based on the Spring Boot framework: highway engineering BIM project management service, BIM model coordinate system definition service, different coordinate system same-name point pair adaptation service, coordinate system fusion parameter calculation service, gravity anomaly model analysis service, BIM model plane spatial coordinate system matching and fusion service, BIM model elevation spatial coordinate system matching and fusion service, business service registration center module is built based on Nacos, business service gateway module is supported by the Spring Cloud Alibaba framework, computing power management and scheduling module is built based on Docker, data storage module mainly uses file system, MySQL and MongoDB, and message queue module is built based on RabbitMQ.

[0701] In this example, we take the coordinate system attribute matching and fusion of a real project BIM model as an example. The BIM model in this example is modeled based on an independent coordinate system of a highway project, and needs to be fused in the 2000 National Geodetic Coordinate System ellipsoid framework.

[0702] like Figure 1 As shown, the service-oriented BIM model real geospatial location matching and fusion method for highway engineering includes the following steps:

[0703] S1. The server hardware deploys a microservice system, and each business service automatically registers to the Nacos business service registration center module. The business service gateway module, computing power management and scheduling module, data storage module, and message queue module connect the various business services.

[0704] S2. Call the highway engineering BIM project management module, create a project, set the priority, and upload the BIM model.

[0705] The origin of the BIM model in this example is O(500343.237, 2826857.947, 642.734).

[0706] S3. Define the plane coordinate system and elevation coordinate system of the BIM model based on the actual surveying parameters of the highway project;

[0707] The actual coordinate system for the highway project is an independent coordinate system based on the 2000 National Geodetic Coordinate System, with a central meridian of 100°04′ and an elevation projection surface of 2520 meters; the elevation system adopts the 1985 Yellow Sea Normal Height System.

[0708] The target coordinate system to be matched and fused is the 2000 National Geodetic Coordinate System; the elevation system adopts the CGCS2000 ellipsoidal geodetic height system.

[0709] Based on the above surveying parameters, the highway engineering BIM project management service notifies the BIM model coordinate system definition service through the message queue module to define the plane space coordinate system and elevation space coordinate system for the BIM model to be matched and merged, and forms the format of ESRI's prj specification.

[0710] Definition of the BIM model source plane spatial coordinate system:

[0711] R = R 2000 +H 高程投影面 =6378137.0 + 2520.0 = 6380657.0

[0712] f = f 2000 =298.257222101,

[0713] PRIMEM = PRIMEM 2000 =["Greenwich",0.0],

[0714] L0=100°4′=100.066666666666666667°,

[0715] B0 = 0.0,

[0716] False_Easting=(False_Easting) 2000 =500000.0,

[0717] False_Northing=(False_Northing) 2000 =0.0,

[0718] Scale_Factor = 1.0

[0719] ESRI's coordinate system semantics results for the prj specification:

[0720] PROJCS["engine_pcs",GEOGCS["GCS_China_Geodetic_Coordinate_System_2000_H2520",DATUM["D_China_2000_H2520",SPHEROID ["CGCS2000_H2520",6380657.0,298.257222101]],PRIMEM["Greenwich",0.0],UNIT["Degree",0.0174532925199433]],PROJECTIO N["Gauss_Kruger"],PARAMETER["False_Easting",500000.0],PARAMETER["False_Northing",0.0],PARAMETER["Central_Meridia n",100.066666666666666667],PARAMETER["Scale_Factor",1.0],PARAMETER["Latitude_Of_Origin",0.0],UNIT["Meter",1.0]].

[0721] Definition of the target plane spatial coordinate system for BIM model to be matched and fused:

[0722] R = R 2000 =6378137.0,

[0723] f = f 2000 =298.257222101,

[0724] PRIMEM = PRIMEM 2000 =["Greenwich",0.0],

[0725] ESRI's coordinate system semantics results for the prj specification:

[0726] GEOGCS["GCS_China_Geodetic_Coordinate_System_2000",DATUM["D_China_2000",SPHEROID["CGCS2000",6378137. 0,298.257222101]],PRIMEM["Greenwich",0.0],UNIT["Degree",0.0174532925199433],AUTHORITY["EPSG",4490]].

