A spatial boundary calibration method, apparatus and measuring device

Abstract

The present application relates to the technical field of space measurement and boundary calibration, and discloses a space boundary calibration method, device and measuring equipment, the method comprising: obtaining target boundary data, to-be-calibrated boundary data and a reference object, determining a reference position and constructing a reference path; collecting forward and reverse corresponding position data along the reference path using the reference object to form a round-trip observation pair, correcting time drift and establishing a time sequence control relationship and a geometric support identifier; determining a calibration mode according to the geometric support identifier, generating mapping parameters and obtaining candidate calibration boundary data; verifying the candidate calibration boundary data using a verification reference position, and outputting calibrated boundary data; the present application can unify the time reference of non-simultaneous multi-position observation, and match the mapping parameters with the number and geometric distribution of effective reference positions.

Description

Technical Field

[0001] This invention relates to the field of space measurement and boundary calibration technology, and more specifically, to a space boundary calibration method, apparatus, and measuring equipment. Background Technology

[0002] Spatial boundaries may be represented using different coordinate references in different measuring devices or at different stages of measurement. Due to differences in the coordinate origin, axial and vertical references, the coordinate data of the same spatial location under different coordinate references cannot be directly correlated. It is necessary to establish the positional and directional relationships between different coordinate references in order to uniformly calibrate the boundary data.

[0003] Existing boundary calibration methods typically select one or more reference locations and generate mapping parameters using the corresponding coordinates of these reference locations under different coordinate datums. A single reference location is mainly used to determine the positional translation relationship; when multiple reference locations are used, each reference location is often reached sequentially by the same reference object, and coordinate data is collected at each location separately. Current methods usually directly use the results of each acquisition to generate mapping parameters and obtain the calibrated boundary based on these mapping parameters.

[0004] However, when only one movable reference object is configured on-site, and calibration needs to be performed sequentially at multiple boundary locations, on-site calibration personnel may find that after calibration at the boundary reference location, the reference location and surrounding areas have overlapped, but the distant boundary or boundary corner still deviates. After moving the same reference object to the distant location and recalibrating, the distant deviation is corrected, but the previously overlapped reference location shows a reverse offset. This necessitates repeated adjustments between multiple boundary locations, still failing to ensure that the entire boundary remains consistent simultaneously. Taking power transmission and transformation work sites as an example, the virtual fence of the spatial electronic fence may overlap at the origin of the physical safety boundary, but deviate at the far end of the long side or boundary corner. After recalibrating the distant position, an offset occurs near the origin, causing the calibrated virtual fence to not simultaneously correspond to multiple boundary segments of the physical safety boundary, affecting subsequent spatial safety management. Summary of the Invention

[0005] When the same reference object is repeatedly used for calibration at multiple boundary locations, the coordinate data corresponding to each reference location are formed at different acquisition times. A single reference location can only provide the positional difference between two coordinate references at corresponding positions, and cannot provide the independent geometric relationships required to determine the connecting direction, planar direction, and vertical direction. Therefore, the position near the reference location can be kept consistent through positional translation, but the boundary far from the reference location may still have a gradually increasing positional difference due to the lack of constraint on the directional relationship. When multiple corresponding locations obtained at different acquisition times are directly used together to generate mapping parameters, the continuous drift of the second coordinate reference during the movement of the reference object or the changes introduced by the re-initialization of the coordinate reference will be included in the corresponding position data, so that the spatial correspondence and the temporal changes will jointly affect the mapping parameters. A single movable reference object can provide multiple spatial control positions sequentially, but it is necessary to organize the forward and reverse observations of the same reference position into round-trip observation pairs, convert the effective observations to a unified calibration time, and limit the generation range of mapping parameters according to the number and geometric distribution of effective reference positions, so that multiple non-simultaneous observations can form a spatial control relationship for the calibration of the entire boundary.

[0006] To overcome the shortcomings of existing technologies where calibration results at different locations cannot be simultaneously consistent when a single movable reference object is calibrated sequentially at multiple boundary positions, this invention provides a spatial boundary calibration method, apparatus, and measuring equipment. By constructing a reference path to form a round-trip observation pair, it converts multi-location observations acquired at different times to a unified calibration moment. The calibration mode and mapping parameters are determined based on the number and geometric distribution of effective reference positions. Candidate calibration boundary data are verified using verification reference positions not involved in the mapping parameter generation, enabling a single reference object to form a multi-location spatial control relationship and ensuring that the calibrated boundary matches the current effective observation conditions.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A spatial boundary calibration method, comprising:

[0009] Acquire target boundary data, boundary data to be calibrated, and reference object; determine the reference position and construct the reference path based on the target boundary data.

[0010] Using the reference object, corresponding position data in the forward and reverse directions are collected along the reference path to form a round-trip observation pair. Based on the round-trip observation pair, the time drift is corrected to obtain the corrected second coordinate data, and a time-series control relationship and geometric support identification are established.

[0011] The calibration mode and verification reference position are determined based on the geometric support identifier. The mapping parameters are generated using the timing control relationship and applied to the boundary data to be calibrated to obtain candidate calibration boundary data.

[0012] The candidate calibration boundary data is verified using the verification reference position, and the calibrated boundary data is output in response to the verification result.

[0013] The target boundary data is obtained under the first coordinate reference, and the boundary data to be calibrated is obtained under the second coordinate reference. For the reference object, the first coordinate data and the second coordinate data are obtained under the first coordinate reference and the second coordinate reference, respectively. The reference path includes the target position coordinates, the reference position number, the forward order, the reverse order, and the allowed dwell range.

[0014] The reference positions include a first reference position for position reference, a second reference position, a third reference position that deviates from the line connecting the first two, a vertical reference position that deviates from the plane containing the first three, and a verification reference position that does not participate in the generation of mapping parameters.

[0015] The first coordinate reference is a geographic coordinate reference, the second coordinate reference is a local measurement coordinate reference, and the reference object is a mobile measurement marker.

[0016] The allowable dwell range is based on the larger of the upper bounds of the distances between the first and second coordinate data when the reference object is stationary, and is determined under the condition that it does not intersect with the allowable dwell range of adjacent reference positions.

[0017] The round-trip observation pair is formed in the following manner: the reference object arrives at each reference position in a forward and reverse order, and simultaneously collects the first coordinate data, the second coordinate data, the collection time, the first collection status identifier, the second collection status identifier, and the coordinate status identifier to obtain the forward corresponding position data and the reverse corresponding position data. The forward corresponding position data and the reverse corresponding position data are then matched according to the reference position number and the coordinate status identifier.

[0018] The positive corresponding position data is taken from the positive stable dwell time period, and the negative corresponding position data is taken from the negative stable dwell time period;

[0019] The positive stable dwell time period satisfies the following conditions: continuous sampling points are continuously located within the same allowable dwell range, both the first acquisition status identifier and the second acquisition status identifier are in an available state, the coordinate status identifier remains consistent during continuous sampling, and the order in which the reference object enters the allowable dwell range is consistent with the positive order.

[0020] The time drift correction includes: calculating the position drift rate and determining the common drift rate based on the round-trip observation pairs; identifying and removing abnormal round-trip observation pairs to obtain valid round-trip observation pairs; and using the common drift rate to convert the second coordinate data contained in the forward and reverse corresponding position data in the valid round-trip observation pairs to a unified calibration time to obtain the corrected second coordinate data.

[0021] The timing control relationship is bound to the first coordinate data, the corrected second coordinate data, the reference position number, the unified calibration time, the coordinate status identifier, the first coordinate discrete range, and the second coordinate discrete range; the geometric support identifier is formed based on the number and geometric distribution of the effective calibration reference positions.

[0022] The process of verifying the candidate calibration boundary data using the verification reference position includes: converting the corrected second coordinate data of the verification reference position to the first coordinate reference according to the mapping parameters, comparing whether the position difference between the conversion result and the first coordinate data is within the verification tolerance range, and checking whether the boundary position number in the candidate calibration boundary data is consistent with the boundary position number in the target boundary data.

[0023] The method further includes: in response to a verification failure result, checking the verification reference position, round-trip observation pair and geometric support identifier, reselecting the verification reference position, removing the abnormal reference position, reducing the calibration mode or restoring the mapping parameters of the most recently verified one, and regenerating the reference path.

[0024] The process of responding to the verification result includes: in response to the verification pass result, saving the current mapping parameters, unified calibration time, coordinate status identifier, effective calibration reference position and effective verification reference position, and determining the candidate calibration boundary data as the calibration boundary data.

[0025] A spatial boundary calibration device for implementing the above method includes:

[0026] The reference path construction module is used to acquire target boundary data, boundary data to be calibrated, and reference object, and to determine the reference position and construct the reference path based on the target boundary data.

[0027] The timing control relationship establishment module is used to collect corresponding position data in the forward and reverse directions along the reference path using the reference object and form a round-trip observation pair, correct the time drift according to the round-trip observation pair to obtain the corrected second coordinate data, and establish the timing control relationship and geometric support identification.

[0028] The graded calibration module is used to determine the calibration mode and the reference position for verification based on the geometric support identifier, generate mapping parameters using the timing control relationship and apply them to the boundary data to be calibrated to obtain candidate calibration boundary data.

[0029] The verification output module is used to verify the candidate calibration boundary data using the verification reference position, and output the calibrated boundary data in response to the verification result.

