CN106092041A - A kind of high method and device of survey based on mobile terminal - Google Patents

Abstract

The present invention relates to the high method and device of a kind of survey, belong to geographical information collection field, be specifically related to a kind of high method and device of survey based on mobile terminal.The present invention uses device sensor to obtain attitude angle, and resolve the building plan range to surveyor by resection algorithm, then calculate mobile terminal by resection algorithm and measure distance L of target, neither high, without requiring that building and surveyor just can be calculated measurement object height on same elevation face with being manually entered camera.As long as present invention equipment has sensor, gps satellite signal can be received, just can in office where shape obtains building height.

Description

A kind of high method and device of survey based on mobile terminal

Technical field

The present invention relates to a kind of survey high method and device, belong to geographical information collection field, be specifically related to a kind of based on The high method and device of survey of mobile terminal.

Background technology

In the field operation inspection business of territory, most important work is the collection of plot geography information, and collection information includes plot Attribute information collection and positional information collection, and regrettably, the high information of building in field operation inspection collection information, always Since all can only by naked eyes judge or number floor by the way of determine, the high information of building of collection often with building actual height have Very big difference.Such as certain inspectorate to gather in face of the high information of building of these high 30 floors, then he will in layer count There are how many layers in this building, is then multiplied by the height of every floor, then obtains the elevation information of entire building.Just not saying do so is patrolled Member easily miscounts, and the height of every floor is also valuation, and general first floor 2.5 meters is high, but the height of every floor is not 2.5 in fact Rice, the high acquisition mode of this building is the most inaccurate, brings impact to territory inspection law enforcement.

Application No. CN201410650787, entitled a kind of mobile phone are surveyed high software and based on this software survey high method Chinese patent proposes the method using mobile terminal to combine sensor measurement building height.The method is obtained by mobile phone sensor Mobile phone attitude angle, and then extrapolate building height, but there are two problems in the program: first is to need manually to arrange camera height, Namely the length of the BD line segment in Fig. 1 needs manually to arrange；Second is that measurement elevation face, people place must be with measured object institute Elevation face identical, i.e. in Fig. 1, C point and D point will be on same elevation faces.

The method is simply not proposed in territory inspection information gathering business.First, user setup camera height more bothers, And it is difficult to ensure that each is all consistent with camera height when of this software measurement building height, reason is same flat Plate can be used by multiple inspectorates, and camera height can change because of the use of different people；Secondly, during inspection, need by The building of collection information not necessarily with inspectorate on same elevation face, so, this technology is not suitable for information gathering of patrolling, only Can be used for daily simple elevation carrection, application surface is the narrowest.

Such as in this situation of Fig. 2, the method cannot measure the height of building B C.In fig. 2, some B and some D Not on same elevation face, and if use the method measure BC height, actually measure is the height of b`c`, it is clear that It it is a wrong result.

In view of above not enough, the present invention proposes a kind of high method and device of survey based on mobile terminal, uses the method And device survey height is both high without manually inputting camera, without requiring that measured object and measurement people are in same elevation face, only People to be measured changes a position, repeatedly sights target, it is possible to measure building height.

Summary of the invention

The present invention mainly solves changing frequently because of camera heights existing for prior art, and measured object and measurement People necessarily be in same elevation face etc. and limits the conventional mobile phone altimetry caused and cannot meet the survey in territory inspection business The problem of high demand, it is proposed that a kind of high method and device of survey based on mobile terminal.The method and device need not be manually entered Camera is high, without requiring that building and surveyor, on same elevation face, as long as equipment has sensor, can receive GPS and defend Star signal, just can in office where shape obtains building height.