[0727] Definition of BIM model source elevation space coordinate system:

[0728] Coordinate system label: 1985 Yellow Sea Normal Height System

[0729] ESRI's coordinate system semantics results for the prj specification:

[0730] VERTCS["Yellow_Sea_1985",VDATUM["Yellow_Sea_1985"],PARAMETER["Vertical_Shift",0.0],PARAMETER["Direction",1.0],UNIT["Me ter",1.0],AUTHORITY["EPSG",5737]].

[0731] Definition of the target elevation space coordinate system to be matched and fused in the BIM model:

[0732] Coordinate system designation: CGCS2000 ellipsoidal geodetic height system

[0733] ESRI's coordinate system semantics results for the prj specification:

[0734] VERTCS["GCS_China_Geodetic_Coordinate_System_2000_Geoid",VDATUM["D_China_2000_Geoid"],PARAMETER["Vertical_Shift",0.0],PARAMETER["Direction",1.0],UNIT["Meter",1.0]].

[0735] S4. Based on the basic data of the actual surveying of the highway project, the original project did not provide a set of measurement control points corresponding to the source coordinate system and the target coordinate system of the BIM model. The example adopts the scheme proposed in this invention, and the process is carried out by supplementing the corresponding point pairs of the plane coordinate system with feature points based on the basic data. The original project also did not provide a set of measurement control points for the elevation coordinate system. Therefore, this example does not adopt the method of extracting compensation values ​​based on the control point set to perform elevation system fusion.

[0736] BIM model source coordinate system base data: CAD data of measured topographic map of highway;

[0737] BIM model to be matched and fused target coordinate system data: Tianditu high-definition imagery electronic map data;

[0738] Feature point extraction principles: obvious morphological features, ≥6 points, and uniform distribution in the region;

[0739] Feature point homonym extraction method: First, select a feature point from the measured topographic map CAD data of the highway according to certain principles, and extract its coordinates (X... 源 ,Y 源 Z 源 Then, extract the coordinates of the same location (L) from the high-resolution imagery electronic map of Tianditu. 目 B 目 H 目 ), and record the coordinate pairs with numbers to form a set of points with the same name.

[0740] The corresponding feature points extracted in this example are shown in Table 2.

[0741] Table 2 Set of Feature Point Corresponding Pairs

[0742]

[0743] The highway engineering BIM project management service uses the message queue module to notify the matching service of the same point pair in different coordinate systems, parse the feature point same point pairs extracted in this example, and associate them with the BIM model to be matched and merged.

[0744] S5. The Highway Engineering BIM Project Management Service, through the message queue module, notifies the coordinate system fusion parameter calculation module to select the plane spatial coordinate system fusion model and the elevation spatial coordinate system fusion model, input the coordinate system semantics and corresponding point pairs, and calculate the fusion parameters. The specific calculation process is as follows:

[0745] For plane coordinate system attribute matching and fusion, the coordinate system semantics associated with the BIM model, the set of corresponding point pairs, and the plane coordinate system attribute matching and fusion model are selected according to the standard "CH / T 2014-2016 Technical Specification for Coordinate Transformation of Geodetic Control Points". The model parameters are calculated based on the least squares statistical regression analysis method, and the householderQr decomposition method is used to improve the calculation performance and solution accuracy.

[0746] For the matching and fusion of elevation coordinate system attributes, the coordinate system semantics associated with the BIM model are input, and compensation values ​​are extracted based on the ellipsoid approximation theory. According to the mapping relationship in Table 1, the EGM2008 gravity anomaly model corresponding to the 1985 Yellow Sea normal height system is selected, and the elevation compensation values ​​are extracted through EGM2008 for matching and fusion.

[0747] This example uses a planar coordinate system attribute matching and fusion model: based on the geocentric rectangular coordinate Bursa model;

[0748] This example uses a method for extracting elevation anomalies: extracting compensation values ​​based on the ellipsoidal approximation theory.

[0749] The input coordinate system semantics for this example are shown in step S3.

