Indoor coordinate and world coordinate mapping method, system and computer program product

Abstract

The invention discloses an indoor coordinate and world coordinate mapping method, system and computer program product. The method comprises the following steps: according to a plane rectangular coordinate projection grid number under a UTM coordinate system where an origin coordinate under a world coordinate system is located, mapping the origin coordinate into a rectangular coordinate projection grid coordinate to obtain an initialized position coordinate; after the air route is received, when world coordinates corresponding to the air route need to be mapped to indoor coordinates, the world coordinates corresponding to air route points of the air route are mapped to plane rectangular coordinate projection grid coordinates with the plane rectangular coordinate projection grid number of the origin coordinates as the reference; and according to the initialized position coordinates and the scaling, the plane rectangular coordinate projection grid coordinates after the route point mapping are converted into indoor coordinates. According to the method, error minimization from a world coordinate system to an indoor coordinate system is realized, and efficient, real-time and accurate coordinate conversion is realized.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle technology, and in particular to a method and system for mapping indoor coordinates to world coordinates, and a computer program product. Background Art

[0002] Drone technology has made significant progress in recent years, and its application areas have continued to expand from the initial military reconnaissance to many aspects of civilian use. At present, drone technology has been widely used in many fields such as agriculture, logistics, disaster relief, environmental monitoring, and film and television shooting. Drones have become an indispensable part of modern society, and their application scenarios are constantly increasing, and technology is also constantly innovating and developing. In colleges and universities, indoor drones can not only serve as teaching tools to enhance practical education and scientific research capabilities, but also enhance students' employment competitiveness through school-enterprise cooperation.

[0003] However, in practical applications, especially when flying indoors, existing drones based on SLAM (Simultaneous Localization and Mapping) technology face a key challenge: they usually use an independent indoor coordinate system for positioning, while the external system or control center uses the world coordinate system (WGS-84) (World Geodetic System-1984 Coordinate System, WGS-84 coordinate system). This inconsistency makes it complicated and inaccurate to directly receive and execute routes in the world coordinate system. Existing conversion methods, such as using Geographic Information System (GIS) for conversion, often have high computational complexity, poor real-time performance, and lack accurate scale adjustment capabilities, limiting the ability of drones to seamlessly switch between indoors and outdoors and their potential for widespread application in fields such as education. Summary of the invention

[0004] The present invention provides a method, system and computer program product for mapping indoor coordinates and world coordinates, which are used to solve the technical problems existing in the above-mentioned prior art, so that a drone can directly receive and use the route issued by the world coordinate system when flying indoors, thereby realizing seamless navigation.

[0005] To achieve the above object, the present invention provides a method for mapping indoor coordinates to world coordinates, comprising the following steps:

[0006] According to the plane rectangular coordinate projection grid number in the UTM coordinate system where the origin coordinate in the world coordinate system is located, the origin coordinate is mapped into the plane rectangular coordinate projection grid coordinate to obtain the initialization position coordinate;

[0007] After receiving the route, when it is necessary to map the world coordinates corresponding to the route to the indoor coordinates, the world coordinates corresponding to the route points of the route are mapped to the plane rectangular coordinate projection grid coordinates based on the plane rectangular coordinate projection grid number of the origin coordinates;

[0008] According to the initialization position coordinates and the scaling ratio, the plane rectangular coordinate projection grid coordinates after the route point mapping are transformed into indoor coordinates.

[0009] In an embodiment of the present invention, mapping the world coordinates to plane rectangular coordinate projection grid coordinates comprises the following steps:

[0010] The longitudinal radius of curvature and the equatorial arc length are calculated according to the major semiaxis, minor semiaxis and the latitude of the world coordinates to be mapped in the world coordinate system; the central meridian of the UTM zone corresponding to the grid number is calculated according to the plane rectangular coordinate projection grid number; the east-west coordinate component and the north-south coordinate component of the latitude and longitude of the world coordinates to be mapped in the rectangular coordinate projection grid coordinate system are calculated according to the central meridian, the longitude of the world coordinates to be mapped, the longitudinal radius of curvature and the equatorial arc length.

