CN102645666A - Method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location - Google Patents

Method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location Download PDF

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CN102645666A
CN102645666A CN2012101451165A CN201210145116A CN102645666A CN 102645666 A CN102645666 A CN 102645666A CN 2012101451165 A CN2012101451165 A CN 2012101451165A CN 201210145116 A CN201210145116 A CN 201210145116A CN 102645666 A CN102645666 A CN 102645666A
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location
indoor
coordinate
outdoor
gps
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CN102645666B (en
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龙毅
余明朗
严瑞
李德鹏
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NANJING HANDSMAP INFOR-TECH CO., LTD.
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Changshu Nanjing Normal University Development Research Institute Co Ltd
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Abstract

The invention discloses a method for switching indoor ultra wide band (UWB) location and outdoor global position system (GPS) location, which is used for achieving the seamless mobile guiding from outside to inside and from inside to outside by means of organically coordinating the outdoor GPS location with the indoor UWB location. According to the method for switching the indoor UWB location and the outdoor GPS location, on the basis of the geographic coordinate of wideband global satellite (WGS) 84, by means of a custom local coordinate system serving as a space reference for a mobile guiding system, coordinates of an indoor control point can be calculated according to the coordinates of an outdoor known point, so that under the unified coordinated system, according to location coordinates of tourists and coordinates of entrances and exits, by means of obtaining action modes such as speeds, moving directions and the like of the tourists and judging whether the tourists enter into the broadcast switching areas, the GPS location and the UWP location can be real-timely switched, and the self-adaptation method for switching the indoor UWB location and the outdoor GPS location is nature, timely and reliable.

Description

UWB and GPS indoor and outdoor location changing method
Technical field
The present invention relates to a kind of indoor and outdoor and switch localization method, relate to indoor and outdoor location and navigation technology fields such as GIS-Geographic Information System (GIS) technology, GPS location technology, ultra broadband (UWB) indoor positioning technology and voice multimedia technology.
Background technology
At present, general in the world regional area (indoor) localization method that adopts comprises UWB location, infrared ray location, RF identification location, bluetooth location, Wi-Fi location, ZigBee location etc.Wherein, UWB (Ultra Wide Band) is a ultra broadband; Its uses greater than 0.5GHz or greater than the bandwidth of centre frequency 20%, communicates through faint pulse signal; Largest data transfer speed can reach tens Mbit/s～hundreds of Mbit/s, when having guaranteed high data rate transfer, has solved the power consumption of mobile terminals problem.The UWB indoor positioning needs in indoor laying principal and subordinate sensor locating base station; Through master reference and synchronous from the split-second precision of sensor; Be engaged in sensor base station coordinates known in the self-defining coordinate system; Adopt AOA and/or TDOA method to calculate label position, its bearing accuracy reaches as high as 15cm.UWB is positioned at bearing accuracy, power consumption, communications speed, networking time, emissive power and integrated level and there is huge advantage the reliability aspect, has been applied in the projects such as Aero-Space, logistics distribution, processing and manufacturing at present.
Gps satellite (containing A-GPS, DGPS etc.) location is mainly adopted in outdoor location; The mobile subscriber terminal of this locator meams has that volume is little, orientation range is wide, the location is free, need not support of additional hardware equipment and relative positioning precision advantages of higher; Be the locator meams of often using in the present outdoor guide system on a large scale, representing a direction of outdoor guide system development.
Development along with mobile Internet and indoor and outdoor location and navigation technology, the indoor and outdoor of new generation of integrate guide to visitors, shopping guide, navigating, lead functions such as joy moves guide system and is just receiving extensive concern.Have only the report of outdoor location trigger message with traditional guide system or have only indoor button to select triggering report mode different, the mobile guide system of a new generation can be realized from outdoor to indoor, the seamless guide service from indoor to outdoor again.In realizing the indoor and outdoor position fixing process, how to make up nature, in time, indoor and outdoor locating self-adaption changing method is to need the main key issue that solves reliably.At present, related patent U.S. Patent No. seldom relates to foregoing, also loses the UWB that takes visitor's behavior pattern into account and the related patent U.S. Patent No. of GPS indoor and outdoor locating self-adaption changing method.
