24 results about "Geocentric coordinates" patented technology

The invention discloses a multi-view image Gaussian reconstruction method and system guided by LiDAR point cloud. The method comprises the following steps: step S1, realizing accurate registration of LiDAR point cloud and a multi-view image in the same earth-centered earth-fixed coordinate system through GNSS constrained aerial triangulation, and uniformly carrying out center-of-gravity normalization to ensure space consistency and numerical stability; s2, estimating surface normal and scale parameters based on the local geometric features of the LiDAR point cloud, constructing a Gaussian ellipsoid consistent with the local geometry, and realizing Gaussian ellipsoid initialization of geometric perception; and S3, generating a sub Gaussian ellipsoid according to the Gaussian gradient and the tangent plane direction, and improving the modeling density and geometric continuity of the detail region through local encryption and parameter inheritance. According to the method, the fusion of LiDAR point cloud high-precision geometry and multi-view image texture information is realized, the geometric precision, the structural integrity and the detail expression capability of three-dimensional reconstruction are effectively improved, and the method is particularly suitable for high-precision live-action three-dimensional modeling of unmanned aerial vehicle multi-view images.

This invention relates to the field of positioning technology, providing a device positioning method, apparatus, electronic device, and storage medium. The method acquires the position information of a target device and the main and secondary antennas on the mobile device in a geocentric coordinate system, and converts each position information into position information in a station-centric coordinate system. Based on the converted position information, it determines the relative distance between the target device and the mobile device, as well as the heading and pitch angles of the target device relative to the mobile device, and then positions the target device. This method is introduced into a mobile device connected to the target device via a wireless communication module. Utilizing a dual-antenna model consisting of the main and secondary antennas on the mobile device, it can quickly achieve the positioning of the target device, enabling subsequent search for the target device. This eliminates the cumbersome process of pre-designing map coordinates and planning navigation paths required in navigation positioning, reducing computational load and saving positioning costs.

The invention discloses a method for determining a visual time window of a non-geostationary orbit satellite system, and the method comprises the steps: taking the position of a ground station as a tangent plane, and constructing a target coordinate system; converting the earth-centered earth-fixed coordinate value of the satellite into a target coordinate system; determining the visible range radius of the ground station on the tangent plane according to the minimum communication elevation angle parameter; according to the first coordinate values of the satellites in the target coordinate system at the current moment and the previous moment, determining second coordinate values of intersection points of connecting lines of the satellites with the earth center and the tangent plane at the two moments; and finally, determining the visual time window of the satellite according to the second coordinate values of the intersection points of the connecting line of the satellite and the earth center and the tangent plane at the two moments. The future visual time length can be predicted only based on the double-time-slot satellite coordinate value, the system computing resource occupancy rate is remarkably reduced, the computing efficiency of the visual time window is improved, and the method is particularly suitable for a space-borne computing platform or a ground station computing resource limited scene.

The embodiment of the application provides a kind of distributed high-precision phased array measurement radar beam scheduling method and beam scheduling system, belong to radar beam scheduling technical field.The scheduling method includes: obtaining the antenna azimuth angle pitch information of each substation and radar site information, to obtain the conversion matrix of geocentric coordinate, station heart coordinate conversion matrix and array surface coordinate conversion matrix;Obtain the scheduling request of main station TRK;The main station target RAE coordinate of the scheduling request is converted into array surface coordinate according to the array surface coordinate conversion matrix;The main station target RAE coordinate is converted into geocentric coordinate according to the geocentric coordinate conversion matrix;The geocentric coordinate is sent to each substation for observation;Obtain each the feedback observation information of the substation, and integrate each the observation information according to time sequence signal, to obtain the observation data of target.The application solves the problem of each radar receiving time sequence synchronization and target position unification under multiple stations, ensures the consistency of data between different radar stations.

The invention provides a radar data consistency checking method and device, electronic equipment and a storage medium. Comprising the steps of obtaining first meteorological echo data scanned by the first radar and second meteorological echo data scanned by the second radar under the condition of determining that the first radar and the second radar meet a consistency check condition; performing coordinate conversion processing on the first meteorological echo data and the second meteorological echo data to obtain first converted meteorological data and second converted meteorological data under the three-dimensional geocentric coordinate system; determining a radar echo matching area of the first radar and the second radar based on the first converted meteorological data and the second converted meteorological data; screening out first effective meteorological data and second effective meteorological data based on a data quality control algorithm; and based on the first effective meteorological data and the second effective meteorological data, checking to obtain the radar data consistency of the first radar and the second radar. According to the invention, weather radar data consistency analysis can be realized, and the precision of radar observation data is ensured.