The above-mentioned technical problem of the present invention is mainly addressed by following technical proposals:

A kind of high method of survey based on mobile terminal, comprises the following steps:

Step 1, obtains mobile terminal coordinate (XA, YA)；Mobile terminal is sighted bottom the high target of survey, pass through device senses Device calculates azimuth Az and bottom roll angle BRoll of camera；

Step 2, according to azimuth Az and mobile terminal gps coordinate (XA, YA), generates from mobile terminal in XOY plane Point to the ray sight line equation surveyed bottom high target；

Step 3, changes mobile terminal locations, repeats step 1-2 to obtain multiple different rays and sights equation；After employing Side's Intersection Arithmetic, calculates described ray and sights the plane coordinates (XB, YB) that the intersection point of equation obtains surveying bottom high target；

Step 4, by the gps coordinate (XA, YA) of mobile terminal with build the plane coordinates (XB, YB) bottom thing, calculates phase Machine is to the plan range L of building；

Step 5, sights mobile terminal the high target top of survey, it is thus achieved that top roll angle TRoll, calculates based on below equation Object height:

$BC=\frac{L\×sin\left(d\right)}{sin\left(a\right)sin\left(c\right)}$

Wherein, a is bottom roll angle BRoll, and d is the difference that angle TRoll and bottom roll angle BRoll are sighted in top；∠ c= 180-∠b。

Optimize, the above-mentioned high method of a kind of based on mobile terminal survey, by device orientation sensor in described step 1 With the spin matrix R that acceleration transducer obtains mobile terminal, based on following formula computer azimuth angle Az and roll angle Roll:

Az=atan2 (R₁₂,R₂₁)

Roll=atan2 (-R₃₁,R₃₃)

In formula, R is the spin matrix of the 3*3 measured by direction sensor, and R12, R21, R31, R33 are respectively rotation Corresponding matrix element in torque battle array R.

Optimizing, the above-mentioned high method of a kind of based on mobile terminal survey, based on azimuth Az and movement in described step 2 Polar equation in end coordinates (XA, YA) acquisition following formula:

X=XA+p cos (Az)

Y=YA+p sin (Az)

Wherein, x, y are polar coordinate；

Polar equation is converted into plane equation, as follows:

Ax+by+c=0

In formula, a, b, c represent the parameter value after polar coordinate are converted into plane equation, take constant.

Optimizing, the above-mentioned high method of a kind of based on mobile terminal survey, described step 3 farther includes following sub-step Rapid:

Step 301, inspectorate changes n position, it is thus achieved that n ray sights equation:

a₁x+b₁y+c₁=0

a₂x+b₂y+c₂=0

a₃x+b₃y+c₃=0

......

a_nx+b_ny+c_n=0

Step 302, according to sighting order, finds intersection between linear equation two-by-two, tries to achieve the (n-1)th equation of n th order n and n-th equation Intersection point:

X_n-1=(b_n-1c_n-b_nc_n-1)/(a_n-1b_n-a_nb_n-1)

Y_n-1=(a_n-1c_n-a_nc_n-1)/(b_n-1a_n-b_na_n-1)

Step 303, after completing all sighting, based on following formula coordinates computed meansigma methods, obtains (XB, YB):

XB=(X₁+X₂+X₃+...+X_n-1)/(n-1)

YB=(Y₁+Y₂+Y₃+...+Y_n-1)/(n-1)

Optimize, the above-mentioned high method of a kind of based on mobile terminal survey, in described step 4, calculate camera based on following formula Plan range L to building:

$L=\sqrt{{(XAn-XB)}^2+{(YAn-YB)}^2}$

Mobile terminal coordinate in formula, when (XAn, YAn) sights for the last time.

A kind of height measuring device based on mobile terminal, including with lower module:

Reference coordinate acquisition module, is used for obtaining mobile terminal coordinate (XA, YA)；Mobile terminal is sighted at the bottom of the high target of survey Portion, calculates azimuth Az and bottom roll angle BRoll of camera by device sensor；

Sight equation acquisition module, for according to azimuth Az and mobile terminal gps coordinate (XA, YA), in XOY plane Generate and point to, from mobile terminal, the ray sight line equation surveyed bottom high target；

Coordinates of targets computing module, is used for changing mobile terminal locations, repeats to call reference coordinate acquisition module, the side of sighting Journey acquisition module sights equation to obtain multiple different rays；Use resection algorithm, calculate described ray and sight equation Intersection point obtain the plane coordinates (XB, YB) surveyed bottom high target；

Plan range computing module, by the gps coordinate (XA, YA) of mobile terminal and build plane coordinates bottom thing (XB, YB), the camera plan range L to building is calculated；

