CN103777196A - Ground target distance single station measurement method based on geographic information and measurement system thereof - Google Patents

Abstract

The invention discloses a ground target distance single station measurement method based on geographic information and a measurement system thereof. The method comprises the steps that the geodetic coordinate of a measurement site is measured; sampling is carried out on the terrain surface in a monitor range; acquisition software is used to carry out sampling on the terrain surface in a monitor area on an electronic map to acquire the geodetic coordinates of sampling points, and the sampling points are stored as calibration points; (3) terrain classification is carried out on the calibration points, namely terrain classification is carried out on the acquired calibration points; all acquired areas are numbered and are recorded as GC, and the terrain attributes of a corresponding calibration point are represented; coordinate transformation is carried out; neighborhood point searching is carried out; and target distance calculation is carried out. According to the method and the system, sampling is carried out on the terrain surface in the monitor area; a sampling result is combined with a target angle measured by a photoelectric detection system; and the target distance is rapidly and accurately acquired.

Description

Terrain object based on geography information is apart from single station measuring method and measuring system thereof

Technical field

The present invention relates to a kind of terrain object based on geography information apart from single station measuring method and measuring system thereof, generate for target localization, the track of system, for the processing processing of information data provides support.

Background technology

Common photoelectricity ground monitoring system is made up of front end detection system, communication system and command and control center three parts, and its system chart is shown in Fig. 1.Wherein, front end detection system is responsible for moving target detection and data report; Communication system is responsible for the data transmission between front end detection system and command and control center; Front end data fusion is responsible in command and control center, three-dimensional vision shows and commanding and decision-making.Wherein, be the basis that data fusion and three-dimensional vision show to the location of target.Common photoelectricity ground monitoring system list station can only measurement target angle, comprise orientation angles and luffing angle, and can not measurement target distance, so single station cannot localizing objects.Therefore conventionally utilize configuration range finder using laser to realize range finding, but this mode can increase the design difficulty of the systems such as photoelectricity ground monitoring system architecture, electric, software, improve system cost and user's Operating Complexity, measuring process is subject to meteorological condition restriction in addition.

Summary of the invention

For the defect existing in above-mentioned prior art or deficiency, the object of the invention is to, provide a kind of terrain object based on geography information apart from single station measuring method and measuring system thereof, the method and system are by the topographical surface sampling in monitored area, the angle on target that sampled result is measured in conjunction with Photodetection system, fast and accurately obtains target range.

To achieve these goals, the present invention adopts following technical scheme to be solved:

Terrain object based on geography information, apart from single station measuring method, comprises the steps:

(1) terrestrial coordinate of measurement survey station point

(2) to the topographical surface sampling in monitoring range

Use acquisition software topographical surface sampling to monitored area on electronic chart, obtain the terrestrial coordinate of the individual sampled point of M (M >=3), and using sampled point storage as calibration point;

(3) calibration point landform is divided

The calibration point obtaining is carried out to landform division, G is numbered and be designated as to the All Ranges obtaining _c, represent the landform attribute of corresponding calibration point;

(4) coordinate transform

Step 1: the terrestrial coordinate of survey station point and calibration point is separately converted to the earth rectangular coordinate;

Step 2: the station heart rectangular coordinate that obtains all calibration points:

Step 3: the station heart rectangular coordinate of all calibration points is converted to station heart polar coordinates:

(5) neighborhood point search

The position angle of measuring target point in real time ^θ _pwith angle of pitch β _p, in all calibration points, carry out neighborhood point search, obtain point set ^p _nb;

(6) target range is calculated

Use point set ^p _nbfit Plane, by the straight-line equation simultaneous solution of the sight line of planimetric rectangular coordinates equation and survey station point sensing impact point, obtains the distance L of impact point apart from survey station point _p.

Further, use the image partition method based on watershed divide to carry out landform division to the calibration point obtaining in described step (3), concrete steps are as follows:

Calibration point is mapped on a width two dimensional image, by the pixel coordinate of the longitude in the terrestrial coordinate of calibration point, the corresponding two dimensional image of latitude, by the gray scale of the elevation corresponding pixel points of calibration point; Calculate the gradient of each calibration point, using Gradient as initial input, calibration point is divided into different regions.