[0750] This example inputs pairs of points with the same name in the plane coordinate system: see Table 2;

[0751] The specific process for calculating the model parameters in this example is as follows:

[0752] S5.1. Convert the BIM model source projection plane coordinate system to the latitude and longitude geodetic coordinate system. See Equation 1 for the specific method. Taking point (GP01, 507478.641, 2924458.034, 2488.268) as an example: From the given conditions, we get:

[0753] y = X 源 -500000 = 507478.641 - 500000 = 7478.641

[0754] a = R 源 =6380657.0, f=f 源 =298.257222101,

[0755] L0=100°4′=100.066666666666666667°,

[0756] δ=1- 10

[0757] The derivation yields:

[0758] e 2 =2f-f 2=0.0066943800229007869,

[0759]

[0760] m0=a(1-e 2 )=6337942.4572462179,

[0761]

[0762]

[0763] B is obtained through iterative calculation. f =0.46110593050104537,

[0764]

[0765] t f =tan B f =0.49682692750754243,

[0766]

[0767] At this point, the calculation of the coherent variables is complete. Substitute these variables into equation (1) to solve for the geodetic latitude and longitude coordinates:

[0768] L=100.14160372426845, B=26.419404093581157, H=z 源 =2488.268

[0769] S5.2. Convert the BIM model from latitude and longitude geodetic coordinate system to geocentric rectangular coordinate system. The specific method is shown in (Equation 5), using the calculation result of step S5.1 as input for calculation:

[0770] From the given conditions, we can conclude that:

[0771] a = R 源 =6380657.0, f=f 源 =298.257222101,

[0772] The derivation yields:

[0773] e 2 =2f-f 2 =0.0066943800229007869,

[0774]

[0775] At this point, the calculation of the coherent variables is complete. Substitute these variables into equation (5) to solve for the geocentric rectangular coordinates:

[0776] x = -1007237.00731850171,

[0777] y = 5630910.90856828168,

[0778] z = 2822972.24970209366

[0779] S5.3. Similarly, based on the above calculation process, the corresponding points of all feature points in Table 2 are transformed to the geocentric rectangular coordinate system, and the following results are obtained, as shown in Table 3.

[0780] Table 3. Set of geocentric rectangular coordinates of corresponding feature points.

[0781]

[0782] S5.4. Based on the set of geocentric rectangular coordinates of the corresponding feature points described in Table 3, substitute them into (Equation 6) to calculate the parameters:

[0783] This example contains six pairs of points with the same name. Let i = 1, 2, 3, 4, 5, 6, representing the i-th pair of points with the same name.

[0784] Then there is,

[0785]

[0786] consider

[0787]

[0788] Solving matrix equations using the householderQr decomposition method:

[0789]

[0790] Complete the calculation of plane coordinate system attribute matching and fusion parameters based on the geocentric rectangular coordinate Bursa model.

[0791] S5.5. Matching and Fusion of Elevation Coordinate System Attributes. Based on the ellipsoidal approximation theory, it is necessary to extract the elevation compensation value of the BIM model's modeling origin position from the EGM2008 gravity anomaly model. The coordinate system fusion parameter calculation service extracts the elevation compensation value from the EGM2008 gravity anomaly model based on the input modeling origin coordinate system, obtaining H... δ = -18.021.

[0792] S6. The Highway Engineering BIM Project Management Service, through the message queue module, notifies the Plane Spatial Coordinate System Matching and Fusion Service and the Elevation Spatial Coordinate System Matching and Fusion Service to select the Plane Spatial Coordinate System Fusion Model and the Elevation Spatial Coordinate System Fusion Model, and inputs the parameter calculation results corresponding to each model to achieve BIM model coordinate system matching and fusion. The specific fusion process is as follows:

[0793] This example uses a planar coordinate system attribute matching and fusion model: based on the geocentric rectangular coordinate Bursa model;

[0794] The input coordinate system semantics for this example are shown in step S3.

[0795] This example inputs the plane coordinate system fusion parameters: Step S5.4.

[0796] This example inputs the elevation coordinate system fusion parameters: Step S5.4.

[0797] S6.1. The BIM model plane coordinate system attribute matching and fusion process refers to: transforming the modeling origin O (500343.237, 2826857.947, 642.734) under the projected coordinate system to the 2000 National Geodetic Coordinate System, and completing the fusion. The entire fusion process is as follows: the modeling origin O is in the projected plane coordinate system, first transformed to the latitude and longitude geodetic coordinate system, then transformed to the geocentric rectangular coordinate system, based on the geocentric rectangular coordinate Bursa model, transformed to the target geocentric rectangular coordinate system, and then the target geocentric rectangular coordinates are converted to the target latitude and longitude geodetic coordinates.