[0011] In an embodiment of the present invention, the east-west coordinate component and the north-south coordinate component of the latitude and longitude of the world coordinates to be mapped in the rectangular coordinate projection grid coordinate system are calculated according to the following formula;

[0012] E=k 0 R(λ-λ 0 )cosφ+E 0 ;

[0013] N=k 0 A(φ)+N 0 ;

[0014] Among them, E represents the east-west coordinate component, N represents the north-south coordinate component, and k 0 represents the scale factor of the UTM coordinate projection, λ represents the longitude of the world coordinate to be mapped, φ represents the latitude of the world coordinate to be mapped, R represents the longitudinal curvature radius, λ 0 represents the central meridian of the UTM zone, A(φ) represents the equatorial arc length corresponding to φ, and E 0 Indicates the easting deviation, N 0 Indicates the false northing.

[0015] In an embodiment of the present invention, the planar rectangular coordinate projection grid coordinates after the route point mapping are transformed into indoor coordinates, including the following steps:

[0016] The mapped plane rectangular coordinate projection grid coordinates are differenced with the initialization position coordinates, and the difference is scaled according to the scaling ratio, and after scaling, rotation and mirror transformation are performed to obtain the indoor coordinates corresponding to the route point of the line.

[0017] In an embodiment of the present invention, the rotation transformation matrix R is:

[0018]

[0019] In the mirror transformation, the y-axis after the rotation change is used as the mirror axis, and the coordinates after the rotation change are mirrored.

[0020] In an embodiment of the present invention, the method for mapping indoor coordinates to world coordinates further includes mapping the indoor coordinates to world coordinates, and the steps include:

[0021] The indoor coordinates are divided by the scaling ratio and then the inverse transformation of the mirror and rotation transformation is performed to obtain the plane rectangular coordinate projection grid coordinates; the plane rectangular coordinate projection grid coordinates are mapped to the world coordinates through the inverse mapping transformation of the world coordinates to the plane rectangular coordinate projection grid coordinates to obtain the longitude and latitude under the world coordinates.

[0022] In an embodiment of the present invention, the method for mapping indoor coordinates and world coordinates also includes setting a configuration file according to the requirements of the on-site environment, wherein the configuration file includes the longitude, latitude and altitude of the origin coordinates, and transforming the plane rectangular coordinate projection grid coordinates into a scaling ratio corresponding to the indoor coordinates.

[0023] According to another aspect of the present invention, there is also provided an indoor coordinate and world coordinate mapping system, including an autopilot, a cloud platform and a drone; the cloud platform generates a world coordinate system coordinate route and sends it to the autopilot; the autopilot reads a configuration file, and after receiving the world coordinate system coordinate route, when the type of the drone is an indoor drone, maps the world coordinates to indoor coordinates, or reversely maps the indoor coordinates to world coordinates, according to a method for mapping indoor coordinates and world coordinates as described above, and realizes automatic navigation and positioning of the drone flight mission at corresponding indoor and outdoor coordinates through the route.

[0024] According to yet another aspect of the present invention, a computer program product is provided, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the steps of the indoor coordinate and world coordinate mapping method as described above are implemented.

[0025] Implementing one of the above technical solutions of the present invention has the following advantages or beneficial effects:

[0026] The present invention realizes the coordinate conversion from the world coordinate system to the indoor coordinate system with minimized error, high efficiency, real-time and accuracy. Through the plane rectangular coordinate projection grid numbering under the UTM coordinate system, the reasonable partition (UTM zone) of the origin coordinate is obtained to limit the calculation range and improve the calculation speed; by configuring the scaling ratio, flexible scale setting is supported to adapt to the accuracy requirements in application scenarios of different sizes, thereby achieving the accuracy of the mapping between the world coordinate system and the indoor coordinate system; by optimizing the data processing flow, the calculation delay can be reduced and the real-time performance of the system can be improved; by using the earth's ellipsoid parameters (such as the major semi-axis, the minor semi-axis, etc.) to change the coordinates, the complex three-dimensional conversion can be reduced, thereby reducing the complexity of the algorithm and improving the efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A flowchart of a method for mapping indoor coordinates to world coordinates according to an embodiment of the present invention;

[0029] Figure 2 The present invention is a flowchart of mapping world coordinates into plane rectangular coordinate projection grid coordinates according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Embodiment 1:

[0032] Figure 1-Figure 2 The figure shows a process of a method for mapping indoor coordinates to world coordinates, which includes the following steps:

[0033] S100, mapping the origin coordinates into plane rectangular coordinate projection grid coordinates according to the plane rectangular coordinate projection grid number in the UTM coordinate system where the origin coordinates in the world coordinate system are located, to obtain the initialization position coordinates;

[0034] S200, after receiving the route, when it is necessary to map the world coordinates corresponding to the route to the indoor coordinates, the world coordinates corresponding to the route points of the route are mapped to the plane rectangular coordinate projection grid coordinates based on the plane rectangular coordinate projection grid number of the origin coordinates;

[0035] S300: transform the plane rectangular coordinate projection grid coordinates of the route point after mapping into indoor coordinates according to the initialization position coordinates and the scaling ratio.