[0030] A measuring device includes a data interface, a processor, and a memory for storing processor-executable instructions. The data interface is used to receive first coordinate data under a first coordinate reference and second coordinate data under a second coordinate reference. When the processor executes the executable instructions, it implements the method described above.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] This invention acquires target boundary data, calibration boundary data, and a reference object, and constructs a reference path based on the determined reference positions. This allows the reference object to generate forward and reverse position observations corresponding to each reference position during its orderly movement, thereby establishing a stable correspondence between multi-position data scattered across different acquisition times and the reference positions. By organizing the forward and reverse corresponding position data into round-trip observation pairs and correcting for time drift, the second coordinate data participating in subsequent calibration can be unified under consistent time conditions, reducing the interference of time variations caused by the reference object passing through different positions on the spatial correspondence. Based on the corrected second coordinate data, a temporal control relationship and geometric support identifiers are established, and the calibration mode is determined accordingly. This ensures that the generation range of mapping parameters is constrained by the current observation relationship, avoiding the generation of spatial transformation results exceeding the effective geometric support based solely on local position correspondences. After applying the mapping parameters to the boundary data to be calibrated, candidate calibration boundary data is first formed. Then, independent verification is performed using the verification reference position, thus separating the parameter generation process from the result confirmation process. The calibrated boundary data is only output after responding to the verification result. Therefore, it can take into account the overall correspondence between the boundary reference position, the far-end position, and the boundary segments in different directions, reduce the possibility of other boundary segments shifting again after local position calibration, and make the final output calibrated boundary data have a spatial positional relationship consistent with the current round-trip observation, temporal control relationship, and geometric support conditions. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the spatial boundary calibration scenario in this invention;

[0035] Figure 2 This is a flowchart of a spatial boundary calibration method according to the present invention;

[0036] Figure 3This is a schematic diagram of the round-trip observation scenario of the mobile measurement marker in this invention;

[0037] Figure 4 This is a flowchart of the round-trip observation pair acquisition process in this invention;

[0038] Figure 5 This is a flowchart of the candidate calibration boundary data verification output in this invention;

[0039] Figure 6 This is a functional block diagram of a spatial boundary calibration device according to the present invention. Detailed Implementation

[0040] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. Unless otherwise defined, the technical and scientific terms used in this invention have the meanings commonly understood by those skilled in the art. The singular form used in this invention may include the plural form, and the plural form may include the singular form. The terms include, contain, and have are used to indicate the presence of the listed items, but do not exclude the presence or addition of one or more other items. It should be understood that although the invention may use the terms first, second, third, etc. to describe different information, the different information should not be limited to the foregoing terms, which are only used to distinguish information of the same type from each other. For example, without departing from the scope of the invention, first coordinate data may also be referred to as second coordinate data, and second coordinate data may also be referred to as first coordinate data, as long as the coordinate reference to which the corresponding coordinate data belongs can be clearly distinguished. The word "if" as used can be interpreted as "when the corresponding condition is met" or "in response to determining that the corresponding condition is met"; the word "based on" as used can be interpreted as "directly using the corresponding input" or "using the result obtained by intermediate processing of the corresponding input".

[0041] This invention proposes a spatial boundary calibration method. The spatial boundary calibration method can be applied to a measurement workstation, a mobile measurement terminal, an edge measurement device, or a collaborative processing device formed by the aforementioned devices. The execution device receives boundary data and reference object observation data under different coordinate references, establishes the positional and directional relationships between the two coordinate references, and outputs calibrated boundary data verified by independent position analysis. The first coordinate reference can be a geographic coordinate reference, a plant area measurement coordinate reference, or a construction control coordinate reference; the second coordinate reference can be a local measurement coordinate reference, a mobile measurement carrier coordinate reference, or a component local coordinate reference.

[0042] In this embodiment of the invention, a mobile measuring marker refers to a movable entity that has a definite and repeatably identifiable measuring reference point, can be moved to multiple reference positions, and enables a first measuring device and a second measuring device to respectively obtain the first coordinate data and the second coordinate data of the measuring reference point. The measuring reference point of the mobile measuring marker can be the center of the end of a marker pole, the center of a measuring marker sphere, the center of a measuring marker sign, or a fixed reference point on a portable measuring base. The mobile measuring marker may include, but is not limited to, a marker pole with a measuring prism, a measuring marker sphere with a fixed center, a measuring marker sign with a fixed center, a portable measuring base equipped with a first measuring unit and a second measuring unit, and other movable measuring markers carried by personnel or a mobile measuring vehicle. The specific structure of the mobile measuring marker is not limited, as long as the same measuring reference point can generate first coordinate data and second coordinate data during a stable dwell period.

[0043] A mobile measurement terminal refers to a terminal that can move with the operator or a mobile measurement vehicle and is used to receive, record, time-mark, store, or process coordinate data. Mobile measurement terminals may include, but are not limited to, handheld measurement controllers, industrial tablet measurement terminals, portable measurement data acquisition devices, measurement control terminals mounted on mobile measurement vehicles, and head-mounted spatial display terminals capable of receiving local measurement coordinates and displaying calibrated spatial boundaries. When a mobile measurement terminal has a fixed measurement reference point, and this fixed reference point can be measured under a first coordinate reference and a second coordinate reference, the mobile measurement terminal can also serve as a reference object. When the mobile measurement terminal does not have the aforementioned fixed measurement reference point, it serves only as a device for acquiring, processing, or outputting coordinate data and is not used as a reference object.

[0044] See Figure 1 This is a schematic diagram of a spatial boundary calibration scenario provided in an embodiment of the present invention. Figure 1 The diagram illustrates the power transmission and transformation work site, mobile measurement terminal, mobile measurement marker, target boundary, boundary to be calibrated, and reference position set at the target boundary. The target boundary forms a closed boundary around the work area requiring safety control, and the boundary to be calibrated is the closed boundary that needs to be transformed under the second coordinate reference. Figure 1In a specific application example, the target boundary can be a physical safety boundary already determined through on-site measurements at the power transmission and transformation work site. The boundary to be calibrated can be a virtual fence boundary used by the spatial display terminal under a local measurement coordinate reference. This virtual fence boundary is used to form a spatial electronic fence. In the aforementioned application example, the physical safety boundary constitutes the real boundary, and the virtual fence boundary constitutes the virtual boundary. The process of converting the virtual fence boundary from the second coordinate reference to the first coordinate reference to which the physical safety boundary belongs, and making their positional and directional relationships correspond, can be called the virtual-real boundary calibration of the spatial electronic fence. Workers carry mobile measurement markers to the reference position, and the execution equipment synchronously acquires the coordinate data of the mobile measurement markers under different coordinate references, thereby establishing the correspondence between the same physical location under different coordinate references. Figure 1 Two reference positions are schematically shown. In actual applications, the number of reference positions can be determined based on the geometric distribution of the target boundary and the current calibration mode, and is not limited by the number shown. Figure 1 The mobile measurement terminal shown can perform corresponding data processing independently or collaboratively with a measurement workstation or edge measurement device. In spatial electronic fence applications, the mobile measurement terminal can also send calibrated boundary data to a spatial display terminal, enabling the spatial display terminal to update the position and orientation of the virtual fence according to the calibrated boundary data. In this embodiment of the invention, the virtual-real boundary calibration uses boundary coordinate data under different coordinate references as the processing object, and the display of the virtual fence is an application method of the calibrated boundary data.

[0045] A single reference position can provide the positional difference between two coordinate datums at corresponding locations, but it cannot provide a complete directional relationship. When there is a directional deviation between two coordinate datums, the directional deviation occurs around the reference position. The positional difference of the reference position itself does not increase with the directional deviation, but the positional difference at boundary positions far from the reference position gradually forms according to the distance from the boundary position to the reference position. Figure 1The target boundary and the boundary to be calibrated are used to illustrate the aforementioned boundary correspondence: When the positional relationship is determined based on only one reference position, the boundary to be calibrated can coincide with the target boundary near the corresponding reference position. However, as the distance from the boundary position to the corresponding reference position increases, the uncalibrated directional deviation will cause the boundary to be calibrated to gradually form a positional difference relative to the target boundary. For example, in the application of spatial electronic fences, the virtual fence, which serves as the boundary to be calibrated, can coincide with the physical safety boundary near the reference position of the physical safety boundary, but it will gradually deviate from the physical safety boundary in boundary sections farther from the reference position. When on-site personnel readjust the virtual fence only at the far end, although the far-end positional difference can be reduced, it may cause a new positional difference to be generated near the reference position. Moving the same reference object to the far end for recalibration can reduce the far-end positional difference, but the correspondence between the far-end position and the reference position is generated at different acquisition times. When the second coordinate reference experiences continuous drift during the movement or the coordinate reference is reinitialized, the far-end positional difference includes both spatial directional deviation and temporal variation. Directly using multiple corresponding positions obtained at different times as simultaneous control positions causes the mapping parameters to absorb both spatial and temporal relationships, resulting in a situation where the positions near the reference position and the distant position cannot be simultaneously kept consistent. Therefore, Figure 1 The multiple reference locations shown not only provide coordinate correspondences at different spatial locations, but also require temporal processing of the observation data of reference objects acquired at different times, taking into account the acquisition sequence and time of each reference location. In spatial electronic fence applications, the aforementioned processing ensures that the translational and directional relationships of the virtual fence boundary simultaneously correspond to the physical safety boundary, rather than merely making the virtual fence partially coincide with the physical safety boundary at a single reference location.

[0046] In a power transmission and transformation operation scenario, the first coordinate reference can be a geographic coordinate reference used to represent the physical location on site, and the second coordinate reference can be a local measurement coordinate reference maintained by a mobile measurement terminal. The target boundary can be a physical safety boundary set around the power transmission and transformation maintenance operation area, and the boundary to be calibrated can be a virtual fence boundary used by the mobile measurement terminal or spatial display terminal, which is used to form a spatial electronic fence. The target boundary data can be formed by the operator carrying a mobile measurement marker walking along the safety measures area. For example, the mobile measurement marker records a geographic coordinate every 2 meters it moves, and after returning to the vicinity of the starting position, it closes the first and last coordinates according to the boundary connection sequence. The sampling interval is limited to the point that the straight line connecting adjacent sampling points can approximately represent the shape of the boundary segment: if the sampling interval is too large, the boundary turning point or arc segment will be crossed by a straight line and the shape details will be lost; if the sampling interval is too small, a large number of redundant coordinates will be generated and the subsequent processing burden will be increased. For power transmission and transformation operation sites with boundaries mainly consisting of straight sections and large angles, and relatively gentle local curvature, a sampling interval of meters can control the amount of data while maintaining the boundary shape. 2m is the corresponding example value, which can be appropriately encrypted or relaxed according to the boundary curvature.