(application number is invention disclosed patent " a kind of seamless localization method and device " in 2010: 20101020152.6) comprehensive utilization RTD location technology, UWB location technology and carry out integrated based on the inertial navigation technology of MEMS; Power according to positioning signal is selected suitable locator meams, thereby realizes the location of indoor and outdoors.But only through judging that will there be limitation in the method that positioning signal source is selected to locate under the situation of multisignal source coexistence, also do not fully take into account the coordinate-system reunification under the various different locator meamss, this makes the availability of this method reduce.
(application number is invention disclosed patent in 2011 " according to the system and method for its desktop application theme of position change of portable terminal ": 201110177746.6) through built-in UWB wireless location label and the residing geographic position of consumer positioning on portable terminal; Automatically switch to the application of themes that meets this position, the user experience effect of facilitation, hommization is provided for the user.This method realizes the indirect communication of portable terminal and UWB label under UWB indoor positioning condition, but does not combine outdoor location to consider that integrated location and coordinate-system transform, more do not consider the self-adaptation switching problem of indoor and outdoor location.
Summary of the invention
In order to overcome the deficiency of prior art; With realize from outdoor to indoor, the seamless mobile guide to visitors from indoor to outdoor again; The invention provides a kind of UWB and GPS indoor and outdoor location changing method; Between outdoor GPS location of moving guide system and indoor UWB location, switch the location; Unified visitor's position coordinates and gateway coordinate; Self adaptation according to visitor's behavior pattern is carried out between outdoor GPS location and the indoor UWB location is switched, comprise from outdoor switch to indoor, switch to outdoor two steps from indoor;
Wherein, to switch to indoor flow process following from outdoor:
(1) the Current GPS position coordinates is designated as P Gi, the coordinate position of the entrance door bottom mid point nearest apart from current location is designated as entrance P e, the buffer area of the door bottom place line segment nearest apart from current location is designated as location switch area A t, P GiTo P eAir line distance be D i, with D 0When being designated from outdoor to indoor switching apart from decision threshold, be to judge the visitor whether forehand is calculated to enter into indoor sign; Obtain the coordinate P of Current GPS Gi, will be designated as position, entrance P from the coordinate position of the nearest door bottom mid point of current location e
(2) calculate P GiWith P eAir line distance D i
(3) compare P GiWith P eAir line distance D iWith reservation threshold D 0Size, if D i>D 0Then return step (2), otherwise forward next step to;
(4) judge D continuously i, D I+1, D I+2Value, if D i>D I+1>D I+2Be false, then return step (3), otherwise judge that the visitor is current just in distance B 0In progressively near indoor positioning zone, system carries out next step;
(5) continue to judge whether current location is locating switch area A tAmong, if not return (4), otherwise carry out next step;
(6) judge the visitor this moment in the inlet chamber, system opens the UWB locating module and also switches to UWB indoor positioning pattern, closes GPS simultaneously to save power supply;
(7) outdoor automatic switchover to indoor positioning is accomplished;
Wherein, to switch to outdoor flow process following from indoor:
(1) the UWB current position coordinates is designated as P Ui, the coordinate position that leaves the bottom mid point of the nearest door of current location is designated as P o, the buffer area of line segment is designated as location switch area A from the place, bottom of the nearest outlet portal of current location t', P UiTo P oAir line distance be D i, with D 0' when being designated from indoor to outdoor switching apart from decision threshold, be to judge whether the visitor is just planning to leave indoor sign; Obtain the coordinate P of current UWB location Ui, will be designated as exit point P from the coordinate position of bottom mid point of the nearest door of current location o
(2) calculate P UiPoint is to P oAir line distance D i
(3) compare P UiWith P oAir line distance D iWith reservation threshold D 0' size, if D i>D 0' then return step (2), otherwise forward next step to;
(4) if do not open the GPS positioning equipment this moment, then system ready is opened the GPS positioning equipment, prepares to receive in advance gps satellite signal;
(5) judge D continuously i, D I+1, D I+2Value, if D i>D I+1>D I+2Be false, then return step (3), otherwise judge that the visitor is current just in distance B 0' in progressively walk out the indoor positioning zone, system carries out next step;
(6) continue to judge whether current location is locating switch area A t' among, if not return (5), otherwise carry out next step;
(7) visitor walks out outdoorly, and system automatically switches to the GPS station-keeping mode, closes the UWB location;
(8) indoor automatic switchover to outdoor location is accomplished.