Object height computing module, sights the high target top of survey, it is thus achieved that top roll angle TRoll by mobile terminal, based on Below equation calculating object height:

$BC=\frac{L\×sin\left(d\right)}{sin\left(a\right)sin\left(c\right)}$

Wherein, a is bottom roll angle BRoll, and d is the difference that angle TRoll and bottom roll angle BRoll are sighted in top；∠ c= 180-∠b。

Optimize, above-mentioned a kind of based on mobile terminal height measuring device, by setting in described reference coordinate acquisition module Standby direction sensor and acceleration transducer obtain the spin matrix R of mobile terminal, based on following formula computer azimuth angle Az with Roll angle Roll:

Az=atan2 (R₁₂,R₂₁)

Roll=atan2 (-R₃₁,R₃₃)

In formula, R is the spin matrix of the 3*3 measured by direction sensor, and R12, R21, R31, R33 are respectively rotation Corresponding matrix element in torque battle array R.

Optimize, above-mentioned a kind of based on mobile terminal height measuring device, described in sight in equation acquisition module based on side Parallactic angle Az and the polar equation in mobile terminal coordinate (XA, YA) acquisition following formula:

X=XA+p cos (Az)

Y=YA+p sin (Az)

Wherein, x, y are polar coordinate；

Polar equation is converted into plane equation, as follows:

Ax+by+c=0

In formula, a, b, c represent the parameter value after polar coordinate are converted into plane equation, take constant.

Optimizing, above-mentioned a kind of based on mobile terminal height measuring device, described coordinates of targets computing module wraps further Include with lower unit:

Equation construction unit, sights equation for n ray of acquisition after inspectorate changes n position:

a₁x+b₁y+c₁=0

a₂x+b₂y+c₂=0

a₃x+b₃y+c₃=0

......

a_nx+b_ny+c_n=0

Intersection point calculation unit, according to sighting order, finds intersection between linear equation two-by-two, tries to achieve the (n-1)th equation of n th order n and n-th The intersection point of equation:

X_n-1=(b_n-1c_n-b_nc_n-1)/(a_n-1b_n-a_nb_n-1)

Y_n-1=(a_n-1c_n-a_nc_n-1)/(b_n-1a_n-b_na_n-1)

Coordinate calculating unit, after completing all sighting, based on following formula coordinates computed meansigma methods, obtains (XB, YB):

XB=(X₁+X₂+X₃+...+X_n-1)/(n-1)

YB=(Y₁+Y₂+Y₃+...+Y_n-1)/(n-1)

Optimize, above-mentioned a kind of based on mobile terminal height measuring device, in described plan range computing module, based under Formula calculates camera to the plan range L of building:

$L=\sqrt{{(XAn-XB)}^2+{(YAn-YB)}^2}$

Mobile terminal coordinate in formula, when (XAn, YAn) sights for the last time.

Therefore, present invention have the advantage that and need not be manually entered camera height, without requiring that building and surveyor exist On same elevation face；As long as equipment has sensor, gps satellite signal can be received, just can in office where shape obtains building height, Thus filled up inspection business and can not build high blank by automation collection.

Accompanying drawing explanation

Accompanying drawing 1 is the high schematic diagram of a kind of survey of the prior art；

Accompanying drawing 2 is the high scene schematic diagram of a kind of survey；

Accompanying drawing 3 is that ray sights equation schematic diagram；

Accompanying drawing 4 is that multiple ray sights equation schematic diagram；

Accompanying drawing 5 is that multiple ray sights equation intersection of ideals meeting point schematic diagram；

Accompanying drawing 6 is that multiple ray sights the equation joint schematic diagram with error；

Accompanying drawing 7 is the present embodiment mobile terminal and the distance schematic diagram surveying high target.

Accompanying drawing 8 is that the present embodiment surveys high principle schematic.

Detailed description of the invention

Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.

Embodiment:

Present embodiments provide a kind of high method of survey based on mobile terminal, specifically comprise the following steps that

(1) open and survey high function mutually, open equipment camera, open device orientation sensor and acceleration transducer.

(2) automatically turning on equipment GPS positioning function, the gps coordinate of the gps coordinate equipment obtaining equipment is designated as (XA, YA).