[0798] The geodetic latitude and longitude coordinates are obtained by solving equation (1):

[0799] L=100.07008042796, B=25.53880650120, H=642.734

[0800] The geocentric rectangular coordinates are obtained by solving equation (5):

[0801] x=-1007394.07236658968, y=5672633.90965703502, H=2734407.06863533147

[0802] Input the geocentric rectangular coordinates (-1007394.07236658968, 5672633.90965703502, 2734407.06863533147) and the matching fusion model parameters (267.12599163009094, 49.285852476945053, -211.85483239398138, -3.5441531630711359e-05, 1.3911526200464376e-05, -3.7660610753476238e-05, -0.00038035634428545625), and calculate the target geocentric rectangular coordinates based on the Bursa model of geocentric rectangular coordinates.

[0803]

[0804] Solve for the geodetic coordinates of the target latitude and longitude using Equation 13:

[0805]

[0806] Through calculation, the BIM model's plane coordinate system attributes were matched and fused from the projected plane coordinate system to the 2000 National Geodetic Coordinate System.

[0807] S6.2. The BIM model elevation coordinate system attribute matching and fusion process refers to the process of correcting the elevation values ​​calculated in step S6.2 using elevation compensation value parameters.

[0808] Input the elevation to be merged Elevation compensation value H δ = -18.021, the fusion result is calculated according to (Equation 10):

[0809] H 目 =H 源 +H δ =646.35383919533-18.021=628.33283919533

[0810] S6.3. Combining the above steps, the plane coordinate system attribute of the BIM model modeling origin O (500343.237,2826857.947,642.734) was integrated from the highway engineering coordinate system to the 2000 National Geodetic Coordinate System, and the elevation coordinate system attribute was integrated from the 1985 Yellow Sea Normal Height System to the 2000 National Geodetic Height System.

[0811] The entire process is the internal operation flow of the service-oriented highway engineering BIM model real geolocation fusion system. Here, the key calculation methods of the process are illustrated with examples.

[0812] The present invention provides a service-oriented method for fusing real-geographical locations in highway engineering BIM models, which simplifies the aforementioned complex calculation process and greatly improves the efficiency of BIM model coordinate system attribute matching and fusion.

[0813] This invention introduces the method of collecting corresponding point pairs of ground feature points and then using the statistical least squares method to calculate the coordinate system fusion model parameters. This method makes up for the deficiency of traditional methods in that they cannot obtain coordinate system transformation parameters and thus cannot perform fusion. According to the traditional method, this example cannot achieve BIM model matching and fusion because it cannot obtain fusion parameters.

[0814] Based on the BIM modeling method, this invention derives a calculation formula that is compatible with various BIM modeling methods, supports all BIM model formats on the market, and can connect with various outputs of highway engineering digital tools.

[0815] This invention adopts a service-oriented approach to automate and batch back-calculate the matching and fusion parameters of multiple projects, meeting the needs of the large-scale application of BIM digitalization in current highway engineering.

[0816] Based on the computational needs of a project, this invention supports a matching and fusion service scheduling method that achieves optimal and minimum cost, and flexibly utilizes computing resources according to the number and scale of projects, thereby reducing costs.