Further, in described step (4), the conversion formula of step 1 is:

$b_E=\left[\begin{array}{cc}(N+H_E)\cos B_E& \cos L_E\\ (N+H_E)\cos B_E& \sin L_E\\ [N(1-e^2)+H_E]& \sin B_E\end{array}\right]$ (formula 1)

$b_{\mathrm{Ci}}=\left[\begin{array}{cc}(N+H_{\mathrm{Ci}})\cos B_{\mathrm{Ci}}& \cos L_{\mathrm{Ci}}\\ (N+H_{\mathrm{Ci}})\cos B_{\mathrm{Ci}}& \sin L_{\mathrm{Ci}}\\ [N(1-e^2)+H_{\mathrm{Ci}}]& \sin B_{\mathrm{Ci}}\end{array}\right]$ (formula 2)

Wherein, b _erepresent the earth rectangular coordinate of survey station point; b _cirepresent the earth rectangular coordinate of i calibration point; (B _e, L _e, H _e) represent the terrestrial coordinate of survey station point; (B _ci, L _ci, H _ci) represent the terrestrial coordinate of i calibration point, i ∈ [1, M]

; N represents radius of curvature in prime vertical; E represents earth's spheroid excentricity.

Further, in the calibration point of the middle step 2 of described step (4), the station heart rectangular coordinate of i calibration point

X _EPi＝(x _EPi, _yEPi,z _EPi) ^T

Try to achieve according to formula 3:

X _EPi＝A _E(b _Ci-b _E)

(formula 3)

Wherein, $A_E=\left[\begin{array}{ccc}-\sin B_E\cos L_E& -\sin B_E\sin L_E& \cos B_E\\ -\sin L_E& \cos L_E& 0\\ \cos B_E\cos L_E& \cos B_E\sin L_E& \sin B_E\end{array}\right]$

Wherein, (B _e, L _e, H _e) represent the terrestrial coordinate of survey station point; b _erepresent the earth rectangular coordinate of survey station point; b _cirepresent the earth rectangular coordinate of i calibration point, i ∈ [1, M]; ;

Further, in described step (4), in all calibration points of step 3, the Formula of Coordinate System Transformation of i calibration point is formula 4-formula 6:

θ _ci=atan (y _ePi/ x _ePi) (formula 4)

${\mathrm{\β}}_{\mathrm{Ci}}=\mathrm{\α}\tan (z_{\mathrm{EPi}}/\sqrt{{x_{\mathrm{EPi}}}^2+{y_{\mathrm{EPi}}}^2})$ (formula 5)

L _ci=| b _e-b _ci| (formula 6);

θ _ci, β _ci, L _cirepresent respectively position angle, the angle of pitch and the distance of i calibration point under the heart polar coordinates of station.

Further, the neighborhood point search that carries out in all calibration points described in described step (5) adopts nearest neighbor method, and concrete steps are as follows:

Step 1: the angle α that calculates each calibration point sight line and impact point sight line _c;

Step 2: search angle α _cminimum calibration point P _min;

Step 3: at P _minneighborhood point in search and a P _minlandform attribute G _cequal calibration point, obtains point set P _nb.

Further, the concrete steps of described step (6) are as follows:

If the rectangular equation of plane is Ax+By+Cz+1=0 (formula 7)

Collection P sets up an office _nbin point total K, by P _nbmiddle polar coordinates are a little transformed into rectangular coordinate:

$\left\{\begin{array}{c}{x}_i=L_{\mathrm{Ci}}\sin {\mathrm{\β}}_{\mathrm{Ci}}\cos {\mathrm{\θ}}_{\mathrm{Ci}}\\ y_i=L_{\mathrm{Ci}}\sin {\mathrm{\β}}_{\mathrm{Ci}}\sin {\mathrm{\θ}}_{\mathrm{Ci}}\\ z_i=L_{\mathrm{Ci}}\cos {\mathrm{\β}}_{\mathrm{Ci}}\end{array}\right.,(i\∈[1,K\left]\right)$ (formula 8)

Wherein, i represents point set P _nbin the sequence number of point;

The least square fitting solution that obtains plane equation is:

$\left[\begin{array}{c}A\\ B\\ C\end{array}\right]={\left[\begin{array}{ccc}\mathrm{\Σ}{x_i}^2& \mathrm{\Σ}{x}_i{y}_i& \mathrm{\Σ}{z}_i{x}_i\\ \mathrm{\Σ}{x}_i{y}_i& \mathrm{\Σ}{y_i}^2& \mathrm{\Σ}{y}_i{z}_i\\ \mathrm{\Σ}{z}_i{x}_i& \mathrm{\Σ}{y}_i{z}_i& \mathrm{\Σ}{z_i}^2\end{array}\right]}^{-1}\left[\begin{array}{c}-\mathrm{\Σ}{x}_i\\ -\mathrm{\Σ}{y}_i\\ -\mathrm{\Σ}{z}_i\end{array}\right],$ Wherein $\underset{i=1}{\overset{K}{\mathrm{\Σ}}}$ Brief note is Σ.(formula 9)