(3) user sights bottom building, by device sensor computer azimuth angle (Az) and roll angle (Roll).

By device orientation sensor and the measurement data of acceleration transducer, according to the interface function of Android offer, Obtaining spin matrix R, and computer azimuth angle (Az) and bottom roll angle (BRoll), calculation is as follows:

Az=atan2 (R₁₂,R₂₁)

BRoll=atan2 (-R₃₁,R₃₃)

In formula, R is the spin matrix of the 3*3 measured by direction sensor, and R12, R21, R31, R33 are respectively rotation Corresponding matrix element in torque battle array R.

(4) according to azimuth Az and equipment gps coordinate (XA, YA), XOY plane generates ray equation.Concrete steps As follows:

Known azimuth Az and ray point (XA, YA), in polar coordinate system, it is thus achieved that following polar equation:

X=XA+pcos (Az)

Y=YA+psin (Az)

Polar equation is converted into plane equation, as follows:

Ax+by+c=0

In formula, a, b, c represent the parameter value after polar coordinate are converted into plane equation, take constant.Functional arrangement 3 is as shown.

(5) inspectorate changes n position, it is thus achieved that gps coordinate (XAn, YAn), repeats to sight bottom building, i.e. repeats (3) (4), then by n plane equation of acquisition:

a₁x+b₁y+c₁=0

a₂x+b₂y+c₂=0

a₃x+b₃y+c₃=0

......

a_nx+b_ny+c_n=0

Functional digraph is as shown in Figure 4.

(6) resection algorithm is used, it is thus achieved that after n is sighted equation, calculate unique intersection point of all rays, built Thing base plane coordinate (XB, YB).In theory, if existing without any error, the most all rays have and an only intersection point, but because of For GPS error, sighting mark error equal error exists, it is likely that there is m intersection point, is illustrated in figure 5 ideal situation, such as Fig. 6 institute It is shown as practical situation.

According to sighting order, find intersection between linear equation two-by-two, as after completing to sight for the second time, it is thus achieved that equation a₁x+b₁y +c₁=0 and a₂x+b₂y+c₂=0, according to two intersection between lines point formula, intersecting point coordinate is:

X₁=(b₁c₂-b₂c₁)/(a₁b₂-a₂b₁)

Y₁=(a₁c₂-a₂c₁)/(b₁a₂-b₂a₁)

After sighting n-th, the (n-1)th equation of n th order n and the intersection point of n-th equation can be obtained:

X_n-1=(b_n-1c_n-b_nc_n-1)/(a_n-1b_n-a_nb_n-1)

Y_n-1=(a_n-1c_n-a_nc_n-1)/(b_n-1a_n-b_na_n-1)

After completing all sighting, coordinates computed meansigma methods, obtain (XB, YB), now, (XB, YB) is i.e. bottom building Plane coordinates:

XB=(X₁+X₂+X₃+...+X_n-1)/(n-1)

YB=(Y₁+Y₂+Y₃+...+Y_n-1)/(n-1)

(7) pass through the gps coordinate (XAn, YAn) when sighting for the last time and build the plane coordinates (XB, YB) bottom thing, meter Calculate the camera plan range L to building.

$L=\sqrt{{(XAn-XB)}^2+{(YAn-YB)}^2}$

The geometry implication of L is as shown in Figure 7.

(8), after completing to sight for the last time, the roll angle (BRolln) when n-th is sighted is obtained.Then inspectorate is sighted Top of building C, it is thus achieved that top roll angle TRollc, calculates building height.As shown in Figure 8.

Calculate hypotenuse S:S=L/sin (a)

Wherein a is the roll angle (BRolln) when n-th is sighted.L is the plan range calculating camera to building.

Calculate angle d: ∠ d=∠ b-∠ a

Wherein b is the roll angle (TRoll) obtained when sighting top of building C.

Calculate angle c: ∠ c=180-∠ b

Calculate building height BC:BC=S*sin (d)/sin (c)

Now, the height BC of building is obtained.