[0036] In this embodiment, the world coordinate system includes but is not limited to the WGS-84 coordinate system and the gcj-02 coordinate system. The world coordinate system includes two-dimensional coordinate components: longitude λ and latitude φ in degrees, and the UTM coordinate system includes two-dimensional coordinate components: the east-west coordinate component E and the north-south coordinate component N in meters.

[0037] The method of this embodiment provides a coordinate conversion method from the world coordinate system to the indoor coordinate system with minimized error, high efficiency, real-time, and accuracy. In this method, the plane rectangular coordinate projection grid number under the UTM coordinate system is used to obtain a reasonable partition (UTM zone) of the origin coordinates, thereby limiting the calculation range and improving the calculation speed; by configuring the scaling ratio, flexible scale settings are supported to meet the accuracy requirements of application scenarios of different sizes, thereby achieving the accuracy of the mapping between the world coordinate system and the indoor coordinate system. In addition, based on the optimized data processing flow of this embodiment, it is possible to reduce calculation delays and improve the real-time performance of the system.

[0038] It should be noted that the above-mentioned scaling ratio can be set dynamically to achieve dynamic adjustment of the scale and further improve the accuracy. Furthermore, this method can be applied to the conversion between the indoor coordinate system and the world coordinate system of the drone based on SLAM positioning, so that the drone can directly receive and use the route issued by the world coordinate system when flying indoors, thereby achieving seamless navigation.

[0039] Based on the above embodiment, whether the world coordinates corresponding to the route need to be mapped to the indoor coordinates, a corresponding judgment condition is: when the drone is an indoor drone, the world coordinates corresponding to the route need to be mapped to the indoor coordinates.

[0040] Based on the above embodiment, before mapping the world coordinates to plane rectangular coordinate projection grid coordinates, it also includes setting a configuration file according to the requirements of the on-site environment. The configuration file includes the longitude, latitude and altitude of the origin coordinates, and the scaling ratio corresponding to the transformation of the plane rectangular coordinate projection grid coordinates into indoor coordinates.

[0041] Based on the above embodiment, mapping the world coordinates to plane rectangular coordinate projection grid coordinates includes the following steps:

[0042] S201, calculating the longitudinal radius of curvature and the equatorial arc length according to the semi-major axis and the semi-minor axis of the earth in the world coordinate system and the latitude of the world coordinate to be mapped;

[0043] S202, calculating the central meridian of the UTM zone corresponding to the grid number according to the plane rectangular coordinate projection grid number;

[0044] S203, calculating the east-west coordinate component and the north-south coordinate component of the latitude and longitude of the world coordinate to be mapped in the rectangular coordinate projection grid coordinate system according to the central meridian, the longitude of the world coordinate to be mapped, the longitudinal radius of curvature, and the equatorial arc length.

[0045] Based on the above embodiment, the east-west coordinate component and the north-south coordinate component of the latitude and longitude of the world coordinates to be mapped in the rectangular coordinate projection grid coordinate system are calculated according to the following formula;

[0046] E=k 0 R(λ-λ 0 )cosφ+E 0 (1);

[0047] N=k 0 A(φ)+N 0 (2);

[0048] Among them, E represents the east-west coordinate component, N represents the north-south coordinate component, and k 0 represents the scale factor of the UTM coordinate projection, λ represents the longitude of the world coordinate to be mapped, φ represents the latitude of the world coordinate to be mapped, R represents the longitudinal curvature radius, λ 0 represents the central meridian of the UTM zone, A(φ) represents the equatorial arc length corresponding to φ, and E 0 Indicates the easting deviation, N 0 Indicates the false northing.

[0049] In a specific embodiment, k 0 The default value is 0.9996, E 0 Normally set to 500000 meters, N 0 In the Northern Hemisphere it is usually 0 meters and in the Southern Hemisphere it is 10,000,000 meters.