The straight-line equation that survey station point is pointed to the sight line of impact point is denoted as:

$\left\{\begin{array}{c}x=L_P\sin {\mathrm{\β}}_P\cos {\mathrm{\θ}}_P\\ y=L_P\sin {\mathrm{\β}}_P\sin {\mathrm{\θ}}_P\\ z=L_P\cos {\mathrm{\β}}_P\end{array}\right.$ (formula 10)

By formula (7), (10) simultaneous solution, obtain the distance L of impact point apart from survey station point _p:

$L_P=-\frac{1}{A\sin {\mathrm{\β}}_P\cos {\mathrm{\θ}}_P+B\sin {\mathrm{\β}}_P\sin {\mathrm{\θ}}_P+C{\cos \mathrm{\β}}_P}$ (formula 11)

Wherein, θ _crepresent the position angle of calibration point, β _crepresent the angle of pitch of calibration point, L _crepresent the distance between calibration point and survey station point, α _crepresent the angle of calibration point sight line and impact point sight line, G _crepresent the landform attribute of calibration point; θ _prepresent the position angle of impact point; β _prepresent the angle of pitch of impact point.

The measuring system that uses the above-mentioned terrain object distance measurement method based on geography information, comprises Photodetection system, GPS, acquisition software, electronic chart and data handling system, wherein:

Described Photodetection system is used for position angle and the angle of pitch of measurement target, and sends in real time data handling system;

Described GPS is for measuring the terrestrial coordinate of survey station point;

Described acquisition software, for the topographical surface sampling to monitored area on electronic chart, obtains the terrestrial coordinate of sampled point, and using sampled point storage as calibration point;

Described data handling system is used for position angle and the angle of pitch of the measurement target that receives Photodetection system transmission, the terrestrial coordinate of the survey station point that reception GPS measures, the calibration point that storage of collected software obtains; For the division of calibration point landform, coordinate transform, neighborhood point search and target range are calculated;

Described Photodetection system, GPS, acquisition software connect respectively described data handling system, acquisition software connecting electronic map.

The invention has the advantages that:

(1) GIS information and photoelectric measurement data have been merged; Overcome the defect that traditional photoelectricity ground location system can not single observer ranging, realized single observer ranging, and measurement result has met the demands.

(2) utilize the image partition method of watershed divide to carry out the classification of landform of calibration point, meet the NATURAL DISTRIBUTION rule of topographical surface, make region division result objective and accurate.

(3) search neighborhood point by arest neighbors method and meet the continuous spontaneous phenomenon of topographical surface, make final goal apart from calculating accurately.

(4) in method of the present invention, only have neighborhood point search and target range to calculate two steps and need to calculate in real time, other calculating content all can be carried out by off-line.Theoretical and facts have proved, the mode of taking off-line and on-line operation to combine, can meet the requirement of real-time of system.

(5) distance accuracy is relevant with the sampling precision of calibration point, and the present invention as required, can, by the flexible of pickup area and collection step-length, can control calibration point sampling density and meet different distance accuracy requirements.

Accompanying drawing explanation

Fig. 1 is the composition frame chart of traditional photoelectricity ground monitoring system.

Fig. 2 is the composition frame chart of the photoelectricity ground monitoring system that uses in method of the present invention.

Fig. 3 is the calculation flow chart of method of the present invention.

Fig. 4 is nominal data schematic diagram.

Fig. 5 is nominal data Gradient schematic diagram.

Fig. 6 is that schematic diagram is divided in landform region.

Fig. 7 is result of calculation schematic diagram.

Below in conjunction with drawings and Examples, the present invention is described in further detail.