[0047] In other implementations, target boundary data can also be formed by multiple boundary control points that have already been measured on-site, arranged in the order of boundary connections. Workers use the same mobile measuring marker to sequentially reach multiple reference positions on the target boundary, simultaneously acquiring geographic coordinates and local measurement coordinates at each reference position. Specifically, when the mobile measuring marker reaches a reference position and remains stable, a first measuring device acquires the first coordinate data of the mobile measuring marker's measurement reference point under the geographic coordinate reference, and a second measuring device's mobile measuring terminal acquires the second coordinate data of the measurement reference point under the local measurement coordinate reference. These two types of coordinate data jointly characterize the corresponding positional relationship of the same reference position under the two coordinate references. The first measuring device can be a measuring device capable of outputting geographic coordinates, factory area measurement coordinates, or construction control coordinates; the mobile measuring terminal can be a handheld measuring controller, an industrial tablet measuring terminal, a portable measuring data acquisition device, or a spatial display terminal capable of outputting local measurement coordinates. The specific measuring principles of the first measuring device and the mobile measuring terminal do not constitute a limitation of the present invention, as long as both can output coordinate data with the acquisition time for the same measurement reference point of the mobile measuring marker. Workers carry the same mobile measuring marker to sequentially cover multiple reference positions, enabling a single mobile measuring marker to form multiple spatial control positions at different times. The execution device converts multiple non-simultaneous observations to a unified calibration time based on the geometric distribution, forward and reverse order, and acquisition time of multiple reference positions. It then calibrates the boundary to be calibrated based on the parameter range uniquely supported by the current valid reference position. When the boundary to be calibrated is a virtual fence boundary, the execution device applies mapping parameters to the coordinates of each boundary position of the virtual fence boundary, transforming the virtual fence boundary into the spatial relationship to which the physical safety boundary belongs. The calibrated boundary data, after successful verification, can be retrieved by a mobile measurement terminal or a spatial display terminal to update the spatial electronic fence. For ease of distinction, the closed spatial boundary that needs to be used as the calibration target is called the target boundary data, and the closed spatial boundary that needs to be transformed to the target spatial relationship is called the boundary data to be calibrated. In the aforementioned spatial electronic fence application, the physical safety boundary corresponds to the target boundary data, and the virtual fence boundary corresponds to the boundary data to be calibrated; the aforementioned correspondence is only a specific application example and does not limit the application of target boundary data and boundary data to be calibrated in tunnel construction, warehouse access, or component assembly scenarios.

[0048] The first coordinate datum provides the target spatial reference to which the calibrated boundary data belongs. The first coordinate datum may include, but is not limited to, geographic coordinate datums, plant area measurement coordinate datums, and construction control coordinate datums. Of course, in practical applications, the first coordinate datum can also be other types of spatial coordinate references, as long as it can provide repeatable coordinate data for the target boundary data and the reference object. The second coordinate datum provides the spatial reference to be transformed for the boundary data to be calibrated and the reference object. The second coordinate datum may include, but is not limited to, local measurement coordinate datums, mobile measurement carrier coordinate datums, and component local coordinate datums. Of course, in practical applications, the second coordinate datum can also be other types of spatial coordinate references, as long as it can output the coordinate data of the reference object and allow the boundary data to be calibrated to undergo position and orientation transformations.

[0049] A reference object is used to obtain corresponding coordinate data of the same physical location under a first coordinate reference and a second coordinate reference, and to sequentially cover multiple reference locations by moving. The reference object should have a defined measurement reference point. This measurement reference point remains fixed relative to the reference object during its movement and is used to determine whether the reference object has entered the corresponding permissible dwell range after it reaches a reference location. Both the first and second coordinate data correspond to the same measurement reference point, thus avoiding the two types of coordinate data corresponding to different parts of the reference object. The reference object may include, but is not limited to, mobile measurement markers, mobile measurement terminals, and mobile measurement carriers carrying dual-coordinate measurement units. Specifically, the mobile measurement marker can be a marker pole with a measurement prism, a measurement marker ball with a fixed center, a measurement marker sign with a fixed center, or a portable measurement base equipped with a first and second measurement unit; the mobile measurement terminal can be a handheld measurement controller with a fixed measurement reference point, an industrial tablet measurement terminal, or a portable measurement data acquisition device; the mobile measurement carrier can be a mobile measurement vehicle, an inspection carrier, or other mobile measurement platform with a fixed measurement reference point and a coordinate data interface. Of course, in practical applications, the reference object can also be other types of movable objects, as long as the reference object can synchronously acquire the first coordinate data and the second coordinate data during stable dwell time. The reference object itself can output the first coordinate data and the second coordinate data, or it can only provide a measurement reference point that can be jointly determined by the first and second measuring devices. The reference position is used to provide the spatial control position required for mapping parameter generation or mapping parameter verification. The reference position can include, but is not limited to, the boundary reference position, the far end of the long side of the boundary, the boundary corner, the control position with vertical coordinate difference, and the far end reserved position. Of course, in practical applications, the reference position can also be other positions in the target boundary data, as long as multiple reference positions can form the geometric distribution required for the corresponding calibration mode.

[0050] A reference path specifies the reference location number, target location coordinates, forward order, reverse order, and allowable dwell range for a reference object traversing multiple reference locations, and distinguishes between stable dwell data and mobile transition data. Reference paths can include, but are not limited to, boundary calibration paths, reverse re-measurement paths, and mobile measurement station patrol paths. In practical applications, reference paths can also be other types of ordered paths, as long as they allow the reference object to traverse the same reference locations again in reverse order. Corresponding location data characterizes the coordinate data obtained at the same reference location under the first and second coordinate datums. Corresponding location data can include, but is not limited to, data composed of geographic coordinates and local measurement coordinates, data composed of plant area coordinates and mobile measurement carrier coordinates, and data composed of construction control coordinates and measurement terminal coordinates. In practical applications, corresponding location data can also consist of two other types of coordinate data, as long as the two types of coordinate data correspond to the same physical location and the same stable dwell period.

[0051] A forward-and-back observation pair is used to pair forward-corresponding position data obtained from the same reference position during a forward stable dwell period with reverse-corresponding position data obtained during a reverse stable dwell period, thereby providing a basis for judging time changes. Forward-and-back observation pairs can include, but are not limited to, forward-and-back observation pairs of mobile measurement markers, reverse-sequence re-measurement observation pairs of mobile measurement terminals, and closed-loop observation pairs of mobile measurement vehicles. Of course, in practical applications, forward-and-back observation pairs can also be other forward-and-reverse data pairs formed according to reference position sequence numbers, as long as the forward and reverse corresponding position data belong to the same coordinate state identifier. The corrected second coordinate data is used to characterize the second coordinate data formed after converting the second coordinate data in the forward and reverse corresponding position data to a unified calibration time. The corrected second coordinate data can include, but is not limited to, corrected local measurement coordinates, corrected mobile measurement vehicle coordinates, and corrected component local coordinates. Of course, in practical applications, the corrected second coordinate data can also be other time-converted coordinate data, as long as the corrected second coordinate data corresponds to the same reference position and unified calibration time as the updated first coordinate data.

[0052] The temporal control relationship is used to bind the first coordinate data, corrected second coordinate data, reference position number, unified calibration time, coordinate status identifier, first coordinate discrete range, and second coordinate discrete range of multiple reference positions into a multi-position control relationship that can be used to generate mapping parameters. The temporal control relationship can include, but is not limited to, a single-label control position set, a moving measurement point set, and a patrol calibration point set. Of course, in practical applications, the temporal control relationship can also be other forms of data sets, as long as it can retain the spatial correspondence of the reference positions and the conversion results of the acquisition time. The calibration mode is used to limit the range of mapping parameter generation that the number and geometric distribution of the currently valid reference positions can uniquely support. The calibration mode can include, but is not limited to, position translation calibration, connection direction calibration, plane direction calibration, and spatial direction calibration. These four calibration modes are referred to as the first, second, third, and fourth calibration modes in the following text, respectively. Of course, in practical applications, the calibration mode can also be divided into other levels according to the application dimension, as long as the geometric support identifier of the lower-level calibration mode has already been formed.

[0053] Mapping parameters are used to establish the positional and directional relationships between the first and second coordinate references and to transform the boundary data to be calibrated. Mapping parameters may include, but are not limited to, position translation parameters, connection direction parameters, planar direction parameters, and vertical direction parameters. In practical applications, mapping parameters may also include other spatially corresponding parameters directly formed by the corresponding valid reference positions, as long as the mapping parameters do not exceed the geometric support range of the current calibration mode. Candidate calibration boundary data characterizes the closed spatial boundary of the boundary data to be calibrated after transformation by the current mapping parameters, but which has not yet been verified by the verification reference position. Candidate calibration boundary data may include, but is not limited to, candidate work area boundaries, candidate channel boundaries, and candidate component work boundaries, and may also include candidate electronic fence boundaries formed by transformation of virtual fence boundaries by the current mapping parameters. In practical applications, candidate calibration boundary data may also be other boundaries to be verified, as long as the candidate calibration boundary data retains the original boundary position sequence and the beginning-end closure relationship. The boundary position sequence is the arrangement identifier of each boundary position in the target boundary data. Post-calibration boundary data characterizes the closed spatial boundary formed after the candidate calibration boundary data has been verified by the verification reference position. The calibrated boundary data can include, but is not limited to, the calibrated work area boundary, the calibrated storage area boundary, and the calibrated construction boundary. It can also include calibrated electronic fence boundaries verified through independent reference positions. Of course, in practical applications, the calibrated boundary data can also be other boundary data verified through independent positions, as long as the calibrated boundary data can continue to be used for spatial measurement, boundary comparison, or location control. In spatial electronic fence applications, candidate electronic fence boundaries do not directly replace the currently used virtual fence before passing verification. The calibrated electronic fence boundaries are sent to the spatial display terminal or security control terminal after verification to update the virtual fence's position, orientation, or vertical reference. Therefore, the virtual-real boundary calibration of spatial electronic fences does not update the virtual fence solely based on the local coincidence results at the parameter generation location, but rather updates the virtual fence after independent verification using reference positions not involved in the mapping parameter generation.

[0054] In the above application scenarios, such as Figure 2 As shown, the spatial boundary calibration method includes the following steps:

[0055] Step S10: Obtain target boundary data, boundary data to be calibrated, and reference object; determine the reference position and construct the reference path based on the target boundary data.

[0056] Specifically, the target boundary data is obtained under a first coordinate reference, and the boundary data to be calibrated is obtained under a second coordinate reference. For the reference object, first coordinate data and second coordinate data are obtained under both the first and second coordinate references. The reference path includes target position coordinates, reference position number, forward order, reverse order, and allowable dwell range. The reference positions include a first reference position used as a position reference, a second reference position far from the first reference position, a third reference position deviating from the line connecting the first two, a vertical reference position deviating from the plane containing the first three, and a verification reference position not involved in the generation of mapping parameters. The target position coordinates, boundary position number, and boundary connection order are read from the target boundary data. The forward and reverse orders are determined according to the boundary connection order, and mutually separated allowable dwell ranges are determined with each reference position as the center. The target position coordinates, reference position number, forward order, reverse order, and allowable dwell range of each reference position are written into the reference path.