[0050] Furthermore, the longitudinal curvature radius is calculated according to the following formula:

[0051]

[0052] in, a represents the major semi-axis of the earth, and b represents the minor semi-axis of the earth. In a specific embodiment, a=6378137 meters, and b=6356752.314245 meters.

[0053] The equatorial arc length is calculated according to the following formula:

[0054]

[0055] Calculate the central meridian of the UTM zone corresponding to the grid number according to the following formula;

[0056] λ 0 =(k-1)×6°-180° +3° (5);

[0057] Among them, λ 0 Indicates the central meridian of the UTM zone corresponding to grid number k, where k represents the plane rectangular coordinate projection grid number.

[0058] Given the longitude λ of the origin coordinates origin , k can be obtained by the following formula:

[0059]

[0060] It should be noted that this method uses the earth's ellipsoid parameters (such as the major semi-axis, the minor semi-axis, etc.) to change the coordinates, which can reduce the complex three-dimensional transformation, thereby reducing the complexity of the algorithm and improving efficiency.

[0061] Based on the above embodiment, the plane rectangular coordinate projection grid coordinates after the route point mapping are transformed into indoor coordinates, including the following steps:

[0062] The difference operation is performed between the mapped plane rectangular coordinate projection grid coordinates and the initial position coordinates, and the difference is scaled according to the scaling ratio. After scaling, rotation and mirror transformation are performed to obtain the indoor coordinates corresponding to the route point of the line.

[0063] Based on the above formulas (1)-(6), the origin coordinates (λ origin ,φ origin ) can get the plane coordinates of the origin of UTM (E origin , N origin ). Calculate the translation of any route point (λ, φ) to UTM coordinates (E, N) relative to the origin:

[0064] ΔE=E - E origin ,ΔN=N - N origin (7);

[0065] The indoor coordinates (y, x) of the route point can be obtained by configuring the translation (ΔE, ΔN) of the route point relative to the origin. The horizontal scale is scale y , the vertical axis scale is scale x .

[0066] It is understandable that the current indoor drones have deviations in positioning, so the scaling ratio is greater than 1 / 50. Too small a scaling ratio will cause the drone to move slightly away from the world coordinate system map over a long distance.

[0067] y=ΔE*scale y , x=ΔN*scale x (8);

[0068] It should be noted that the indoor coordinate y of the route point represents the horizontal axis, and x represents the vertical axis. The coordinate axes need to be rotated and mirrored to obtain the standard coordinates under the indoor coordinate system.

[0069] Furthermore, the indoor drone is rotated and mirrored according to its own positioning coordinate system.

[0070] Taking a counterclockwise rotation of 90° as an example, the rotation matrix obtained is:

[0071] Rotation Matrix

[0072] The rotation transformation formula is:

[0073]

[0074] After expansion, we can get x'=-x, y'=y. That is, the horizontal axis represented by y is converted to the vertical axis, and the vertical axis represented by x is converted to the horizontal axis.

[0075] The mirror transformation process can take negative values ​​for the corresponding indoor coordinates. The indoor coordinates (x', y') after rotation transformation are used as the basis, and the y-axis after rotation is the mirror axis (the x-axis before rotation is the mirror axis). The indoor coordinates (x'', y'') after mirroring are:

[0076] (x′′, y′′)=(-x′,y′)=(x,y) (10).

[0077] Based on the application scenario of this embodiment, the indoor coordinates are also mapped to world coordinates, and the steps include:

[0078] The indoor coordinates are divided by the scaling ratio and then the inverse transformation of the mirror and rotation transformation is performed to obtain the rectangular coordinate projection grid coordinates; the rectangular coordinate projection grid coordinates are mapped to the world coordinates through the inverse mapping transformation of the world coordinates to the plane rectangular coordinate projection grid coordinates to obtain the longitude and latitude under the world coordinates.

[0079] It is understandable that mapping the indoor coordinates to the world coordinates can be achieved by inverse transformation or inverse solution of the above formula, which will not be described in detail here.

[0080] In summary, the indoor coordinate and world coordinate mapping method of this embodiment has low computational complexity, good real-time performance, and accurate scale adjustment capability, and can realize the ability of seamless switching of drones indoors and outdoors and be widely used in fields such as education.