Embodiment

As shown in Figure 2 and Figure 3, the terrain object based on geography information of the present invention, apart from single station measuring method, specifically comprises the steps:

(1) terrestrial coordinate of measurement survey station point

Photodetection system is arranged on to the survey station point of monitored area, measures the terrestrial coordinate of survey station point by GPS, and measurement result is transferred to data handling system; Terrestrial coordinate refers to longitude, latitude and elevation information;

(2) to the topographical surface sampling in monitoring range

Use acquisition software (as GoogleEarth altitude figures sampling instrument v1.1) in the upper sampling of the topographical surface to monitored area of electronic chart (GoogleEarth or other electronic charts), obtain the terrestrial coordinate of the individual sampled point of M (M >=3), and using sampled point storage as calibration point; Sample range is in the investigative range of Photodetection system, and sampling step length need to be determined according to precision.

(3) calibration point landform is divided

Use the image partition method based on watershed divide to carry out landform division to the calibration point obtaining.

Calibration point is mapped on a width two dimensional image, by the pixel coordinate of the longitude in the terrestrial coordinate of calibration point, the corresponding two dimensional image of latitude, by the gray scale of the elevation corresponding pixel points of calibration point.Calculate the gradient of each calibration point at 3 × 3 neighborhoods, using Gradient as initial input, use watershed segmentation method that calibration point is divided into different regions, will

The All Ranges numbering arriving, is designated as G _c, represent the landform attribute of corresponding calibration point.

(4) coordinate transform

Step 1: utilize formula 1, formula 2 that the terrestrial coordinate of survey station point and calibration point is separately converted to the earth rectangular coordinate:

$b_E=\left[\begin{array}{cc}(N+H_E)\cos B_E& \cos L_E\\ (N+H_E)\cos B_E& \sin L_E\\ [N(1-e^2)+H_E]& \sin B_E\end{array}\right]$ (formula 1)

$b_{\mathrm{Ci}}=\left[\begin{array}{cc}(N+H_{\mathrm{Ci}})\cos B_{\mathrm{Ci}}& \cos L_{\mathrm{Ci}}\\ (N+H_{\mathrm{Ci}})\cos B_{\mathrm{Ci}}& \sin L_{\mathrm{Ci}}\\ [N(1-e^2)+H_{\mathrm{Ci}}]& \sin B_{\mathrm{Ci}}\end{array}\right]$ (formula 2)

Wherein, b _erepresent the earth rectangular coordinate of survey station point; b _cirepresent the earth rectangular coordinate of i calibration point; (B _e, L _e, H _e) represent the terrestrial coordinate of survey station point; (B _ci, L _ci, H _ci) represent the terrestrial coordinate of i calibration point; (i ∈ [1, M]); N represents radius of curvature in prime vertical; E represents earth's spheroid excentricity;

X _EPi＝(x _EPi, _yEPi,z _EPi) ^T

Step 2: utilize formula 3 to obtain the station heart rectangular coordinate of i calibration point:

X _EPi＝A _E(b _Ci-b _E)

(formula 3

Wherein, $A_E=\left[\begin{array}{ccc}-\sin B_E\cos L_E& -\sin B_E\sin L_E& \cos B_E\\ -\sin L_E& \mathrm{<figure-callout\; id="0"\; label="cos\; L\; E"\; filenames="HDA0000453134890000022.png"\; state="\{\{state\}\}">cos</figure-callout>}{L}_E{}_{}& 0\\ \cos B_E\cos L_E& \cos B_E\sin L_E& \sin B_E\end{array}\right]$

Step 3: utilize formula 4-formula 6 that the station heart rectangular coordinate of i calibration point is converted to station heart polar coordinates:

θ _ci=atan (y _ePi/ x _ePi) (formula 4)

${\mathrm{\&beta;}}_{\mathrm{Ci}}=\mathrm{\&alpha;}\tan (z_{\mathrm{EPi}}/\sqrt{{x_{\mathrm{EPi}}}^2+{y_{\mathrm{EPi}}}^2})$ (formula 5)

L _ci=| b _e-b _ci| (formula 6);

θ _ci, β _ci, L _cirepresent respectively position angle, the angle of pitch and the distance of i calibration point under the heart polar coordinates of station.

(5) neighborhood point search

For the ease of expressing, calibration point is expressed as to 5 dimensional vector P _c=(θ _c, β _c, L _c, α _c, G _c), wherein, θ _crepresent the position angle of calibration point, β _crepresent the angle of pitch of calibration point, L _crepresent the distance between calibration point and survey station point, α _crepresent the angle of calibration point sight line and impact point sight line, G _crepresent the landform attribute of calibration point; If the station heart polar coordinates of impact point are P=(θ _p, β _p, L _p).