[0057] Specifically, when the starting and ending coordinates of the target boundary data are repeated to express a closure relationship, the repeated starting and ending coordinates are treated as the same boundary position, and the repeated coordinates are not treated as different reference positions. The boundary origin or a preset reference position is determined as the first reference position. The boundary origin can be the starting and ending closure position of the boundary trajectory, and the preset reference position can be a position that has been confirmed by field measurements. The cumulative path distance from each boundary position to the first reference position is calculated along the boundary connection sequence. The boundary position with the highest cumulative path distance value and which does not coincide with the first reference position is determined as the second reference position. The second reference position and the first reference position form a first independent direction. For boundary positions other than the first and second reference positions, the perpendicular distance from each boundary position to the line connecting the first and second reference positions is determined. The boundary position with the highest perpendicular distance value is determined as the third reference position. After the third reference position deviates from the first independent direction, the first, second, and third reference positions form two non-collinear directions. When the target boundary data includes out-of-plane boundary positions, the perpendicular distance from each out-of-plane boundary position to the plane containing the first three reference positions is determined. The out-of-plane boundary position with the highest perpendicular distance value is determined as the vertical reference position. When the target boundary data only contains the boundary positions within the same plane, no vertical reference position is generated, and subsequent geometric support markers do not form spatial direction support markers.

[0058] When determining the verification reference position from the remaining boundary locations, the nearest distance from each remaining boundary location to the determined reference position is calculated, and the remaining boundary location with the highest nearest distance value is determined as the verification reference position. The verification reference position is not involved in the mapping parameter generation. By selecting the verification reference position based on the nearest distance relationship, it is positioned far from the parameter generation location and covers different boundary segments. When the verification reference position and the parameter generation location fall within the same local region, the positional difference near the parameter generation location may be small, and the far-end directional deviation may still not be identified. Keeping the verification reference position outside the mapping parameter generation process allows the use of data not involved in parameter calculation to check whether the directional relationship can extend to the far boundary.

[0059] The permissible dwell range is determined based on the larger of the upper bounds of the first and second coordinate data when the reference object is stationary, and is determined without intersecting with the permissible dwell ranges of adjacent reference positions. Specifically, the first and second coordinate data can be collected separately when the reference object is stationary at a candidate reference position. The median position is determined according to the coordinate components, and the upper bound of the distance from the sampling point to the median position is determined. Using the larger of the upper bounds of the two types of coordinate data can simultaneously accommodate the sampling fluctuations of the first and second coordinate data during the stationary period. Requiring that the permissible dwell ranges do not intersect ensures that the same sampling point belongs to only one reference position, avoiding overlapping position assignments when adjacent reference positions are close together. For example, if the static upper bound of the first coordinate data is 0.03m, the static upper bound of the second coordinate data is 0.05m, and the closest distance between adjacent reference positions is 3m, the spatial range centered on the reference position with a radius of 0.05m can be determined as the permissible dwell range. The foregoing example is only for illustrating the determination process and does not constitute a fixed limitation on the permissible dwell range.

[0060] In one specific implementation, the first coordinate reference is a geographic coordinate reference, the second coordinate reference is a local measurement coordinate reference, and the reference object is a moving measurement marker. The target boundary data represents the target boundary of the power transmission and transformation maintenance site. The first reference position is the boundary reference position, the second reference position is the position along the long side of the boundary away from the boundary reference position, the third reference position is the boundary corner, the vertical reference position is the position above the ground boundary with a clear vertical coordinate difference, and the verification reference position is another distant boundary position that did not participate in the generation of mapping parameters. The moving measurement marker completes forward movement in the order of the first reference position, second reference position, third reference position, vertical reference position, and verification reference position, and then completes reverse movement in the order of the verification reference position, vertical reference position, third reference position, second reference position, and first reference position.

[0061] See Figure 3This is a schematic diagram of a mobile measurement marker's round-trip observation scenario provided in an embodiment of the present invention. Figure 3 The diagram illustrates the moving measurement marker, the first reference position, the second reference position, the third reference position, the reference path connecting multiple reference positions, and the forward and reverse order in which the moving measurement marker moves along the reference path. For ease of illustration, Figure 3 The diagram illustrates the round-trip movement relationship between the first, second, and third reference positions. When the target boundary data includes out-of-plane positions or requires retaining independent verification positions, the reference path may also include vertical reference positions and verification reference positions; the actual number of reference positions is not limited by... Figure 3 The quantity limit is shown. The operator carries the same moving measuring marker and passes through multiple reference positions in a forward sequence. After completing the observation at the last reference position, the operator passes through the same reference positions in a reverse sequence, so that the forward corresponding position data and the reverse corresponding position data are obtained at the same reference position.

[0062] A single reference position can only provide the difference between two coordinate references at a given location. When directional deviation occurs around a single reference position, the single reference position cannot provide the independent direction required to distinguish the directional deviation. A line connecting the first and second reference positions provides a direction along that line; a third reference position deviating from the aforementioned line provides a second planar direction; and a vertical reference position deviating from the plane containing the first three reference positions provides a vertical direction. Figure 3 The first, second, and third reference positions shown provide a positional reference, a first independent direction, and a second planar direction, respectively. Moving measurement markers sequentially cover the aforementioned reference positions along the reference path, enabling the same reference object to generate multiple corresponding position data with different geometric functions. If the reference positions are not selected according to the geometric structure of the target boundary data, the multiple stopping positions selected by on-site personnel may be concentrated near the origin or located in the same extension direction, and the multiple corresponding position data will still repeatedly express the same direction, making it impossible to uniquely determine the subsequent complete direction parameters. The reference path writes the reference position number, geometric distribution, and round-trip order into the same data structure, enabling step S20 to form round-trip observation pairs according to the same reference position number, enabling step S30 to switch the calibration mode according to the geometric distribution of the effective reference positions, and enabling step S40 to check the remote relationship using the verification reference positions that were not involved in parameter calculation.

[0063] In another example, target boundary data can represent tunnel construction control boundaries. The tunnel entrance, the far end of the passage, the tunnel corner, the elevation control position, and the location of another passage can be respectively determined as the first reference position, the second reference position, the third reference position, the vertical reference position, and the verification reference position. In yet another example, target boundary data can represent the access boundary of a storage area. The moving measurement vehicle sequentially passes through the storage area benchmark position, the passage endpoint, the passage corner, the ramp control position, and the reserved station to form a reference path. The reference path obtained in step S10 provides a sequential basis for step S20 to identify stable dwell time periods, match forward and reverse data, and distinguish the attribution of reference positions.

[0064] Step S20: Collect corresponding position data in the forward and reverse directions along the reference path using the reference object and form a round-trip observation pair. Correct the time drift based on the round-trip observation pair to obtain the corrected second coordinate data, and establish the time sequence control relationship and geometric support identifier.

[0065] See also Figure 3 When passing the same reference position in the forward direction, corresponding position data is acquired in the forward direction; when passing it in the reverse direction, corresponding position data in the reverse direction is acquired in the reverse direction. These forward and reverse corresponding position data are then correlated according to their corresponding reference position numbers to form a round-trip observation pair. This round-trip observation pair is used to connect observations obtained from the same fixed physical location at two different acquisition times, ensuring that the reference position remains constant while the acquisition time changes, thus providing a data basis for subsequently identifying the time variations of the second coordinate reference. Figure 3 It also illustrates the data relationship of forming the corrected second coordinate data based on round-trip observations and converting the corresponding observations to a unified calibration time.

[0066] See Figure 4 This is a flowchart of a round-trip observation pair acquisition process provided in an embodiment of the present invention. Figure 4 The diagram illustrates the sequence of actions performed by the moving measurement marker: entering the permissible dwell range of each reference position in a forward order; simultaneously collecting first and second coordinate data; recording the collection time; identifying the first and second collection status indicators and coordinate status indicators; identifying the stable dwell period in the forward direction and generating corresponding forward position data; returning to each reference position in a reverse order; identifying the stable dwell period in the reverse direction and generating corresponding reverse position data; and processing the corresponding forward and reverse position data based on the consistency of the coordinate status indicators. Figure 4 As shown in the example, the moving measurement marker first completes the steps from entering the allowed dwell range in the forward direction to generating the corresponding position data in the forward direction, then completes the steps from returning to the reference position in the reverse direction to generating the corresponding position data in the reverse direction, and finally enters the coordinate status identifier consistency judgment step, which is used to explain how the same reference position generates corresponding position data at two different acquisition times and further forms a round-trip observation pair.

[0067] Specifically, the round-trip observation pair is formed in the following manner: the reference object arrives at each reference position in a forward and reverse order, and simultaneously collects the first coordinate data, the second coordinate data, the collection time, the first collection status identifier, the second collection status identifier, and the coordinate status identifier to obtain the forward corresponding position data and the reverse corresponding position data. The forward corresponding position data and the reverse corresponding position data are then matched according to the reference position number and the coordinate status identifier.

[0068] The forward corresponding position data is taken from the forward stable dwell period, and the reverse corresponding position data is taken from the reverse stable dwell period. The forward stable dwell period satisfies the following conditions: continuous sampling points are continuously located within the same allowable dwell range, both the first acquisition status identifier and the second acquisition status identifier are in an available state, the coordinate status identifier remains consistent during continuous sampling, and the order in which the reference object enters the allowable dwell range is consistent with the forward order. The reverse stable dwell period uses the same judgment process, but replaces the entry order with the reverse order. When the first coordinate data and the second coordinate data use different length units, they are converted to the same length unit before forming the corresponding position data. The unit conversion does not change the coordinate direction and reference position number. The first acquisition status identifier can be derived from the measurement status output of the first coordinate reference, and the second acquisition status identifier can be derived from the measurement status output of the second coordinate reference. The coordinate status identifier is used to distinguish the continuous state of the second coordinate reference and can be a local measurement coordinate version identifier, a coordinate reference re-initialization identifier, or a coordinate session identifier.

[0069] The median value of the first and second coordinate data within the positive stable dwell period is taken according to the coordinate components to obtain the positive corresponding position data. The upper bound of the distance from each first coordinate sampling point to the median position of the first coordinate is determined as the first coordinate discrete range, and the upper bound of the distance from each second coordinate sampling point to the median position of the second coordinate is determined as the second coordinate discrete range. The positive corresponding position data is bound with the reference position number, acquisition time, coordinate status identifier, first coordinate discrete range, and second coordinate discrete range. The reverse corresponding position data is generated in the same way. Using multiple sampling points in the stable dwell period instead of a single sampling point at the time of manual click can prevent movement transition data, data entering the edge of the range, and instantaneous state change data from entering the corresponding position data. Therefore, Figure 4 The generated forward and reverse corresponding position data shown represent the coordinate observation results formed by the moving measurement marker during two stable stops, rather than the moving transition observation results on the reference path.