In the technique scheme; Said unified visitor's position coordinates and gateway coordinate are meant the geographic coordinate based on WGS84, adopt self-defined local coordinate system as the georeferencing that moves guide system; Obtain indoor reference mark coordinate by outdoor known point coordinate, concrete workflow is following:
(1) initialization handbook equipment is connected to the CORS system;
(2) latitude and longitude coordinates of this point of measurement on state control point;
(3) known because of the latitude and longitude coordinates of state control point, the known coordinate value of controlling point with measured value and state compares, if measuring accuracy does not satisfy the regulation requirement, then forwards to (2), otherwise forwards next step to;
(4) the state's control point actual coordinate that records is adopted based on the GCS_WGS_1984 spheroid, self-defined projective parameter is set and converts projection coordinate into;
(5) compare with the projection coordinate that above-mentioned (4) obtain with the known projection coordinate of state's measuring point,, then forward (2) to, otherwise forward next step to if measuring accuracy does not satisfy the regulation requirement;
(6) the state's control point actual measurement coordinate that satisfies accuracy requirement is carried out translocation, obtain indoor reference mark coordinate;
(7) unified coordinate system end-of-job.
The present invention is directed to the existing guide's mode that moves guide system or have only outdoor GPS guide to visitors or have only the selection of indoor digital button to report; Outdoor GPS location and indoor UWB location organic coordination are got up; Through setting up the adaptive method for switching of indoor and outdoor location, realized from outdoor to indoor, the seamless mobile guide to visitors from indoor to outdoor again.The present invention is under unified coordinate system; According to visitor present position coordinate and gateway coordinate; Through obtaining behavior patterns such as visitor's speed, direction of motion; And judge that whether the visitor enters into the report switch area so that switch GPS location and UWB locator meams in real time, builds a kind of natural, timely, reliable indoor and outdoor locating self-adaption changing method.
Description of drawings
Fig. 1 is a method principle schematic of the present invention.
Fig. 2 is an indoor and outdoor locating self-adaption changing method realization flow synoptic diagram.
The indoor reference mark coordinate that Fig. 3 is based on the WGS84 geographic coordinate obtains schematic flow sheet.
Projective parameter when Fig. 4 is self-defined coordinate conversion is set synoptic diagram.
Fig. 5 is a UWB indoor locating system artwork.
Embodiment
The present invention need use following existing method: open method one: point whether in polygon evaluation algorithm (Zhang Hong, warm Yongning, Liu Aili. GIS-Geographic Information System algorithm basis [M]. Science Press, 2006:26 page or leaf); Open method two: coordinate complex transformation algorithm (Zhang Hong, warm Yongning, Liu Aili. GIS-Geographic Information System algorithm basis [M]. Science Press, 2006:48 page or leaf); Open method three: Gauss-Krieger projection resolve algorithm (Zhang Hong, warm Yongning, Liu Aili. GIS-Geographic Information System algorithm basis [M]. Science Press, 2006:65 page or leaf); Open method four: point whether in polygon evaluation algorithm (Zhang Hong, warm Yongning, Liu Aili. GIS-Geographic Information System algorithm basis [M]. Science Press, 2006:26 page or leaf).
The said indoor and outdoor locating self-adaption of this patent switches; Be meant the process of in good time switching locator meams between the outdoor GPS location of moving guide system and the indoor UWB location; It comprises two contents that the aspect is switched from outdoor to indoor, from indoor to outdoor, and method principle of the present invention is as shown in Figure 1.