The azimuth angle theta of the real-time measuring target point of Photodetection system _pwith angle of pitch β _p, and being transferred to data handling system, data handling system adopts nearest neighbor method in all calibration points, to carry out neighborhood point search, obtains point set P _nb, concrete steps are as follows:

Step 1: the angle α that calculates each calibration point sight line and impact point sight line _c;

Step 2: search angle α _cminimum calibration point P _min;

Step 3: at P _minneighborhood point in search and a P _minlandform attribute G _cequal calibration point, obtains point set P _nb.

(6) target range is calculated

If the rectangular equation of plane is Ax+By+Cz+1=0 (formula 7)

Collection P sets up an office _nbin point total K, by P _nbmiddle polar coordinates are a little transformed into rectangular coordinate:

$\left\{\begin{array}{c}{x}_i=L_{\mathrm{Ci}}\sin {\mathrm{\&beta;}}_{\mathrm{Ci}}\cos {\mathrm{\&theta;}}_{\mathrm{Ci}}\\ y_i=L_{\mathrm{Ci}}\sin {\mathrm{\&beta;}}_{\mathrm{Ci}}\sin {\mathrm{\&theta;}}_{\mathrm{Ci}}\\ z_i=L_{\mathrm{Ci}}\cos {\mathrm{\&beta;}}_{\mathrm{Ci}}\end{array}\right.,(i\&Element;[1,K\left]\right)$ (formula 8)

Wherein, i represents point set P _nbin the sequence number of point.

The least square fitting solution that obtains plane equation is:

$\left[\begin{array}{c}A\\ B\\ C\end{array}\right]={\left[\begin{array}{ccc}\mathrm{\&Sigma;}{x_i}^2& \mathrm{\&Sigma;}{x}_i{y}_i& \mathrm{\&Sigma;}{z}_i{x}_i\\ \mathrm{\&Sigma;}{x}_i{y}_i& \mathrm{\&Sigma;}{y_i}^2& \mathrm{\&Sigma;}{y}_i{z}_i\\ \mathrm{\&Sigma;}{z}_i{x}_i& \mathrm{\&Sigma;}{y}_i{z}_i& \mathrm{\&Sigma;}{z_i}^2\end{array}\right]}^{-1}\left[\begin{array}{c}-\mathrm{\&Sigma;}{x}_i\\ -\mathrm{\&Sigma;}{y}_i\\ -\mathrm{\&Sigma;}{z}_i\end{array}\right],$ Wherein $\underset{i=1}{\overset{K}{\mathrm{\&Sigma;}}}$ Brief note is Σ.(formula 9)

The straight-line equation that survey station point is pointed to the sight line of impact point is denoted as:

$\left\{\begin{array}{c}x=L_P\sin {\mathrm{\&beta;}}_P\cos {\mathrm{\&theta;}}_P\\ y=L_P\sin {\mathrm{\&beta;}}_P\sin {\mathrm{\&theta;}}_P\\ z=L_P\cos {\mathrm{\&beta;}}_P\end{array}\right.$ (formula 10)

By formula (7), (10) simultaneous solution, obtain the distance L of impact point apart from survey station point _p:

$L_P=-\frac{1}{A\sin {\mathrm{\&beta;}}_P\cos {\mathrm{\&theta;}}_P+B\sin {\mathrm{\&beta;}}_P\sin {\mathrm{\&theta;}}_P+C{\cos \mathrm{\&beta;}}_P}$ (formula 11)

As shown in Figure 2, use the measuring system of the terrain object distance measurement method based on geography information of the present invention, comprise Photodetection system, GPS, acquisition software, electronic chart and data handling system.Wherein:

Photodetection system is used for position angle and the angle of pitch of measurement target, and sends in real time data handling system;

GPS is for measuring the terrestrial coordinate of survey station point;

Acquisition software, for the topographical surface sampling to monitored area on electronic chart, obtains the terrestrial coordinate of sampled point, and using sampled point storage as calibration point;

Data handling system is used for position angle and the angle of pitch of the measurement target that receives Photodetection system transmission, the terrestrial coordinate of the survey station point that reception GPS measures, the calibration point that storage of collected software obtains; For the division of calibration point landform, coordinate transform, neighborhood point search and target range are calculated;

Photodetection system, GPS, acquisition software connect respectively described data handling system, acquisition software connecting electronic map.

In order to verify feasibility of the present invention and validity, inventor has provided following target distance measurement example.