This invention discloses a method for detecting the azimuth and elevation angles of a low-Earth orbit (LEO) satellite transit, belonging to the field of satellite communication technology. The method includes the following steps: obtaining the satellite coordinates and communication time differences for three consecutive two-way communications between a ground terminal and a LEO satellite; calculating the distance between the ground terminal and the satellite at the three communication times based on the communication time differences; calculating the ground terminal coordinates in the geocentric coordinate system based on the satellite coordinates and the calculated three distances at the three communication times; and calculating the elevation and azimuth angles of the satellite relative to the ground terminal using a vector method based on the satellite coordinates and ground terminal coordinates at the time of the last communication.

The application discloses a data processing method, device and equipment, and relates to the technical field of data processing, to solve the problem that the existing POI data collection mode needs manual participation and cannot obtain the center point coordinates and contour information of POIs. The method comprises the following steps: acquiring dot matrix data of a target point of interest (POI); converting each point cloud coordinate in the dot matrix data into a geocentric coordinate system coordinate; determining a planar area mapped by the geocentric coordinate system coordinate of the dot matrix data; determining the contour information of the target POI according to the position distribution of the dot matrix data in the planar area, and determining the center point coordinate of the planar area as the center point coordinate of the target POI. The application can achieve the technical effect of obtaining the center point coordinate and the contour information of the target POI without manual participation.

The invention provides a satellite multi-objective optimization planning method and system based on deep reinforcement learning, and relates to the technical field of deep learning, and the method comprises the steps: determining a visible satellite set corresponding to a to-be-detected region based on satellite orbit data and to-be-detected region information; the satellite orbit data comprises a satellite geocentric coordinate, and the information of the to-be-measured area comprises central point position information of the to-be-measured area; the time sequence combination of the to-be-detected area information and the visible satellite set is used as an action space, the to-be-detected area information, historical coupling parameters and the visible satellite set are used as a state space, and an initialized preset DQN network is trained; minimizing a mean square error between a current Q value and a target Q value through a preset reward function to adjust parameters of the DQN network, and obtaining an expected DQN network; determining a fire disaster response strategy based on the expected DQN network; the fire disaster response strategy comprises a target satellite and a reward function corresponding to the maximum Q value at each time point.

The invention discloses a space measurement method based on an unmanned aerial vehicle real-time video, and the method comprises the steps: obtaining the parameters of an unmanned aerial vehicle in real time, including the pixel coordinates of a target point in a video image, the image size, the size of a camera sensor, the focal length, the zoom multiple, the attitude angle of an unmanned aerial vehicle camera, and the position and height of the unmanned aerial vehicle; defining a plurality of coordinate systems, including a pixel coordinate system, a camera coordinate system, an airframe north-east-earth coordinate system, an airframe north-east-sky coordinate system, an earth-centered earth-fixed coordinate system and a WGS84 geographic coordinate system; performing coordinate conversion calculation among a plurality of coordinate systems based on the unmanned aerial vehicle parameters; calculating geographic coordinates of all target points in the recognition area according to the step 3; and according to the geographic coordinates of each target point, constructing a geometric object representing the recognition region, and calculating the area of the geometric object as the area of the recognition region. The method can be suitable for real-time and rapid calculation of the target position and area in an emergency scene.

The application provides a high-precision real-time multi-path cooperative control method and system, comprising: establishing conversion relationships among a geodetic coordinate system, a geocentric coordinate system and a station-centered coordinate system; each device converts observation data of a target into global ECEF coordinates of the target through the conversion relationships according to its own geographic coordinates; an iterative weighted least square method is used to realize fusion of observation data of multiple cameras (integrated in a rotating cabin) to obtain the best estimation of the initial position of the target; the fused position is taken as an observation quantity and input into a Kalman filter based on a uniform motion model to dynamically adjust observation noise covariance and process noise covariance and to predict and track the motion state of the target, so that multi-camera cooperative control is realized.