Wherein, to switch to indoor flow process following from outdoor:
The Current GPS position coordinates is designated as P Gi, the coordinate position of the entrance door bottom mid point nearest apart from current location is designated as entrance P e, the buffer area of the door bottom place line segment nearest apart from current location is designated as location switch area A t, P GiTo P eAir line distance be D i, with D 0When being designated from outdoor to indoor switching apart from decision threshold, whether forehand is calculated enters into indoor sign with the judge visitor, shown in Fig. 2 (a), concrete method flow is following:
(1) obtains the coordinate P of Current GPS Gi, will be designated as position, entrance P from the coordinate position of the nearest door bottom mid point of current location e
(2) calculate P GiWith P eAir line distance D i
(3) compare P GiWith P eAir line distance D iWith reservation threshold D 0Size, if D i>D 0Then return step (2), otherwise forward next step to;
(4) judge D continuously i, D I+1, D I+2Value, if D i>D I+1>D I+2Be false, then return step (3), otherwise judge that the visitor is current just in distance B 0In progressively near indoor positioning zone, system carries out next step;
(5) continue to judge whether current location is locating switch area A tAmong, if not return (4), otherwise carry out next step;
(6) judge the visitor this moment in the inlet chamber, system opens the UWB locating module and also switches to UWB indoor positioning pattern, closes GPS simultaneously to save power supply;
(7) outdoor automatic switchover to indoor positioning is accomplished;
Wherein, to switch to outdoor flow process following from indoor:
The UWB current position coordinates is designated as P Ui, the coordinate position that leaves the bottom mid point of the nearest door of current location is designated as P o, the buffer area of line segment is designated as location switch area A from the place, bottom of the nearest outlet portal of current location t', P UiTo P oAir line distance be D i, with D 0' when being designated from indoor to outdoor switching apart from decision threshold, whether just planning to leave indoor sign with the judge visitor, shown in Fig. 2 (b), concrete method flow is following:
(1) obtains the coordinate P that current UWB locatees Ui, will be designated as exit point P from the coordinate position of bottom mid point of the nearest door of current location o
(2) calculate P UiPoint is to P oAir line distance D i
(3) compare P UiWith P oAir line distance D iWith reservation threshold D 0' size, if D i>D 0' then return step (2), otherwise forward next step to;
(4) system ready is opened GPS positioning equipment (if not opening this moment), prepares to receive in advance gps satellite signal;
(5) judge D continuously i, D I+1, D I+2Value, if D i>D I+1>D I+2Be false, then return step (3), otherwise judge that the visitor is current just in distance B 0' in progressively walk out the indoor positioning zone, system carries out next step;
(6) continue to judge whether current location is locating switch area A t' among, if not return (5), otherwise carry out next step;
(7) visitor walks out outdoorly, and system automatically switches to the GPS station-keeping mode, closes the UWB location;
(8) indoor automatic switchover to outdoor location is accomplished.
The said indoor and outdoor elements of a fix and the gateway coordinate Calculation air line distance passed through need be found the solution indoor reference mark coordinate by outdoor coordinate, is unified volume coordinate system to realize outdoor coordinate and indoor local coordinate.The present invention is based on the geographic coordinate of WGS84, adopt self-defined local coordinate system as the georeferencing that moves guide system, solve indoor reference mark coordinate by outdoor known point coordinate, the workflow of this method is (as shown in Figure 3) as follows:
(1) initialization handbook equipment is connected to the CORS system;
(2) latitude and longitude coordinates of this point of measurement on state control point;
(3) known because of the latitude and longitude coordinates of state control point, the known coordinate value of controlling point with measured value and state compares, if measuring accuracy does not satisfy the regulation requirement, then forwards to (2), otherwise forwards next step to;
(4) the state's control point actual coordinate that records is adopted based on the GCS_WGS_1984 spheroid, self-defined projective parameter is set and converts projection coordinate into;
(5) compare with the projection coordinate that above-mentioned (4) obtain with the known projection coordinate of state's measuring point,, then forward (2) to, otherwise forward next step to if measuring accuracy does not satisfy the regulation requirement;
(6) the state's control point actual measurement coordinate that satisfies accuracy requirement is carried out translocation, obtain indoor reference mark coordinate;
(7) unified coordinate system end-of-job;
The present invention solves the coordinate-system reunification of the integrated guide system of indoor and outdoor, need use system of self-defining projection coordinate, and is as shown in Figure 4, and the correlation parameter of this coordinate system is following:
Geographical Coordinates Parameter:
[1]?Name:?GCS_WGS_1984
[2]?Angular?Unit:?Degree?(0.017453292519943299)
[3]?Prime?Meridian:?Greenwich?(0.000000000000000000)
[4]?Datum:?D_WGS_1984
[5]?Spheroid:?WGS_1984
[6]?Semimajor?Axis:?6378137.000000000000000000
[7]?Semiminor?Axis:?6356752.314245179300000000
[8]?Inverse?Flattening:?298.257223563000030000
Projection coordinate's parameter:
[1]?Projection:?GaussKruger
[2]?FalseEasting:?500000.000000
[3]?FalseNorthing:?0.000000
[4]?CentralMeridian:?120.000000
[5]?ScaleFactor:?1.000000
[6]?LatitudeofOrigin:?0.000000
[7]?Linear?Unit:?Meter
Below in conjunction with specific embodiment the present invention is described in further detail.