[0081] Embodiment 2

[0082] This embodiment provides an indoor coordinate and world coordinate mapping system, including an autopilot, a cloud platform and a drone. The cloud platform generates a world coordinate system coordinate route and sends it to the autopilot; the autopilot reads the configuration file, and after receiving the world coordinate system coordinate route, when the type of the drone is an indoor drone, the world coordinate is mapped to the indoor coordinate according to the indoor coordinate and world coordinate mapping method described in the first embodiment, or the indoor coordinate is reversely mapped to the world coordinate, and the automatic navigation positioning of the drone flight mission is realized at the corresponding indoor and outdoor coordinates through the route.

[0083] Based on the above embodiment, the drone can be equipped with a high-resolution laser radar for SLAM positioning. The cloud platform also provides comprehensive low-altitude operation and flight scheduling functions to ensure that the drone is safe and efficient in low-altitude flight. Furthermore, other sensors such as optical flow sensors and UWB positioning systems are used on the drone. The indoor coordinate and world coordinate mapping system of this embodiment can be used to convert and use coordinates.

[0084] Further, the workflow of this system is described as follows:

[0085] The user configures the origin coordinate properties in the configuration file read by the autopilot according to the on-site environment requirements, including the origin position (latitude, longitude, altitude), zoom ratio and other parameters. It should be noted that in view of the deviation in the positioning of indoor drones, the zoom ratio value is greater than 1 / 50. Too small a zoom ratio will cause the drone to move slightly over a long distance on the world coordinate system map.

[0086] After the autopilot reads the configuration information, it obtains the (UTM) plane rectangular coordinate projection grid number where the origin coordinates in the configuration information are located, and converts the origin coordinates into rectangular coordinate projection grid coordinates as the initialization position.

[0087] When a new flight plan is generated, the cloud platform will send the world coordinate system route that the drone needs to execute to the autopilot.

[0088] When the autopilot receives the route, it will determine the type of drone. If it is an outdoor drone, no conversion is required. For indoor drones, the world coordinates in the route are extracted for conversion. Based on the plane rectangular coordinate projection grid number of the origin obtained previously, the world coordinate system is put in and converted into plane rectangular coordinate projection coordinates. The plane longitude and latitude of the initialization position are subtracted from the plane longitude and latitude of the waypoint to obtain the distance between the waypoint position and the initialization position, and then scaled according to the preset ratio and rotated (using the rotation matrix) and mirrored (x-axis, y-axis take negative values ​​as needed) according to the coordinate system of the indoor drone to obtain the indoor coordinates mapped from the world coordinates.

[0089] Indoor coordinates are converted to world coordinates. Similarly, the indoor coordinates are divided by the scaling ratio and rotated to obtain the plane rectangular coordinate projection coordinates, and then the longitude and latitude coordinates of the world coordinates are obtained through coordinate conversion for reporting the own coordinate position.

[0090] The indoor coordinate and world coordinate mapping system of this embodiment is based on the conversion system between the indoor coordinate system and the world coordinate system of the SLAM positioning drone. The system enables the drone to directly receive and use the route issued by the world coordinate system when flying indoors, thereby achieving efficient, real-time and high-precision seamless navigation. In addition, the modular system architecture of this system makes it easy to integrate into the existing drone platform and control system, while supporting future upgrades and expansions, and has compatibility and scalability.

[0091] Embodiment 3

[0092] The embodiment also provides a computer program product, including a computer program / instruction, which implements the steps of a method for mapping indoor coordinates and world coordinates as described in the first embodiment above when the computer program / instruction is executed by a processor. Since the embodiments of the computer program product part correspond to the embodiments of the method for mapping indoor coordinates and world coordinates, the embodiments of the computer program product part refer to the description of the embodiments of the method for mapping indoor coordinates and world coordinates above, and will not be repeated here.

[0093] It should be noted that the product of this embodiment can be but is not limited to a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for mapping indoor coordinates and world coordinates as described in the above embodiment are implemented.