[0070] Match the forward and reverse corresponding position data of the same reference position according to the reference position number. When the coordinate status identifiers of the forward and reverse corresponding position data are consistent, the two sets of corresponding position data are combined into a round-trip observation pair; when the coordinate status identifiers are inconsistent, the corresponding reference position is determined as a position of discontinuity in coordinate status, and the current time series control relationship is not generated using the position of discontinuity in coordinate status. Figure 4 The consistency judgment of the coordinate status identifiers constitutes a processing branch for the corresponding forward and reverse position data: if the judgment result is consistent, the process proceeds to combine the two sets of corresponding position data into a round-trip observation pair; if the judgment result is inconsistent, the process proceeds to determine the corresponding reference position as a position of coordinate status discontinuity. Therefore, Figure 4 The forward and reverse observation pairs shown are formed under the condition that the corresponding forward and reverse position data belong to the same reference position and have consistent coordinate status identifiers. If only the reference position numbers are consistent but the coordinate status identifiers are inconsistent, the corresponding reference positions are... Figure 4 When the coordinate system is guided to a position where the coordinate state is discontinuous, two consecutive second coordinate data points are not paired as time observations under the same continuous coordinate reference. When the second coordinate reference is reinitialized or re-established, the coordinate values ​​before and after the change may jump; this jump is not a continuous time drift. By using coordinate state identifiers to prevent direct pairing of data before and after the coordinate reference switch, the discrete jumps caused by the coordinate reference switch can be avoided from being interpreted as continuous drift.

[0071] Specifically, the time drift correction includes: calculating the position drift rate and determining the common drift rate based on the round-trip observation pairs, identifying and removing abnormal round-trip observation pairs to obtain valid round-trip observation pairs; and using the common drift rate to convert the second coordinate data contained in the forward corresponding position data and the reverse corresponding position data in the valid round-trip observation pairs to a unified calibration time to obtain the corrected second coordinate data.

[0072] Specifically, the second coordinate data of the corresponding position in the reverse direction is subtracted from the second coordinate data of the corresponding position in the forward direction within the same round-trip observation pair. The resulting coordinate difference is then distributed according to the time difference between the reverse acquisition time and the forward acquisition time to obtain the position drift rate of the corresponding reference position. The median value of each coordinate component of the total position drift rate is then taken to obtain the common drift rate. The median value comes from the position drift rates of multiple reference positions themselves; sudden changes in observations at a single reference position do not directly determine the common drift rate. Figure 3 As shown, a round-trip observation pair is used to form the position drift rate of a reference position. Round-trip observation pairs corresponding to multiple reference positions are used together to determine the common drift rate, thereby avoiding the direct determination of the time correction of all reference positions by the sporadic changes of a single reference position.

[0073] When all coordinate components of the common drift rate are zero, compare the distance between the forward and reverse second coordinate data in the same round-trip observation pair with the sum of the discrete ranges of the forward and reverse second coordinates. If the aforementioned distance is greater than the sum of the discrete ranges of the forward and reverse second coordinates, the corresponding round-trip observation pair is identified as an abnormal round-trip observation pair. When there are non-zero coordinate components in the common drift rate, the coordinate component with the highest absolute value in the common drift rate is identified as the discriminant coordinate component. Compare the direction of the drift rate at each position on the discriminant coordinate component with the direction of the common drift rate; if the directions are opposite, the corresponding round-trip observation pair is identified as an abnormal round-trip observation pair. After removing the abnormal round-trip observation pair, the common drift rate is re-determined until all the retained round-trip observation pairs meet the corresponding judgment conditions. When the number of valid round-trip observation pairs cannot support any calibration mode, generate a current acquisition failure result and return to step S10 to regenerate the reference path or reacquire data.

[0074] The median time of all acquisition times included in the effective round-trip observation pair is determined as the unified calibration time. Using the median time of all acquisition times as the unified calibration time minimizes the overall time difference between each acquisition time and the unified calibration time, thus minimizing the overall conversion amount when converting each second coordinate data to the unified calibration time according to the common drift rate, and reducing conversion errors introduced by continuous drift deviating from uniform change over a long time span. For each set of forward and reverse corresponding position data, based on the common drift rate and the time difference between the corresponding acquisition time and the unified calibration time, the second coordinate data is converted to the unified calibration time along the reverse or forward direction of the common drift rate. The median value of the two sets of second coordinate data after conversion within the same round-trip observation pair is taken according to the coordinate components to obtain the corrected second coordinate data. Figure 3 The unified calibration time shown is used to provide a common time reference for the second coordinate data formed at different reference positions and at different acquisition times; Figure 3 The corrected second coordinate data shown is generated by converting the forward and reverse second coordinate data at the corresponding reference position to a unified calibration time. The median value of the two sets of first coordinate data from the same forward and reverse observation pair is taken according to the coordinate components to update the first coordinate data. The larger value among the two forward and reverse first coordinate discrete ranges is used as the updated first coordinate discrete range, and the larger value among the two forward and reverse second coordinate discrete ranges is used as the updated second coordinate discrete range.

[0075] The data is collected by passing through multiple fixed physical locations in a forward sequence and then passing through the same physical locations in a reverse sequence, so that each reference location has two acquisition times. The reference location numbers of the fixed physical locations remain unchanged, while the continuous time drift changes with the acquisition time. The reversal of the forward and reverse sequences creates different arrangements of position and time factors. Figure 3The forward and reverse sequences shown pass through the same first, second, and third reference positions, keeping the physical location of the reference positions unchanged while distributing two observations at the same reference position at different acquisition times. If only one unidirectional acquisition is completed, the difference in far-end position may come from either directional deviation or time drift during acquisition; if acquisition is repeated in the same order, the time changes still maintain the same sequence as the reference positions, making it difficult to separate positional and time factors. The forward and reverse observation pairs connect the preceding and following observations at the same physical position, and the common drift rate extracts the common time changes across multiple positions. Therefore, the corrected second coordinate data can represent multi-position observations at a unified calibration time. Thus, Figure 3 The reference path, forward sequence, reverse sequence, round-trip observation pairs, corrected second coordinate data, and unified calibration time form a continuous data relationship, enabling a single moving measurement marker to provide spatial correspondence between multiple reference positions while covering them sequentially, and reducing the impact of time variations introduced by non-simultaneous acquisition on the generation of subsequent mapping parameters.

[0076] Specifically, the timing control relationship is bound to the first coordinate data, the corrected second coordinate data, the reference position number, the unified calibration time, the coordinate status identifier, the first coordinate discrete range, and the second coordinate discrete range; the geometric support identifier is formed based on the number and geometric distribution of valid calibration reference positions. Valid calibration reference positions and valid verification reference positions are determined based on the valid round-trip observation pairs and the coordinate status identifier.

[0077] The first, second, third, and vertical reference positions, which have round-trip observation pairs, consistent coordinate status identifiers, and are not identified as anomalous round-trip observation pairs, are determined as valid calibration reference positions. Verification reference positions that meet the same conditions are determined as valid verification reference positions. A translational support marker is formed when the first reference position is valid; a connecting direction support marker is formed when both the first and second reference positions are valid; a planar direction support marker is formed when the first, second, and third reference positions are all valid and not collinear; and a spatial direction support marker is formed when a planar direction support marker has been formed and the vertical reference position is valid.

[0078] Without geometric support identifiers, step S30 might still generate direction parameters even with only a single valid reference position, or planar direction parameters even when three valid reference positions are collinear. While these parameters can be numerically calculated, multiple different directional relationships might satisfy the same set of insufficient corresponding position data, meaning the resulting mapping parameters cannot be uniquely determined by the current data. Geometric support identifiers bind the existence of parameters to the geometric conditions of the valid reference positions, ensuring that acquisition failures or anomaly rejections only lower the level of parameters that can be generated, without forcing all calibration data to be discarded. The timing control relationship and geometric support identifiers obtained in step S20 provide the data foundation for step S30 to determine the calibration mode, generate mapping parameters, and select reference positions for verification.

[0079] Step S30: Determine the calibration mode and verification reference position based on the geometric support identifier, generate mapping parameters using the timing control relationship and apply them to the boundary data to be calibrated to obtain candidate calibration boundary data.

[0080] Specifically, the calibration mode is determined based on the geometric support identifier, and the valid verification reference position and the valid calibration reference position not involved in the generation of the current mapping parameters are determined as the verification reference positions. The current calibration mode only updates the mapping parameters that can be uniquely supported by the corresponding geometric support identifier; the directional relationships not updated by the current calibration mode use the most recently verified mapping parameters or maintain the original directional relationships of the boundary data to be calibrated.

[0081] When only translational support markers are generated, the first calibration mode is determined, generating only positional translation parameters. If the current calibration task only involves vertical coordinate relationships, the positional translation parameters are limited to vertical zero-point parameters. When connecting direction support markers are generated, the second calibration mode is determined, generating both positional translation parameters and connecting direction parameters. When forming planar direction support markers, the third calibration mode is determined, generating both positional translation parameters and planar direction parameters. When forming spatial direction support markers, the fourth calibration mode is determined, generating positional translation parameters, planar direction parameters, and vertical direction parameters. The current calibration mode only updates the mapping parameters allowed to be generated for the corresponding geometric support markers. If the most recently verified mapping parameters exist, the unupdated directional relationships retain the most recently verified mapping parameters; if the most recently verified mapping parameters do not exist, the unupdated directional relationships maintain the original directional relationships of the boundary data to be calibrated.

[0082] The hierarchical calibration mode ensures that each new parameter has corresponding data support. A single valid reference position can determine the position difference, but not the direction of the connecting line; two different valid reference positions can determine the corresponding direction of a connecting line under two coordinate datums, but not the remaining directions around the connecting line; three non-collinear valid reference positions can form two independent directions in the plane; when the vertical reference position is located outside the plane of the first three reference positions, it can form a vertical direction. If the complete spatial direction is directly obtained when there are insufficient valid reference positions, the solution process will fill in the unobserved degrees of freedom into the arbitrary result, and the far boundary may show a deflection that cannot be reflected by the position residual generated by the parameters. The calibration mode increases the parameter range step by step according to the geometric support identifier, so that the position translation relationship, the planar direction relationship, and the vertical direction relationship can be maintained or regressed respectively.