The invention discloses a tracking maintaining method of a moving platform warning radar under a large pitch dimension error. The tracking maintaining method comprises the following steps: carrying out attenuation compression on a pitch angle to obtain a compressed pitch angle; converting the compressed pitch angle and other measurement information to an earth-centered earth-fixed coordinate system to obtain a first offset, and obtaining a measured earth-centered earth-fixed value according to the first offset; obtaining a filtering result at the t-th moment according to the measured earth-centered earth-consolidation value at the t-th moment and the predicted position at the t-th moment; based on an inversion mode, a pitch angle of compression filtering is obtained according to a filtering result; sequentially carrying out amplification reduction and threshold judgment on the compressed and filtered pitch angle to obtain a pitch angle to be output; and obtaining a final earth-centered earth-fixed output value according to the pitch angle to be output and other filtering information. The tracking maintaining method is a compression processing method based on the pitching dimension, can keep continuous tracking of the target in the direction, and has certain pitching dimension tracking precision.

The application provides an accurate calculation method, device and equipment for ISAR imaging rotation angle. The method comprises the following steps: obtaining first coordinate information of a target in a radar large earth coordinate system; converting the first coordinate information into a geocentric coordinate system to obtain third coordinate information; calculating a first included angle and a second included angle by using the third coordinate information in the geocentric coordinate system; and calculating the ISAR imaging rotation angle by using the first included angle and the second included angle. In the application, the spatial relationship among the geocenter, the ground-based radar and the target is coupled and calculated through the conversion among the coordinate systems, so that the correlation between the rotation angle value and the target orbit radius is generated, the limitations brought by the two-by-two spatial calculation model (radar-satellite, geocenter-satellite) of the traditional method are avoided, the accuracy of the imaging rotation angle calculation is improved, and finally the application efficiency of the ISAR technology in the medium-high orbit long-distance observation scene is improved.

The invention discloses a cable crane traction position detection method, device, equipment and system, and the method comprises the steps: obtaining a geocentric coordinate in a BESTXYZ protocol format through an RTK positioning module, obtaining a space reference line segment for determining the mechanical limit position of a cable crane, and building a space reference datum bound with a mechanical coordinate system of the cable crane; calculating a horizontal operation position through a vector vertical distance calculation mode, and calculating a droop distance through a geocentric distance difference mode; and carrying out precision optimization by adopting real-time differential correction and geometric offset compensation. According to the invention, the problem of insufficient precision caused by earth curvature and sag change in large-span cable crane positioning is solved, the horizontal position detection precision is superior to 10cm, the sag distance detection precision is superior to 6cm, and the system response time is less than 100ms.

The application discloses a blockchain-enabled science and technology project whole-process evidence storage platform, and relates to the technical field of blockchains, comprising an evidence storage equipment space-time reference management module: using high-precision surveying and mapping GNSS-PPP technology to register accurate physical space-time coordinates for each evidence storage equipment node in the network, calculating the theoretical time difference according to the theory of relativity physical model, and establishing a digital twin file for each evidence storage equipment through reference testing, including recording the static identification information and dynamic performance fingerprint of the evidence storage equipment; the application unifies the local time of the equipment to the absolute reference system under the geocentric coordinate time by introducing high-precision space-time reference and relativity time difference correction, solves the inherent time sequence error caused by physical laws, improves the time sequence credibility of the evidence storage data, and can intelligently distinguish abnormality caused by malicious tampering and equipment performance by creating the digital twin file of the equipment and binding the equipment state proof at the data source.

The application discloses an ionosphere total electron content projection method considering ionosphere thickness and inclination, and comprises the following steps: converting the geodetic coordinates of a receiver and a satellite into the geocentric coordinates; discretizing the line connecting the receiver and the satellite into a series of discrete points, and obtaining the geodetic coordinates of each discrete point; based on the electron density around the discrete points, interpolating the electron density at the discrete points, and integrating the electron density at the discrete points to obtain the slant electron content; calculating the longitude and latitude of the piercing point and the two points adjacent to the piercing point, and calculating the distances from the receiver, the satellite, the piercing point and the two points adjacent to the piercing point to the earth equator; according to the distances from the receiver, the satellite, the piercing point and the two points adjacent to the piercing point to the earth equator, and in combination with the geodetic heights of the receiver, the satellite and the two points adjacent to the piercing point, the inclination of the line connecting the receiver and the satellite on the ground and the inclination of the ionosphere are calculated; and the ionosphere total electron content is calculated.