In the present embodiment, when resolving the intersection point of n equation, use the method that equation two-by-two finds intersection, do not use The method that overall adjustment finds intersection, it is very time-consuming that reason is that overall adjustment finds intersection, all sighted after also wait for adjustment meter Calculate, intersection point could be obtained, and the present embodiment is to have sighted instant computing intersecting point coordinate after once, often sights and once calculates one Secondary, the calculating process of fragmentation intersection point.Find intersection by overall adjustment, it is simply that all equations of sighting are put into inside a matrix, Then by least square with regard to a unique solution closest to intersection point.

Specific embodiment described herein is only to present invention spirit explanation for example.Technology neck belonging to the present invention Described specific embodiment can be made various amendment or supplements or use similar mode to replace by the technical staff in territory Generation, but without departing from the spirit of the present invention or surmount scope defined in appended claims.

Claims (10)

1. the high method of survey based on mobile terminal, it is characterised in that comprise the following steps:

Step 1, obtains mobile terminal coordinate (XA, YA)；Mobile terminal is sighted bottom the high target of survey, by device sensor meter Calculate azimuth Az and bottom roll angle BRoll of camera；

Step 2, according to azimuth Az and mobile terminal gps coordinate (XA, YA), generates in XOY plane and points to from mobile terminal Survey the ray sight line equation bottom high target；

Step 3, changes mobile terminal locations, repeats step 1-2 to obtain multiple different rays and sights equation；Employing rear is handed over Can algorithm, calculate described ray and sight the plane coordinates (XB, YB) that the intersection point of equation obtains surveying bottom high target；

Step 4, by the gps coordinate (XA, YA) of mobile terminal with build the plane coordinates (XB, YB) bottom thing, calculates camera and arrives The plan range L of building；

Step 5, sights mobile terminal the high target top of survey, it is thus achieved that top roll angle TRoll, calculates target based on below equation Highly:

$BC=\frac{L\×sin\left(d\right)}{\sin \left(a\right)\sin \left(c\right)}$

Wherein, a is bottom roll angle BRoll, and d is the difference that angle TRoll and bottom roll angle BRoll are sighted in top；∠ c=180- ∠b。

A kind of high method of survey based on mobile terminal the most according to claim 1, it is characterised in that logical in described step 1 Cross device orientation sensor and the spin matrix R of acceleration transducer acquisition mobile terminal, based on following formula computer azimuth angle Az and roll angle Roll:

Az=atan2 (R₁₂,R₂₁)

Roll=atan2 (-R₃₁,R₃₃)

In formula, R is the spin matrix of the 3*3 measured by direction sensor, and R12, R21, R31, R33 are respectively spin moment Corresponding matrix element in battle array R.

A kind of high method of survey based on mobile terminal the most according to claim 1, it is characterised in that base in described step 2 In azimuth Az and the polar equation in mobile terminal coordinate (XA, YA) acquisition following formula:

X=XA+p cos (Az)

Y=YA+p sin (Az)

Wherein, x, y are polar coordinate；

Polar equation is converted into plane equation, as follows:

Ax+by+c=0

In formula, a, b, c represent the parameter value after polar coordinate are converted into plane equation, take constant.

A kind of high method of survey based on mobile terminal the most according to claim 1, it is characterised in that described step 3 enters one Walk and include following sub-step:

Step 301, inspectorate changes n position, it is thus achieved that n ray sights equation:

a₁x+b₁y+c₁=0

a₂x+b₂y+c₂=0

a₃x+b₃y+c₃=0

......

a_nx+b_ny+c_n=0

Step 302, according to sighting order, finds intersection between linear equation two-by-two, tries to achieve the (n-1)th equation of n th order n and the friendship of n-th equation Point:

X_n-1=(b_n-1c_n-b_nc_n-1)/(a_n-1b_n-a_nb_n-1)

Y_n-1=(a_n-1c_n-a_nc_n-1)/(b_n-1a_n-b_na_n-1)

Step 303, after completing all sighting, based on following formula coordinates computed meansigma methods, obtains (XB, YB):

XB=(X₁+X₂+X₃+...+X_n-1)/(n-1)

YB=(Y₁+Y₂+Y₃+...+Y_n-1)/(n-1)。

A kind of high method of survey based on mobile terminal the most according to claim 1, it is characterised in that in described step 4, base Plan range L in following formula calculating camera to building:

$L=\sqrt{{(XAn-XB)}^2+{(YAn-YB)}^2}$

Mobile terminal coordinate in formula, when (XAn, YAn) sights for the last time.