[0094] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0095] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for mapping indoor coordinates to world coordinates, characterized in that: The following steps are involved: According to the plane rectangular coordinate projection grid number in the UTM coordinate system where the origin coordinate in the world coordinate system is located, the origin coordinate is mapped into the plane rectangular coordinate projection grid coordinate to obtain the initialization position coordinate; After receiving the route, when it is necessary to map the world coordinates corresponding to the route to the indoor coordinates, the world coordinates corresponding to the route points of the route are mapped to the plane rectangular coordinate projection grid coordinates based on the plane rectangular coordinate projection grid number of the origin coordinates; According to the initialization position coordinates and the scaling ratio, the plane rectangular coordinate projection grid coordinates after the route point mapping are transformed into indoor coordinates.

2. A method for mapping indoor coordinates to world coordinates according to claim 1, characterized in that: Mapping world coordinates to rectangular projection grid coordinates involves the following steps: Calculate the longitudinal radius of curvature and the equatorial arc length according to the semi-major axis and semi-minor axis of the earth in the world coordinate system and the latitude of the world coordinate to be mapped; Calculate the central meridian of the UTM zone corresponding to the grid number according to the plane rectangular coordinate projection grid number; The east-west coordinate component and the north-south coordinate component of the latitude and longitude of the world coordinate to be mapped in the rectangular coordinate projection grid coordinate system are calculated according to the central meridian, the longitude of the world coordinate to be mapped, the longitudinal radius of curvature, and the equatorial arc length.

3. A method for mapping indoor coordinates to world coordinates according to claim 2, characterized in that: Calculate the east-west coordinate component and the north-south coordinate component of the latitude and longitude of the world coordinate to be mapped in the rectangular coordinate projection grid coordinate system according to the following formula; E=k0R(λ-λ0)cosφ+E0; N=k0A(φ)+N0; Among them, E represents the east-west coordinate component, N represents the north-south coordinate component, k0 represents the scale factor of the UTM coordinate projection, λ represents the longitude of the world coordinate to be mapped, φ represents the latitude of the world coordinate to be mapped, R represents the longitudinal curvature radius, λ0 represents the central meridian of the UTM zone, A(φ) represents the equatorial arc length corresponding to φ, E0 represents the easting offset, and N0 represents the northing offset.

4. The method for mapping indoor coordinates to world coordinates according to claim 1, characterized in that: The planar rectangular coordinate projection grid coordinates after the route point mapping are transformed into indoor coordinates, including the following steps: The mapped plane rectangular coordinate projection grid coordinates are differenced with the initialization position coordinates, and the difference is scaled according to the scaling ratio, and after scaling, rotation and mirror transformation are performed to obtain the indoor coordinates corresponding to the route point of the line.

5. A method for mapping indoor coordinates to world coordinates according to claim 4, characterized in that: The rotation transformation matrix R is:

6. A method for mapping indoor coordinates to world coordinates according to any one of claim 4, characterized in that: In the mirror transformation, the y-axis after the rotation change is used as the mirror axis, and the coordinates after the rotation change are mirrored.

7. A method for mapping indoor coordinates to world coordinates according to claim 4, characterized in that: It also includes mapping the indoor coordinates to world coordinates, the steps of which include: The indoor coordinates are divided by the scaling ratio and then the inverse transformation of the mirror and rotation transformation is performed to obtain the plane rectangular coordinate projection grid coordinates; the plane rectangular coordinate projection grid coordinates are mapped to the world coordinates through the inverse mapping transformation of the world coordinates to the plane rectangular coordinate projection grid coordinates to obtain the longitude and latitude under the world coordinates.

8. A method for mapping indoor coordinates to world coordinates according to any one of claims 1 to 7, characterized in that: It also includes setting a configuration file according to the requirements of the on-site environment, wherein the configuration file includes the longitude, latitude and altitude of the origin coordinates, and a scaling ratio corresponding to transforming the plane rectangular coordinate projection grid coordinates into the indoor coordinates.

9. An indoor coordinate and world coordinate mapping system, characterized in that: The invention comprises an autopilot, a cloud platform and a drone; the cloud platform generates a world coordinate system coordinate route and sends it to the autopilot; the autopilot reads a configuration file, and after receiving the world coordinate system coordinate route, when the type of the drone is an indoor drone, maps the world coordinates into indoor coordinates, or reversely maps the indoor coordinates into world coordinates, according to a method for mapping indoor coordinates and world coordinates as described in any one of claims 1 to 8, and realizes automatic navigation and positioning of the drone flight mission at corresponding indoor and outdoor coordinates through the route.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of a method for mapping indoor coordinates and world coordinates as described in any one of claims 1 to 8 are implemented.

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