Move the basic demand of guide's equipment in this instance: WindowsMobile5.0/6.0/6.1/6.5 operating system; Recommend 480 * 800 pixels (or 240 * 320 pixels) resolution; At least be that the monokaryon cpu frequency is higher than 528MHz; Internal memory is not less than 512MB ROM+256MB RAM; Support MicroSD card extension storage, USB v2.0 and GPS navigation function.
The GPS chip that mobile guide's equipment of the present invention carries provides GPS position acquisition module; GIS-Geographic Information System (GIS) module realizes based on the ArcGISMobile10 Software Secondary Development of ESRI company; Directly drive the GPS chipset through relevant interface, obtain information such as the current longitude and latitude of visitor position.The UWB indoor locating system that the present invention relates to is based on prior art, adopts the location product of Ubisense company, through the real-time surveillance tag indoor location of engine of positioning software, and the position sent to specific mobile guide's equipment.
In conjunction with accompanying drawing 2, accompanying drawing 3 and accompanying drawing 4, the case study on implementation of this patent mainly comprises several aspects such as indoor and outdoor data organization and preparation, the unification of indoor and outdoor coordinate-system, the switching of indoor and outdoor locating self-adaption.
The Desktop desktop application platform that existing ArcGIS is passed through in the tissue of data and preparation is as instrument; With room area planimetric map and the outdoor area respectively digitizing relevant with this room area; Treat behind the registration to create being applicable to that the moving map that moves guide's equipment is in order to using through the Move tool of ArcToolbox.
The process that the indoor and outdoor coordinate-system is unified is to confirm to meet the process of starting at point coordinate of accuracy requirement in fact, and system realizes through following steps:
(1) use Topcon device measuring state to control the actual coordinate of a some A-3954, A-4115; Reach Centimeter Level through surveying the precision of two control points on directions X; Precision on the Y direction is a decimeter grade, and the position error that the present invention allows should be controlled within the decimeter grade scope;
(2) according to said reference mark coordinate outdoor point is incorporated into indoor point, translocation obtains interior sensor coordinate and other reference mark coordinate;
(3) through said outdoor and indoor reference mark coordinate said indoor and outdoor data are carried out registration, and issue the moving map data that become to move the guide system use through instrument;
(4) the coordinate-system RUP finishes;
Indoor and outdoor locating self-adaption according to the invention switches; Be meant by system according to the residing at that time band of position of user; Between GPS location and UWB location, select needed locator meams automatically, in good time, efficiently, its implementation procedure is (the supposition user conducts a sightseeing tour from outdoor the beginning) as follows:
(1), calculates both distance B (units: rice) according to the coordinate P ' of customer location P and known entrance;
(2) with D and reservation threshold D 0(D 0=10 meters) relatively, if D is>D 0Set up, then turn back to step (1), otherwise carry out next step;
(3) judge that continuously the value of D also compares their size, if at D 0Interior D value is more and more littler, thinks that then the user is about in the inlet chamber, and system gets into next step, otherwise turns back to step (2);
(4) whether judges is locating switch area A tAmong (buffer zone radius R=2 meter), if not return step (3), otherwise judges is in the inlet chamber, system switches to the UWB location, closes the GPS module simultaneously;
(5) be in when indoor as the user, equally relatively distance B and outlet portal reservation threshold D 0' (D 0'=2 meter) if value is D>D 0' set up, continue indoor guide to visitors, otherwise the GPS positioning equipment is opened in preparation;
(6) at D 0' in successively at indoor judging distance D, if the distance B of continuous 3 users and outlet portal<d 0', and satisfy D n<d N-1Set up (n=1,2,3), then carries out next step, otherwise return (5);
(7) judge whether indoor user is locating switch area A t ' Among (buffer zone radius R=1 meter), if not return step (6), otherwise that judges has been left is indoor, system switches to outdoor GPS station-keeping mode, closes the UWB locating module;
(8) accomplish indoor and outdoor location handoff procedure one time.