6. a height measuring device based on mobile terminal, it is characterised in that include with lower module:

Reference coordinate acquisition module, is used for obtaining mobile terminal coordinate (XA, YA)；Mobile terminal is sighted bottom the high target of survey, Azimuth Az and bottom roll angle BRoll of camera is calculated by device sensor；

Sight equation acquisition module, for according to azimuth Az and mobile terminal gps coordinate (XA, YA), generating in XOY plane The ray sight line equation surveyed bottom high target is pointed to from mobile terminal；

Coordinates of targets computing module, is used for changing mobile terminal locations, repeats to call reference coordinate acquisition module, sights equation and obtain Delivery block sights equation to obtain multiple different rays；Use resection algorithm, calculate described ray and sight the friendship of equation Point obtains the plane coordinates (XB, YB) surveyed bottom high target；

Plan range computing module, by the gps coordinate (XA, YA) of mobile terminal with build the plane coordinates (XB, YB) bottom thing, Calculate the camera plan range L to building；

Object height computing module, sights the high target top of survey, it is thus achieved that top roll angle TRoll, based on following by mobile terminal Formula calculating object height:

$BC=\frac{L\×sin\left(d\right)}{\sin \left(a\right)\sin \left(c\right)}$

Wherein, a is bottom roll angle BRoll, and d is the difference that angle TRoll and bottom roll angle BRoll are sighted in top；∠ c=180- ∠b。

A kind of height measuring device based on mobile terminal the most according to claim 6, it is characterised in that described reference coordinate obtains Delivery block is obtained the spin matrix R of mobile terminal by device orientation sensor and acceleration transducer, based on following formula Computer azimuth angle Az and roll angle Roll:

Az=atan2 (R₁₂,R₂₁)

Roll=atan2 (-R₃₁,R₃₃)

In formula, R is the spin matrix of the 3*3 measured by direction sensor, and R12, R21, R31, R33 are respectively spin moment Corresponding matrix element in battle array R.

A kind of height measuring device based on mobile terminal the most according to claim 6, it is characterised in that described in sight equation and obtain Based on azimuth Az and the polar equation in mobile terminal coordinate (XA, YA) acquisition following formula in delivery block:

X=XA+p cos (Az)

Y=YA+p sin (Az)

Wherein, x, y are polar coordinate；

Polar equation is converted into plane equation, as follows:

Ax+by+c=0

In formula, a, b, c represent the parameter value after polar coordinate are converted into plane equation, take constant.

A kind of height measuring device based on mobile terminal the most according to claim 6, it is characterised in that described coordinates of targets meter Calculate module and farther include with lower unit:

Equation construction unit, sights equation for n ray of acquisition after inspectorate changes n position:

a₁x+b₁y+c₁=0

a₂x+b₂y+c₂=0

a₃x+b₃y+c₃=0

......

a_nx+b_ny+c_n=0

Intersection point calculation unit, according to sighting order, finds intersection between linear equation two-by-two, tries to achieve the (n-1)th equation of n th order n and n-th equation Intersection point:

X_n-1=(b_n-1c_n-b_nc_n-1)/(a_n-1b_n-a_nb_n-1)

Y_n-1=(a_n-1c_n-a_nc_n-1)/(b_n-1a_n-b_na_n-1)

Coordinate calculating unit, after completing all sighting, based on following formula coordinates computed meansigma methods, obtains (XB, YB):

XB=(X₁+X₂+X₃+...+X_n-1)/(n-1)

YB=(Y₁+Y₂+Y₃+...+Y_n-1)/(n-1)。

A kind of height measuring device based on mobile terminal the most according to claim 6, it is characterised in that described plan range In computing module, plan range L based on following formula calculating camera to building:

$L=\sqrt{{(XAn-XB)}^2+{(YAn-YB)}^2}$

Mobile terminal coordinate in formula, when (XAn, YAn) sights for the last time.