The application relates to the technical field of synthetic aperture radar signal processing, and discloses a spaceborne SAR image on-orbit radiation and geometric correction method based on a parallel computing architecture, the radiation correction method comprising the following steps: acquiring ephemeris parameters of a satellite in a geocentric coordinate system at each azimuth time; calculating the slant range between the satellite beam center pointing to the scene center point and the antenna phase center at each azimuth time and the slant range between each sampling point in the SAR echo distance direction and the satellite at each azimuth time; calculating the downward angle between the satellite beam center pointing at each azimuth time and the satellite and the subsatellite point connecting line; calculating the antenna distance direction beam pattern and constructing a radiation correction function; and performing parallel correction on the radiation distortion of the SAR image based on the radiation correction function. The application effectively improves the SAR image quality and accurate positioning of the SAR image, meets the radiation fidelity of the SAR image, improves the data processing task efficiency, and meets the task demand of high real-time requirement.

This invention discloses a train positioning method based on the fusion of 5G and electronic track maps in a railway 5G-R scenario. The method includes: transforming the track point set in the electronic track map from a geodetic coordinate system to a geocentric coordinate system to obtain a trajectory continuity function; determining the Time of Arrival (TOA) for each base station based on downlink PRS signals transmitted by multiple 5G base stations and a pre-configured local reference PRS signal; obtaining distance difference observations based on the Time Difference of Arrival (TDOA) between TOAs; estimating the Angle of Arrival (AOA) observation based on uplink SRS signals; constructing an objective function for TDOA based on the trajectory continuity function and the distance difference observation, and pruning the feasible solution region using the AOA observation; and solving the objective function within the pruned feasible solution region using a coarse search and locally bounded optimization algorithm to obtain a train position estimate. This invention can still obtain stable and accurate positioning results even when there are insufficient available positioning base stations.

The application discloses a kind of identification and positioning method and device of aerial visual angle blind area target, belong to computer vision and remote sensing field.The method includes: obtaining the multisensor data of laser radar, camera, IMU and GNSS;Laser radar point cloud is converted to local horizontal coordinate system, and the region with elevation mutation feature is identified as blind area detection candidate area;The specific type and pixel range of aerial visual angle blind area target are identified;The point cloud data corresponding to target mask is extracted, combined with the pose and coordinate information of unmanned aerial vehicle, the three-dimensional coordinates of target under geocentric coordinate system are solved, and the center position is calculated to realize accurate positioning.The technical route of the application is coarse positioning by laser radar point cloud detection candidate area, accurate identification by image semantic segmentation, coordinate mapping solution, solves the problem that existing technology cannot be efficiently identified and positioned, and the accuracy is low, realizes the type identification and high-precision positioning of aerial visual angle blind area target.

The invention provides a geoid calculation method, system and device and a medium, and relates to the technical field of marine surveying and mapping, and the method comprises the following steps: converting the geographic coordinates of an observation point into geocentric coordinates, and obtaining geocentric sphere coordinate parameters; based on the geocentric sphere coordinate parameters, calculating a model disturbance potential of an observation point by using an earth gravitational field model; calculating a model gravity anomaly of the observation point based on the model disturbance potential; subtracting the actually measured gravity anomaly from the model gravity anomaly to obtain the residual gravity anomaly of the observation point; substituting the residual gravity anomaly into the Stokes integral model, and calculating to obtain a residual geoid height; based on an earth gravitational field model, calculating to obtain a model geoid height; and summing the residual geoid height and the model geoid height to obtain the geoid height. According to the method, high-precision and high-efficiency ocean geoid calculation is realized through removal-recovery systematization calculation based on gravity anomaly and an earth gravitational field model.