[0817] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A service-oriented highway engineering BIM model-to-real-geographical-location fusion system, characterized in that, Includes the following integrated business modules: The Highway Engineering BIM Project Management Module is used to manage highway engineering BIM project data that needs to be matched and fused with coordinate systems. It determines the set of BIM models to be processed and matched and fused in a single batch based on the project boundary. The BIM model coordinate system definition module is used for the semantic definition of the BIM model coordinate system to be matched and merged. Based on the highway engineering surveying parameters, it determines the plane position reference and elevation position reference of the model, defines the semantics of the coordinate system parameters, and associates the model. The module for matching corresponding points in different coordinate systems is used for matching corresponding points in the source plane spatial coordinate system and the target plane spatial coordinate system of the BIM model to be matched and fused, as well as matching corresponding points in the source elevation spatial coordinate system and the target elevation spatial coordinate system. The coordinate system fusion parameter calculation module is used to calculate the coordinate system fusion model parameters of the BIM model to be matched and fused. It fits and calculates the fusion relationship between different coordinate systems based on the set of corresponding point pairs, the plane space coordinate system fusion model, and the elevation space coordinate system fusion model. The gravity anomaly model analysis module is used to analyze gravity anomaly models; it is also used to extract the compensation height based on the geoid corresponding to the gravity anomaly model according to latitude and longitude. The BIM model planar spatial coordinate system matching and fusion module is used for the planar spatial coordinate system fusion transformation of the BIM model to be matched and fused. Based on the planar spatial coordinate system semantics, coordinate system fusion parameters, and coordinate system fusion model of the BIM model, it calculates the position in the target planar spatial coordinate system to achieve planar spatial position matching and fusion of the BIM model. The BIM model elevation space coordinate system matching and fusion module is used for elevation space coordinate system fusion and transformation of the BIM model to be matched and fused. Based on the elevation space coordinate system semantics, coordinate system fusion parameters, and coordinate system fusion model of the BIM model, it calculates the position under the target elevation space coordinate system to realize the elevation space position matching and fusion of the BIM model. The pairs of points with the same name include the following types: pairs of measurement control points under different plane spatial coordinate systems, pairs of feature points under different plane spatial coordinate systems, pairs of measurement control points and feature points under different plane spatial coordinate systems, and pairs of measurement control points under different elevation spatial coordinate systems. Specifically, it includes the following steps: For the adaptation of measurement control point pairs: control survey points of the engineering plane coordinate system of highway projects are measured on-site. The coordinate values ​​of the corresponding points are extracted according to the control point number. The corresponding point pairs are organized in the format of "control point number, east-west coordinates of the source coordinate system control point, north-south coordinates of the source coordinate system control point, elevation of the source coordinate system control point, east-west coordinates of the target coordinate system control point, north-south coordinates of the target coordinate system control point, elevation of the target coordinate system control point". For feature point pair adaptation: The feature point acquisition method is as follows: acquire image feature points at the same position in the source coordinate system and the target coordinate system; Collection principle: Corner points with obvious ground features are used as feature points. The number of feature points is ≥6 and they are evenly distributed. The feature point number is used as the feature point number. Extract the coordinate values ​​of the corresponding points based on the feature point number, and organize the corresponding point pairs according to the conventional format of "feature point number, east-west coordinates of the feature point in the source coordinate system, north-south coordinates of the feature point in the source coordinate system, elevation of the feature point in the source coordinate system, east-west coordinates of the feature point in the target coordinate system, north-south coordinates of the feature point in the target coordinate system, elevation of the feature point in the target coordinate system".

2. The service-oriented highway engineering BIM model real-geographic location fusion system according to claim 1, characterized in that, It also includes the following auxiliary business modules: The Business Service Registration Center module is used for the registration, discovery, monitoring and management of computer hardware nodes for the business services included in the service-oriented highway engineering BIM model real geolocation fusion system. The business service gateway module is used for access routing calculation and load balancing control of business services included in the service-oriented highway engineering BIM model real geolocation fusion system.

3. The service-oriented highway engineering BIM model real-geographic location fusion system according to claim 2, characterized in that, It also includes the following auxiliary business modules: The computing power management and scheduling module is used to meet the computing power service requirements of the service-oriented highway engineering BIM model real geolocation fusion system. It elastically scales up and down computer resources and isolates faulty resources based on the traffic of user access to business services. The data storage module is used to store temporary and business data related to the real-geographic location fusion system of the BIM model for this service-oriented highway engineering project. The message queue module is used for communication between business services in the service-oriented highway engineering BIM model real geolocation fusion system.

4. A service-oriented method for fusing real-geographical locations of BIM models in highway engineering, characterized in that... The service-oriented highway engineering BIM model real-geographic location fusion system according to any one of claims 1 to 3 includes the following steps: Call the highway engineering BIM project management module, create a management project for which coordinate system data to be matched and integrated, set the priority, and upload the BIM model; The highway engineering BIM project management module notifies the BIM model coordinate system definition module to define and associate source coordinate system attributes and target coordinate system attributes to be matched for the BIM model. The attributes are divided into: plane space coordinate system and elevation space coordinate system. The highway engineering BIM project management module notifies the coordinate system corresponding point pair adaptation module to match, merge and associate the coordinate system corresponding point pairs required for the BIM model coordinate system. The highway engineering BIM project management module notifies the coordinate system fusion parameter calculation module to select the plane space coordinate system fusion model and the elevation space coordinate system fusion model, input the coordinate system semantics and the same point pairs, and calculate the fusion parameters for BIM model coordinate system matching and fusion. The highway engineering BIM project management module notifies the plane spatial coordinate system matching and fusion module and the elevation spatial coordinate system matching and fusion module through the message queue module, selects the plane spatial coordinate system fusion model and the elevation spatial coordinate system fusion model, and inputs the parameter calculation results corresponding to each model to achieve BIM model coordinate system matching and fusion.