Claims (2)

1. UWB and GPS indoor and outdoor location changing method; Between outdoor GPS location of moving guide system and indoor UWB location, switch the location; It is characterized in that: unified visitor's position coordinates and gateway coordinate; Self adaptation based on visitor's behavior pattern is carried out between outdoor GPS location and the indoor UWB location is switched, comprise from outdoor switch to indoor, switch to outdoor two steps from indoor;
Wherein, to switch to indoor flow process following from outdoor:
(1) the Current GPS position coordinates is designated as P Gi, the coordinate position of the entrance door bottom mid point nearest apart from current location is designated as entrance P e, the buffer area of the door bottom place line segment nearest apart from current location is designated as location switch area A t, P GiTo P eAir line distance be D i, with D 0When being designated from outdoor to indoor switching apart from decision threshold, be to judge the visitor whether forehand is calculated to enter into indoor sign; Obtain the coordinate P of Current GPS Gi, will be designated as position, entrance P from the coordinate position of the nearest door bottom mid point of current location e
(2) calculate P GiWith P eAir line distance D i
(3) compare P GiWith P eAir line distance D iWith reservation threshold D 0Size, if D i>D 0Then return step (2), otherwise forward next step to;
(4) judge D continuously i, D I+1, D I+2Value, if D i>D I+1>D I+2Be false, then return step (3), otherwise judge that the visitor is current just in distance B 0In progressively near indoor positioning zone, system carries out next step;
(5) continue to judge whether current location is locating switch area A tAmong, if not return (4), otherwise carry out next step;
(6) judge the visitor this moment in the inlet chamber, system opens the UWB locating module and also switches to UWB indoor positioning pattern, closes GPS simultaneously to save power supply;
(7) outdoor automatic switchover to indoor positioning is accomplished;
Wherein, to switch to outdoor flow process following from indoor:
(1) the UWB current position coordinates is designated as P Ui, the coordinate position that leaves the bottom mid point of the nearest door of current location is designated as P o, the buffer area of line segment is designated as location switch area A from the place, bottom of the nearest outlet portal of current location t', P UiTo P oAir line distance be D i, with D 0' when being designated from indoor to outdoor switching apart from decision threshold, be to judge whether the visitor is just planning to leave indoor sign; Obtain the coordinate P of current UWB location Ui, will be designated as exit point P from the coordinate position of bottom mid point of the nearest door of current location o
(2) calculate P UiPoint is to P oAir line distance D i
(3) compare P UiWith P oAir line distance D iWith reservation threshold D 0' size, if D i>D 0' then return step (2), otherwise forward next step to;
(4) if do not open the GPS positioning equipment this moment, then system ready is opened the GPS positioning equipment, prepares to receive in advance gps satellite signal;
(5) judge D continuously i, D I+1, D I+2Value, if D i>D I+1>D I+2Be false, then return step (3), otherwise judge that the visitor is current just in distance B 0' in progressively walk out the indoor positioning zone, system carries out next step;
(6) continue to judge whether current location is locating switch area A t' among, if not return (5), otherwise carry out next step;
(7) visitor walks out outdoorly, and system automatically switches to the GPS station-keeping mode, closes the UWB location;
(8) indoor automatic switchover to outdoor location is accomplished.
2. method according to claim 1; It is characterized in that: said unified visitor's position coordinates and gateway coordinate; Be meant geographic coordinate based on WGS84; Adopt self-defined local coordinate system as the georeferencing that moves guide system, obtain indoor reference mark coordinate by outdoor known point coordinate, concrete workflow is following:
(1) initialization handbook equipment is connected to the CORS system;
(2) latitude and longitude coordinates of this point of measurement on state control point;
(3) known because of the latitude and longitude coordinates of state control point, the known coordinate value of controlling point with measured value and state compares, if measuring accuracy does not satisfy the regulation requirement, then forwards to (2), otherwise forwards next step to;
(4) the state's control point actual coordinate that records is adopted based on the GCS_WGS_1984 spheroid, self-defined projective parameter is set and converts projection coordinate into;
(5) compare with the projection coordinate that above-mentioned (4) obtain with the known projection coordinate of state's measuring point,, then forward (2) to, otherwise forward next step to if measuring accuracy does not satisfy the regulation requirement;
(6) the state's control point actual measurement coordinate that satisfies accuracy requirement is carried out translocation, obtain indoor reference mark coordinate;
(7) unified coordinate system end-of-job.
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