The application provides a multi-target equivalent zero offset compensation and effectiveness evaluation method based on double active sensors, which comprises the following steps: firstly, determining the coordinates of the sensors in the geocentric coordinate system and the conversion matrix, and equivalently converting the distance and angle measurement of the sensors to the reference target into the coordinates of the target in the geocentric coordinate system; then, calculating a theoretical approximate formula of the equivalent zero offset difference; calculating the equivalent zero offset and performing compensation; finally, calculating an equivalent zero offset effectiveness index and evaluating the effectiveness of the equivalent zero offset. The application provides a theoretical approximate formula of the equivalent zero offset difference of similar targets, explicitly describes the change behavior of the equivalent zero offset, provides a practical tool and a theoretical fulcrum for the effectiveness analysis of the equivalent zero offset, the multi-target equivalent zero offset compensation method is easy to implement, and a specific quantitative index T i is provided for evaluating the effectiveness of the equivalent zero offset, and the index has practical significance, that is, T i reflects the proportional relationship between the length of the equivalent zero offset difference of similar targets and the distance between the targets.

This invention relates to a positioning calculation method, equipment, and medium based on BeiDou-3 satellites, belonging to the field of satellite positioning technology. The method includes the following steps: obtaining the geocentric coordinates of the BeiDou-3 satellites, the precise coordinates of the reference station, the approximate coordinates of the rover station, and the pseudorange and carrier phase observations of both relative to the satellites; inputting the geocentric coordinates and the coordinates of the reference and rover stations into a common-view satellite selection algorithm to obtain a common-view satellite set and select a reference satellite; calculating the double-difference pseudorange and double-difference carrier phase observations relative to the reference satellite using the observations from the reference and rover stations, and constructing a linearized observation equation; performing least-squares estimation using a weighted matrix to obtain the floating-point solution and its covariance matrix, and combining this with the approximate rover station coordinates to obtain the fixed solution rover station coordinates. This invention solves the problem of decreased positioning accuracy caused by the difficulty in completely eliminating tropospheric delay in complex environments such as long baselines and urban canyons by introducing double-difference tropospheric residual correction.

The invention relates to a verbal identification method for a geographic area. The technical effect consists in improving the accuracy of identifying geographic areas of various sizes on the whole earth surface. The proposed computer-implemented method for identifying a geographic area comprises: creating a layer of a digital geographic map in the form of a grid of square cells of base size covering the entire earth surface using a geocentric coordinate system; extracting map making data about the geographic object of each created square cell from the corresponding map layer; iteratively subdividing each square cell containing at least a part of geographic objects into four equal square cells; at least one vocabulary and one vocabulary from a common spoken language vocabulary set are allocated to each square cell which is not divided, the at least one vocabulary represents a geographic name of a geographic object at least partially contained in the square cell, and the allocated vocabulary jointly forms a unique identification word group; and providing access to the created layer to the remote computing device by referencing the undivided square cells based on the geographic coordinates to obtain the corresponding unique identification phrases, or by referencing the unique identification phrases to obtain the geographic coordinates of the corresponding undivided square cells.

This invention discloses a three-dimensional spatial discrete coding method and system based on cubic spherical topology, relating to the fields of geospatial information processing and three-dimensional discrete grid technology. It addresses the problems of high-latitude distortion, poor elevation dimension fusion, and low computational efficiency across scales and surfaces in existing coding systems. This invention establishes a geocentric coordinate system and an Earth reference ellipsoid model, transforming and separating the spherical position and elevation components of the target point. After cubic mapping, nonlinear tangent transformation, fixed-point quantization, and three-dimensional Morton interleaving, it combines dynamic sentinel positions to form a 64-bit unsigned integer code, which can be quickly deconstructed and hierarchically analyzed using tail-zero counting. This invention effectively avoids high-latitude projection distortion, achieves native three-dimensional spatial fusion, supports cross-scale recursive addressing and O(1) complexity cross-surface neighborhood resolution, and is suitable for the efficient organization and retrieval of global three-dimensional spatial data.

A kind of motorized frequency adaptive cooperative positioning method based on multi-sensor fusion, the present application is used to solve the problem that fusion model in prior art is prone to filter divergence and track distortion, the present application includes: using multiple sensors to continuously receive target position information, the received track of each type of information source is unified to CGCS2000 geocentric coordinate system, then the track of each information source converted to the unified coordinate system is adaptively filtered, finally, the track information of each information source is fused by using enhanced level fusion algorithm combined with motorized frequency adaptation, to obtain the integrated track of target.The present application is specially used for multi-sensor receiver to receive motorized target position information, and through track fusion network, integrated track with higher precision and stronger stability is obtained.The fusion process can fully utilize the advantage of each type of sensor and consider various motion states of motorized target.The present application belongs to the field of multi-source heterogeneous information fusion technology.