[0083] Specifically, the first coordinate data and the corrected second coordinate data corresponding to the effective calibration reference position are extracted from the timing control relationship, and the corresponding mapping parameters are generated according to the calibration mode.

[0084] In the first calibration mode, the position difference between the first coordinate data of the first reference position and the corrected second coordinate data of the first reference position is determined as the position translation parameter. During vertical zero-point calibration, only the vertical coordinate component of the aforementioned position difference is used, and the planar positional and directional relationships of the boundary data to be calibrated remain unchanged. For example, when the moving measurement marker is placed at the horizontal zero point on the ground, the vertical zero point of the boundary to be calibrated can be updated using the vertical coordinate difference between the first coordinate data and the corrected second coordinate data.

[0085] In the second calibration mode, a first connecting line direction is obtained by connecting the first reference position and the second reference position under the first coordinate reference. A second connecting line direction is obtained by connecting the first reference position and the second reference position under the second coordinate reference. The displacement of each boundary position in the boundary data to be calibrated relative to the first reference position is decomposed into a displacement component along the second connecting line direction and a remaining displacement component. The displacement component along the second connecting line direction is mapped to the first connecting line direction, while maintaining the current directional relationship of the remaining displacement component, to obtain the connecting line direction parameters. The position translation parameters are determined using the coordinate difference of the first reference position after directional mapping. The second calibration mode only corrects the connecting line direction explicitly given by the two valid reference positions and does not perform new calculations for the unsupported directions surrounding the connecting line.

[0086] In the third calibration mode, planar direction groups are formed in the first and second coordinate references, respectively, arranged according to the same reference position number. The direction from the first reference position to the second reference position is determined as the first planar direction; the direction from the first reference position to the third reference position is obtained by removing the component in the first planar direction, and the remaining direction is determined as the second planar direction. The aforementioned processing makes the two planar directions independent of each other and reduces the influence of the repeated component of the third reference position in the first planar direction on the direction correspondence. The planar direction parameters are determined according to the correspondence relationship of the planar direction groups under the two coordinate references. That is, the direction correspondence relationship is established based on the independent planar directions corresponding to each other under the two coordinate references, so that each planar direction under the second coordinate reference is aligned with the corresponding planar direction under the first coordinate reference after direction transformation. Then, the position translation parameters are determined by using the coordinate difference of the first reference position after the planar direction correspondence.

[0087] In the fourth calibration mode, reference planes are formed using the first, second, and third reference positions from the first and second coordinate datums, respectively, to determine the vertical direction of the vertical reference position relative to the corresponding reference plane. The vertical direction parameter is determined based on the correspondence of the vertical directions under the two coordinate datums, and together with the planar direction parameter obtained from the third calibration mode, they form a spatial direction relationship. The position translation parameter is determined using the coordinate difference of the first reference position after spatial direction correspondence. If the vertical reference positions do not form a valid round-trip observation pair, the fourth calibration mode is invalid, and the planar direction parameters already verified in the third calibration mode can be retained.

[0088] For example, when there is a vertical deviation between the local measurement coordinate reference and the geographic coordinate reference, the boundary to be calibrated near the first reference position can remain coincident with the target boundary, with a gradually increasing positional difference at the far end of the long side. After the first and second reference positions form a line, the direction of the long side can be corrected. The third reference position at the boundary corner further provides a second planar direction, ensuring that boundaries in different directions within the plane correspond simultaneously. With the vertical reference position above the ground providing the vertical direction, the spatial height relationship of the boundary to be calibrated can be maintained according to the target boundary.

[0089] If the range of mapped parameters is not limited according to the calibration mode, the mapped parameters may absorb directional changes that are not supported by effective reference positions. The parameter generation position itself may still have a small residual, but the distant positions that did not participate in the parameter calculation will produce deviations. The temporal control relationship has already converted non-simultaneous observations to a unified calibration time. The calibration mode further restricts the available data to the parameter dimensions that can be uniquely determined. Both types of restrictions together prevent time variations from being interpreted as spatial directions, and at the same time prevent insufficient spatial control positions from being interpreted as complete spatial relationships.

[0090] Specifically, the mapping parameters are applied to each boundary position of the boundary data to be calibrated to perform position and orientation transformations, thereby obtaining candidate calibration boundary data.

[0091] For the first calibration mode, only position translation transformation is performed; for the second calibration mode, both position translation and connection direction transformation are performed; for the third calibration mode, both position translation and planar direction transformation are performed; and for the fourth calibration mode, position translation, planar direction transformation, and vertical direction transformation are performed. After the transformation, each boundary position continues to use the boundary position index from the boundary data to be calibrated, and a closed spatial boundary is formed according to the original boundary connection order. When the beginning and end closure relationship and the boundary position index are consistent, candidate calibration boundary data is output; when the beginning and end closure relationship or the boundary position index changes, a verification failure result is generated and the process proceeds to the rollback process in step S40.

[0092] The candidate calibration boundary data obtained in step S30 does not directly replace the currently used boundary data. The candidate calibration boundary data only represents the candidate spatial relationships that can be generated by the currently valid reference position. Keeping the candidate calibration boundary data in a state of pending verification can prevent the parameter generation position from being directly identified as having a consistent boundary simply because its own residual is small. The candidate calibration boundary data, mapping parameters, and verification reference position obtained in step S30 provide input for performing independent position verification and parameter backoff in step S40.

[0093] Taking a spatial electronic fence application as an example, the boundary data to be calibrated can be a sequence of virtual fence boundary positions under a local measurement coordinate reference. During step S30, the virtual fence boundary position sequence is transformed by position translation, connection direction transformation, planar direction transformation, or vertical direction transformation according to the current calibration mode to form candidate electronic fence boundaries. These candidate electronic fence boundaries only represent the virtual boundary spatial relationship that the current valid reference position can support. Before verification in step S40, these candidate electronic fence boundaries are not determined as the current electronic fence boundaries used for security management.

[0094] The virtual-real boundary calibration referred to in this invention refers to establishing the positional and directional relationship between two coordinate references using the first coordinate data under the coordinate reference to which the real boundary belongs and the second coordinate data under the coordinate reference to which the virtual boundary belongs, and converting the boundary position coordinates of the virtual boundary accordingly. The virtual-real boundary calibration processes spatial coordinate data with boundary position indices, and the display format of the virtual boundary on the display terminal does not affect the generation process of the mapping parameters.

[0095] Step S40: Verify the candidate calibration boundary data using the verification reference position, and output the calibrated boundary data in response to the verification result.

[0096] See Figure 5This is a flowchart of a candidate calibration boundary data verification output provided in an embodiment of the present invention. Figure 5 The diagram illustrates the sequence of steps: converting the corrected second coordinate data to the first coordinate datum, determining the positional difference between the conversion result and the first coordinate data at the same verification reference position, judging whether the positional difference is within the acceptable verification range, and generating a verification pass result or a verification failure result based on the judgment result and executing the corresponding output. Figure 5 Taking the example shown, the verification reference position first completes the transformation from the corrected second coordinate data to the position difference calculation, and then enters the judgment stage of whether the position difference is within the verification tolerance range. If the judgment result is yes, the process of generating the verification pass result and determining the candidate calibration boundary data as the calibrated boundary data is entered. If the judgment result is no, the process of generating the verification failure result and reducing the calibration mode or restoring the mapping parameters of the most recently passed verification is entered. This is used to explain how the candidate calibration boundary data is verified and output based on the verification reference position outside the parameter generation position.

[0097] Specifically, the process of verifying the candidate calibration boundary data using the verification reference position includes: transforming the corrected second coordinate data of the verification reference position to a first coordinate reference according to mapping parameters; comparing the position difference between the transformation result and the first coordinate data to see if it is within the verification tolerance range; and checking whether the boundary position number in the candidate calibration boundary data is consistent with the boundary position number in the target boundary data. If the position difference is within the verification tolerance range and the boundary position numbers are consistent, a verification pass result is generated; otherwise, a verification failure result is generated.

[0098] The sum of the first and second coordinate discrete ranges of the verification reference position is determined as the corresponding verification tolerance range. The verification tolerance range is derived from the actual sampling dispersion of the same verification reference position, not from a fixed distance independent of the device state. The sum of the two coordinate discrete ranges is used instead of the larger value because during verification, the second coordinate data of the verification reference position is first converted to the first coordinate reference, and then the position difference is compared with the first coordinate data of that position. Both the conversion result and the first coordinate data contain sampling fluctuations, and these two fluctuations are combined in the compared position difference. Taking the sum of the two reflects the upper limit of the position difference caused solely by sampling fluctuations. When the position difference does not exceed this upper limit, the position difference can be explained by sampling fluctuations and should not be judged as a mapping deviation. When the position difference exceeds this upper limit, the position difference cannot be explained solely by sampling fluctuations, indicating that the current mapping relationship has a real deviation at the verification reference position. Therefore, Figure 5 The determination of whether the position difference is within the acceptable range is based on the upper limit of the position difference determined by the sum of the two coordinate discrete ranges: if the position difference is within the acceptable range, then proceed... Figure 5When the positional difference exceeds the verification tolerance range on the "Yes" side as shown, it enters the verification process. Figure 5 The "No" side is shown. For example, when the first coordinate discrete range of the verification reference position is 0.03m and the second coordinate discrete range is 0.05m, the verification tolerance range can be determined to be 0.08m. The foregoing example is only used to illustrate the process of generating the verification tolerance range and does not constitute a fixed limitation. A verification pass result is generated when the position difference of all verification reference positions is less than or equal to the corresponding verification tolerance range, and all boundary position numbers are consistent. For example... Figure 5 As shown, after generating a successful verification result, the candidate calibration boundary data is determined as the post-calibration boundary data. If a verification failure result is generated, the process either enters a reduced calibration mode or reverts to the mapping parameters from the most recently successful verification. When the reference position for verification is empty, test data independent of the mapping parameter generation position cannot be formed, resulting in a verification failure result.

[0099] In spatial electronic fence applications, after generating a successful verification result, the candidate electronic fence boundary is determined as the calibrated electronic fence boundary. The boundary position coordinates, boundary position number, boundary connection sequence, unified calibration time, and coordinate status identifier corresponding to the calibrated electronic fence boundary are then sent to the spatial display terminal or security control terminal. The spatial display terminal can update the virtual fence based on the calibrated electronic fence boundary, ensuring that the virtual fence maintains the corresponding spatial positional relationship with the physical security boundary at the boundary reference position, far-end position, boundary corner, and vertical reference position.