5. A service-oriented method for fusing real-geographical locations of BIM models in highway engineering, characterized in that... The service-oriented highway engineering BIM model real-geographic location fusion system according to claim 3 includes the following steps: Step (1): Start the service-oriented highway engineering BIM model real geolocation fusion system. Each business service is automatically registered to the business service registration center module. The computing power management and scheduling module allocates computer resources to each module's business services according to the default configuration. The business service gateway module, data storage module, and message queue module connect the business services of each module. Step (2): Call the highway engineering BIM project management module, create a project, set the priority, and upload the BIM model; Step (3): The highway engineering BIM project management module notifies the BIM model coordinate system definition module through the message queue module to define and associate the source coordinate system attributes and the target coordinate system attributes to be matched for the BIM model. The attributes are divided into: plane space coordinate system and elevation space coordinate system. Step (4): The highway engineering BIM project management module notifies the different coordinate system corresponding point pair adaptation module through the message queue module to match the coordinate system corresponding point pairs required for BIM model coordinate system matching, fusion and association. Step (5): The highway engineering BIM project management module notifies the coordinate system fusion parameter calculation module through the message queue module to select the plane space coordinate system fusion model and the elevation space coordinate system fusion model, input the coordinate system semantics and the same point pair, and calculate the fusion parameters for BIM model coordinate system matching and fusion. Step (6): The highway engineering BIM project management module notifies the plane spatial coordinate system matching and fusion module and the elevation spatial coordinate system matching and fusion module through the message queue module to select the plane spatial coordinate system fusion model and the elevation spatial coordinate system fusion model, and input the parameter calculation results corresponding to each model to realize the BIM model coordinate system matching and fusion.

6. The service-oriented highway engineering BIM model real-geographical location fusion method according to claim 5, characterized in that, In step (3), the source coordinate system attributes and the target coordinate system attributes to be matched are defined and associated for the BIM model, which specifically includes the following steps: (3.1) Plane spatial coordinate systems include projected plane coordinate systems and latitude-longitude geodetic coordinate systems; (3.1.1) The definition method of the latitude and longitude geodetic coordinate system is as follows: Calculating the Earth's reference ellipsoid shape parameters for a latitude and longitude geodetic coordinate system: The Earth's reference ellipsoid shape parameters include the radius of the semi-major axis of the ellipsoid. ellipsoidal flattening and the Prime Meridian ; Specifically, it utilizes the frame reference ellipsoid shape parameters and elevation projection surface parameters of the planar spatial coordinate system, and calculates based on the following relationship: In the formula, This indicates the radius of the semi-major axis of the frame reference ellipsoid. Indicates the flattening of the frame reference ellipsoid. Indicates the elevation projection height. Represents the Greenwich Meridian; (3.1.2) The definition method of the projection plane coordinate system is as follows: Determine the actual projection plane coordinate system parameters of the project: Projection plane coordinate system parameters include the radius of the semi-major axis of the ellipsoid. ellipsoidal flattening ,prime meridian Central Meridian Longitude Origin latitude East-west offset North-South offset Scale factor ; Specifically, it utilizes the semi-major axis radius of the ellipsoid obtained from (3.1.1). ellipsoidal flattening ,prime meridian The central meridian longitude, origin latitude, east-west offset, north-south offset, and scale factor are extracted from the basic survey data of highway engineering projects and used as the semantics of the projection plane coordinate system definition. (3.2) The definition method of the elevation coordinate system is as follows: Determine the actual elevation coordinate system used in the project data: The elevation coordinate system semantics are uniquely identified by the identifier name, and the elevation coordinate system type is determined; the elevation coordinate system type includes normal height system and geodetic height system.

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