[0100] When a verification failure result is generated, instead of replacing the currently used electronic fence boundary with a candidate electronic fence boundary, the verification reference position is reselected, abnormal reference positions are removed, the calibration mode is reduced, or the mapping parameters of the most recently verified result are restored, as described above. This prevents virtual boundaries that have failed independent location verification from directly entering space security management.

[0101] If multiple verification reference positions exist, and only one of these reference positions has a position difference direction opposite to the remaining reference positions, the corresponding reference position is identified as a verification anomaly. The verification is then re-executed after removing the anomaly. If, after removing the anomaly, all remaining reference positions meet the verification tolerance range and boundary position number conditions, a verification pass result is generated; otherwise, if any of the remaining reference positions still do not meet the conditions, a verification failure result is generated. The comparison of position difference directions distinguishes between independent anomalies at a single reserved position and mapping deviations reflected by multiple reserved positions. A single verification anomaly will not directly cause the entire calibration mode to revert.

[0102] A small residual at the parameter generation location only indicates that the mapping parameters can explain the data involved in the parameter calculation; it does not prove that the distant locations not involved in the parameter calculation remain consistent. The verification reference location is retained outside the mapping parameter generation process, allowing the positional difference to independently reflect the extension of the current directional relationship in other boundary segments. Without using the verification reference location, the planar direction parameters generated by three non-collinear reference locations may correspond in the vicinity of the three reference locations, but time correction anomalies, reference location mismatches, or local boundary deformations may still cause the distant boundary to deviate. Independent location verification ensures that each newly added direction parameter undergoes data checks outside the parameter generation location before being saved.

[0103] Specifically, the method further includes: in response to a verification failure, checking the verification reference position, round-trip observation pair, and geometric support identifier; reselecting the verification reference position; removing abnormal reference positions; lowering the calibration mode; or restoring the mapping parameters of the most recently verified result; and regenerating the reference path. The process of responding to a verification result includes: in response to a verification success result, saving the current mapping parameters, unified calibration time, coordinate status identifier, valid calibration reference position, and valid verification reference position; and determining the candidate calibration boundary data as the post-calibration boundary data.

[0104] In response to a verification failure, check whether the verification reference position forms a geometric orientation independent of the current mapping parameter generation direction. If the verification reference position cannot form an independent geometric orientation, and there are other positions among the remaining boundary positions that meet the conditions, return to step S10 to redetermine the verification reference position; if there are no other positions among the remaining boundary positions that meet the conditions, downgrade to the adjacent lower calibration mode. Check whether the round-trip observation pair corresponding to the verification reference position that generated the verification failure satisfies the common drift rate direction relationship determined in step S20. If the round-trip observation pair does not satisfy the common drift rate direction relationship, remove the corresponding reference position from the valid calibration reference position or valid verification reference position, and re-establish the timing control relationship and geometric support identifier. Check whether the current calibration mode has a corresponding geometric support identifier. If the current calibration mode lacks a corresponding geometric support identifier, downgrade to the adjacent lower calibration mode.

[0105] If the current calibration mode has a corresponding geometric support identifier but the verification failure result still exists, restore the mapping parameters of the most recently verified one and return to step S10 to regenerate the reference path. If the mapping parameters of the most recently verified one do not exist, maintain the original positional and directional relationships of the boundary data to be calibrated and re-execute step S10. In response to the verification success result, save the current mapping parameters, unified calibration time, coordinate status identifier, valid calibration reference position, and valid verification reference position, and determine the candidate calibration boundary data as the calibrated boundary data.

[0106] The tiered rollback does not equate a single verification failure with a complete calibration failure. When vertical direction parameter verification fails, it can roll back to the third calibration mode, which is already supported by three non-collinear valid reference positions. When planar direction parameter verification fails, it can roll back to the second or first calibration mode. When a reference position observation is abnormal, the corresponding reference position can be removed and a new geometric support marker can be formed. If the source of failure is not checked in the order of verification position, round-trip observation pair, and geometric support marker, the device may incorrectly discard valid mapping parameters when a single verification position is abnormal, or repeatedly calculate new spatial direction parameters when time drift correction is abnormal. The rollback path corresponds to the time correction result in step S20 and the parameter hierarchy in step S30, ensuring that lower-level parameters that have passed verification are retained.

[0107] For example, when the moving measurement marker forms a valid round-trip observation pair at the first, second, and third reference positions, and the vertical reference position fails to form a valid round-trip observation pair due to a local measurement coordinate state switch, the spatial direction support marker is not formed, and the current calibration mode remains the third calibration mode. When the position difference of the verification reference positions is within the verification tolerance range, the planar direction parameters and position translation parameters are saved, and the planar positional relationship of the boundary to be calibrated is output as the calibrated boundary data. After the vertical reference position regains valid observations, the spatial direction support marker can be re-formed, and the fourth calibration mode can be attempted without discarding the already verified planar direction parameters.

[0108] A single movable reference object sequentially acquires observations at multiple reference positions according to the geometric structure of the target boundary data, reducing the need for simultaneous deployment of multiple fixed reference objects in the field. Round-trip observation pairs utilize a sequence reversal relationship to arrange fixed positional factors and continuous time variations in different ways, enabling non-simultaneous observations to be converted to a unified calibration time. Geometric support identifiers limit the dimensionality of mapping parameters to the number and spatial distribution of effective reference positions. Verification reference positions verify distant relationships beyond the parameter generation positions. Hierarchical rollback after verification failure preserves lower-level mapping parameters that have already passed verification. Each processing step is connected by reference position sequence numbers, unified calibration times, and coordinate status identifiers, forming a continuous data chain from reference position selection, data acceptance, time conversion, parameter generation to independent verification.

[0109] In another application scenario, the first coordinate reference can be the coordinate reference of the tunnel construction control network, and the second coordinate reference can be the local measurement coordinate reference of the construction equipment. The reference object can be a mobile measurement terminal with fixed measurement reference points. The mobile measurement terminal sequentially reaches the tunnel entrance, the far end of the passage, the tunnel corner, the elevation control position, and the reserved position, forming a forward and reverse observation pair according to the forward and reverse order. When the local measurement coordinate reference of the construction equipment undergoes continuous position changes during movement, the observations from multiple stations are converted to a unified calibration time using the common drift rate, and then the position translation calibration, plane direction calibration, or spatial direction calibration is determined according to the geometric distribution of the effective stations.

[0110] In another application scenario, the first coordinate reference can be the warehouse site coordinate reference, and the second coordinate reference can be the mobile measurement vehicle coordinate reference. The reference object can be a mobile measurement vehicle capable of simultaneously outputting site coordinates and mobile measurement vehicle coordinates. The mobile measurement vehicle sequentially passes through the warehouse area passage endpoints, passage corners, ramp control positions, and reserved stations. The executing equipment uses data from the mobile measurement vehicle traveling back and forth through the same stations to identify the continuous drift of the mobile measurement vehicle coordinate reference, and uses stations not involved in the generation of mapping parameters to verify the warehouse area boundary transformation results. The same data flow can also be used in other construction surveying, component assembly, or work area boundary calibration scenarios where there is a correspondence between external spatial coordinate references and local measurement coordinate references.

[0111] The target boundary data can be a planar boundary formed by the closure of the trajectory sampling points, or a spatial boundary including the ground boundary and vertical control positions. The reference object can be moved by hand, carried by a vehicle, or a mobile measurement carrier. The coordinate status identifier can be directly output from the second coordinate reference, or generated when a local measurement coordinate reference is detected to be re-established or re-initialized. As long as different implementation methods can maintain consistent reference position numbers, continuous coordinate status, pairable round-trip observations, parameter dimensions limited by geometric distribution, and reserved positions not participating in the generation of current mapping parameters, the aforementioned spatial boundary calibration method can be executed. Of course, the above process is only an example of a spatial boundary calibration method. All implementation methods that can reconstruct the temporal control relationship of multiple positions of a single reference object at different times into the same calibration time, and determine the range of mapping parameter generation based on the number and geometric distribution of effective reference positions, are within the scope of protection of this invention.

[0112] Based on the same concept as the methods described above, this invention also provides a spatial boundary calibration device. The spatial boundary calibration device can be implemented in software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, the spatial boundary calibration device is formed by the processor of a measuring device reading corresponding computer program instructions from a non-volatile memory. From a hardware perspective, the measuring device may include a processor, a memory, a communication interface, and a data interface, with the processor connected to the memory, communication interface, and data interface respectively. The measuring device can also be a collaborative processing device, where the acquisition of reference object observation data, the determination of the common drift rate, the generation of mapping parameters, and the verification of candidate calibration boundary data can be performed by different processing nodes.

[0113] like Figure 6 As shown, the spatial boundary calibration device includes a reference path construction module, a timing control relationship establishment module, a hierarchical calibration module, and a verification output module.

[0114] The reference path construction module outputs the target position coordinates, reference position number, forward sequence, reverse sequence, and allowable dwell range to the timing control relationship establishment module, and outputs the boundary data to be calibrated to the hierarchical calibration module. The timing control relationship establishment module outputs the first coordinate data, the corrected second coordinate data, the unified calibration time, coordinate status identifier, valid calibration reference position, valid verification reference position, and geometric support identifier to the hierarchical calibration module. The hierarchical calibration module outputs the current calibration mode, mapping parameters, candidate calibration boundary data, and verification reference position to the verification output module. The verification output module sends a processing instruction to the reference path construction module to reselect the verification reference position or regenerate the reference path. All data transmitted between modules retains the reference position number, enabling the forward and reverse acquisition data, mapping parameter generation position, and verification reference position to be traced along the same position index.

[0115] The reference path construction module is used to acquire target boundary data, boundary data to be calibrated, and reference objects, determine reference positions, and construct reference paths based on the target boundary data. Specifically, the reference path construction module reads the target position coordinates, boundary position numbers, and boundary connection order from the target boundary data, determines the first reference position, second reference position, third reference position, vertical reference position, and verification reference position, determines the forward order, reverse order, and mutually separated allowable dwell ranges, and writes the reference position attributes into the reference path.

[0116] The time-series control relationship establishment module is used to collect forward and reverse corresponding position data along the reference path using the reference object and form round-trip observation pairs. Based on the round-trip observation pairs, time drift is corrected to obtain corrected second coordinate data, and time-series control relationships and geometric support identifiers are established. Specifically, the time-series control relationship establishment module identifies forward stable dwell time periods and reverse stable dwell time periods, forms round-trip observation pairs based on reference position numbers and coordinate status identifiers, determines position drift rates and common drift rates, removes abnormal round-trip observation pairs, converts the second coordinate data in valid round-trip observation pairs to a unified calibration time, and forms translational support identifiers, connecting direction support identifiers, planar direction support identifiers, or spatial direction support identifiers based on the number and geometric distribution of valid calibration reference positions.

[0117] The hierarchical calibration module is used to determine the calibration mode and verification reference position based on the geometric support identifier, generate mapping parameters using the timing control relationship, and apply them to the boundary data to be calibrated to obtain candidate calibration boundary data. Specifically, the hierarchical calibration module determines a first calibration mode, a second calibration mode, a third calibration mode, or a fourth calibration mode according to the geometric support identifier, extracts the first coordinate data and the corrected second coordinate data corresponding to the effective calibration reference position from the timing control relationship, generates position translation parameters, connection direction parameters, planar direction parameters, or vertical direction parameters, and maintains the boundary position sequence and the beginning-end closure relationship of the candidate calibration boundary data.

[0118] The verification output module is used to verify the candidate calibration boundary data using the verification reference position, and output calibrated boundary data in response to the verification result. Specifically, the verification output module converts the corrected second coordinate data of the verification reference position to the first coordinate reference, compares the position difference and verification tolerance range between the conversion result and the first coordinate data, and checks the boundary position number; in response to the verification failure result, it reselects the verification reference position, removes the abnormal reference position, reduces the calibration mode, or restores the mapping parameters of the most recently verified result; in response to the verification success result, it saves the current mapping parameters and calibration status data, and determines the candidate calibration boundary data as the calibrated boundary data.

[0119] This invention also provides a measuring device, including a data interface, a processor, and a memory for storing processor-executable instructions. The data interface receives first coordinate data under a first coordinate reference and second coordinate data under a second coordinate reference. When the processor executes the executable instructions, it implements the aforementioned spatial boundary calibration method. When the processor executes the computer program instructions, it acquires target boundary data, boundary data to be calibrated, and a reference object; constructs a reference path based on the target boundary data; forms a round-trip observation pair using the forward and reverse corresponding position data of the reference object; converts the second coordinate data to a unified calibration time and establishes a timing control relationship and geometric support identifiers; determines the calibration mode based on the geometric support identifiers; generates mapping parameters and candidate calibration boundary data; verifies the candidate calibration boundary data using a verification reference position; and outputs calibrated boundary data based on the verification results. The processor may include a central processing unit, a measurement data processor, a digital signal processor, or other processors capable of performing the aforementioned data processing. The memory may include a read-only memory, a random access memory, a non-volatile memory, or a removable storage medium.

[0120] The various modules of the device of this invention can be integrated into one unit or deployed separately. The reference path construction module and the timing control relationship establishment module can be merged into an observation processing module, and the hierarchical calibration module and the verification output module can be merged into a boundary calibration module; any module can also be further divided into multiple sub-modules. Modules can transfer target boundary data, reference paths, round-trip observation pairs, timing control relationships, mapping parameters, and candidate calibration boundary data between themselves through memory data, message queues, data interfaces, or shared storage.

[0121] The aforementioned spatial boundary calibration method can be integrated into construction surveying software, boundary measurement software, mobile surveying carrier measurement software, or boundary management software, or into spatial electronic fence management software or mixed reality spatial safety control software. When the software product is loaded onto the surveying equipment and executed by the processor, the surveying equipment organizes the reference object observation data according to the reference position sequence number and coordinate status identifier, generates a timing control relationship according to the unified calibration time, limits the mapping parameter range according to the geometric support identifier, and uses the verification reference position to determine whether the mapping parameters are saved or rolled back. In spatial electronic fence applications, the spatial electronic fence management software receives the physical safety boundary coordinates as target boundary data, the virtual fence boundary coordinates as boundary data to be calibrated, and the corresponding position data formed by the mobile surveying marker at multiple reference positions; organizes the corresponding position data according to the reference position sequence number and coordinate status identifier; generates a timing control relationship according to the unified calibration time; limits the generation range of mapping parameters according to the geometric support identifier; and uses the verification reference position to determine whether the candidate electronic fence boundary is determined as the calibrated electronic fence boundary. When the mixed reality spatial safety control software or other spatial display software calls the calibrated electronic fence boundary, it can display the virtual fence according to the boundary position coordinates and boundary connection order of the calibrated electronic fence boundary. The spatial boundary calibration device of the present invention outputs calibrated boundary data, without limiting the display method adopted by the subsequent display software.

[0122] The above-disclosed embodiments are merely specific implementations of the present invention, but the present invention is not limited to the aforementioned specific implementations. Any adjustments made by those skilled in the art, without departing from the concept of the present invention, such as adjusting the reference position selection method based on the geometric structure of the target boundary data, adjusting the acquisition status identifier based on the source of coordinate data, adjusting the coordinate status identifier based on the continuous state of the second coordinate reference, or adjusting the calibration mode level based on the application space dimension, should fall within the protection scope of the present invention.

Claims

1. A spatial boundary calibration method, characterized in that, The method includes: Acquire target boundary data, boundary data to be calibrated, and reference object; determine the reference position and construct the reference path based on the target boundary data. Using the reference object, corresponding position data in the forward and reverse directions are collected along the reference path to form a round-trip observation pair. Based on the round-trip observation pair, the time drift is corrected to obtain the corrected second coordinate data, and a time-series control relationship and geometric support identification are established. The calibration mode and verification reference position are determined based on the geometric support identifier. The mapping parameters are generated using the timing control relationship and applied to the boundary data to be calibrated to obtain candidate calibration boundary data. The candidate calibration boundary data is verified using the verification reference position, and the calibrated boundary data is output in response to the verification result; The target boundary data is obtained under the first coordinate reference, and the boundary data to be calibrated is obtained under the second coordinate reference. For the reference object, the first coordinate data and the second coordinate data are obtained under the first coordinate reference and the second coordinate reference respectively. The reference path includes the target position coordinates, the reference position number, the forward order, the reverse order, and the allowed dwell range. The round-trip observation pair is formed in the following manner: the reference object arrives at each reference position in a forward and reverse order, and simultaneously collects the first coordinate data, the second coordinate data, the collection time, the first collection status identifier, the second collection status identifier, and the coordinate status identifier to obtain the forward corresponding position data and the reverse corresponding position data. The forward corresponding position data and the reverse corresponding position data are then matched according to the reference position number and the coordinate status identifier.

2. The method according to claim 1, characterized in that, The reference positions include a first reference position for position reference, a second reference position, a third reference position that deviates from the line connecting the first two, a vertical reference position that deviates from the plane containing the first three, and a verification reference position that does not participate in the generation of mapping parameters.

3. The method according to claim 2, characterized in that, The first coordinate reference is a geographic coordinate reference, the second coordinate reference is a local measurement coordinate reference, and the reference object is a mobile measurement marker.

4. The method according to claim 1, characterized in that, The allowable dwell range is based on the larger of the upper bounds of the distances between the first and second coordinate data when the reference object is stationary, and is determined under the condition that it does not intersect with the allowable dwell range of adjacent reference positions.

5. The method according to claim 1, characterized in that, The positive corresponding position data is taken from the positive stable dwell time period, and the negative corresponding position data is taken from the negative stable dwell time period; The positive stable dwell time period satisfies the following conditions: continuous sampling points are continuously located within the same allowable dwell range, both the first acquisition status identifier and the second acquisition status identifier are in an available state, the coordinate status identifier remains consistent during continuous sampling, and the order in which the reference object enters the allowable dwell range is consistent with the positive order.

6. The method according to claim 5, characterized in that, The time drift correction includes: calculating the position drift rate and determining the common drift rate based on the round-trip observation pairs; identifying and removing abnormal round-trip observation pairs to obtain valid round-trip observation pairs; and using the common drift rate to convert the second coordinate data contained in the forward and reverse corresponding position data in the valid round-trip observation pairs to a unified calibration time to obtain the corrected second coordinate data.

7. The method according to claim 6, characterized in that, The timing control relationship is bound to the first coordinate data, the corrected second coordinate data, the reference position number, the unified calibration time, the coordinate status identifier, the first coordinate discrete range, and the second coordinate discrete range; the geometric support identifier is formed based on the number and geometric distribution of the effective calibration reference positions.

8. The method according to claim 7, characterized in that, The process of verifying the candidate calibration boundary data using the verification reference position includes: converting the corrected second coordinate data of the verification reference position to the first coordinate reference according to the mapping parameters, comparing whether the position difference between the conversion result and the first coordinate data is within the verification tolerance range, and checking whether the boundary position number in the candidate calibration boundary data is consistent with the boundary position number in the target boundary data.

9. The method according to claim 8, characterized in that, The method further includes: in response to a verification failure result, checking the verification reference position, round-trip observation pair and geometric support identifier, reselecting the verification reference position, removing the abnormal reference position, reducing the calibration mode or restoring the mapping parameters of the most recently verified one, and regenerating the reference path.

10. The method according to claim 8, characterized in that, The process of responding to the verification result includes: in response to the verification pass result, saving the current mapping parameters, unified calibration time, coordinate status identifier, effective calibration reference position and effective verification reference position, and determining the candidate calibration boundary data as the calibration boundary data.

11. A spatial boundary calibration device for implementing the method according to any one of claims 1-10, characterized in that, include: The reference path construction module is used to acquire target boundary data, boundary data to be calibrated, and reference object, and to determine the reference position and construct the reference path based on the target boundary data. The timing control relationship establishment module is used to collect corresponding position data in the forward and reverse directions along the reference path using the reference object and form a round-trip observation pair, correct the time drift according to the round-trip observation pair to obtain the corrected second coordinate data, and establish the timing control relationship and geometric support identification. The graded calibration module is used to determine the calibration mode and the reference position for verification based on the geometric support identifier, generate mapping parameters using the timing control relationship and apply them to the boundary data to be calibrated to obtain candidate calibration boundary data. The verification output module is used to verify the candidate calibration boundary data using the verification reference position, and output the calibrated boundary data in response to the verification result.

12. A measuring device, characterized in that, The method includes a data interface, a processor, and a memory for storing processor-executable instructions. The data interface is used to receive first coordinate data under a first coordinate reference and second coordinate data under a second coordinate reference. When the processor executes the executable instructions, it implements the method of any one of claims 1-10.

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