Embodiment:

Adopt in the present embodiment GoogleEarth altitude figures sampling instrument v1.1 to gather calibration point on GoogleEarth map.It is 625 that the demarcation gathering is counted; Longitude scope [107.505639 °, 107.560527 °], sampling interval is 0.002287 °; Latitude scope [34.482877 °, 34.528453 °], sampling interval is 0.001899 °; The site terrestrial coordinate of survey station is (107.53286,34.52795,843).As shown in Figure 4, the data in Fig. 4 show the data of calibration point after data normalization, and * represents original calibration point.Fig. 5 is nominal data gradient schematic diagram; Fig. 6 is that calibration point landform is divided schematic diagram; Fig. 7 is result of calculation schematic diagram (showing after data normalization), * represent result of calculation, when calculating, calculate one by one using calibration point as unknown point with other calibration points, the distance value that the electronic chart coordinate figure of calibration point is converted to is as true value, and statistical distance error is less than 0.1%.

Claims (8)

1. the terrain object based on geography information, apart from single station measuring method, is characterized in that, comprises the steps:

(1) terrestrial coordinate of measurement survey station point

(2) to the topographical surface sampling in monitoring range

Use acquisition software topographical surface sampling to monitored area on electronic chart, obtain the terrestrial coordinate of the individual sampled point of M (M >=3), and using sampled point storage as calibration point;

(3) calibration point landform is divided

The calibration point obtaining is carried out to landform division, G is numbered and be designated as to the All Ranges obtaining _c, represent the landform attribute of corresponding calibration point;

(4) coordinate transform

Step 1: the terrestrial coordinate of survey station point and calibration point is separately converted to the earth rectangular coordinate;

Step 2: the station heart rectangular coordinate that obtains all calibration points;

Step 3: the station heart rectangular coordinate of all calibration points is converted to station heart polar coordinates.

(5) neighborhood point search

The azimuth angle theta of measuring target point in real time _pwith angle of pitch β _p, in all calibration points, carry out neighborhood point search, obtain point set P _nb;

(6) target range is calculated

Use point set P _nbfit Plane, by the straight-line equation simultaneous solution of the sight line of planimetric rectangular coordinates equation and survey station point sensing impact point, obtains the distance L of impact point apart from survey station point _p.

2. the terrain object based on geography information as claimed in claim 1, apart from single station measuring method, is characterized in that, uses the image partition method based on watershed divide to carry out landform division to the calibration point obtaining in described step (3), and concrete steps are as follows:

Calibration point is mapped on a width two dimensional image, by the pixel coordinate of the longitude in the terrestrial coordinate of calibration point, the corresponding two dimensional image of latitude, by the gray scale of the elevation corresponding pixel points of calibration point; Calculate the gradient of each calibration point, using Gradient as initial input, calibration point is divided into different regions.

3. the terrain object based on geography information as claimed in claim 1, apart from single station measuring method, is characterized in that, in described step (4), the conversion formula of step 1 is:

(formula 1)

(formula 2)

Wherein, b _erepresent the earth rectangular coordinate of survey station point; b _cirepresent the earth rectangular coordinate of i calibration point; (B _e, L _e, H _e) represent the terrestrial coordinate of survey station point; (B _ci, L _ci, H _ci) represent the terrestrial coordinate of i calibration point, i ∈ [1, M]

; N represents radius of curvature in prime vertical; E represents earth's spheroid excentricity.

4. the terrain object based on geography information as claimed in claim 1, apart from single station measuring method, is characterized in that, in the calibration point of the middle step 2 of described step (4), and the station heart rectangular coordinate of i calibration point

X _EPi＝(x _EPi,y _EPi,z _EPi) ^T

Try to achieve according to formula 3:

X _EPi＝A _E(b _Ci-b _E)

(formula 3)

Wherein,

Wherein, (B _e, L _e, H _e) represent the terrestrial coordinate of survey station point; b _erepresent the earth rectangular coordinate of survey station point; b _ci

Represent the earth rectangular coordinate of i calibration point, i ∈ [1, M].

5. the terrain object based on geography information as claimed in claim 1, apart from single station measuring method, is characterized in that, in described step (4), in all calibration points of step 3, the Formula of Coordinate System Transformation of i calibration point is formula 4-formula 6:

θ _ci=atan (y _ePi/ x _ePi) (formula 4)

(formula 5)

L _ci=| b _e-b _ci| (formula 6);

θ _ci, β _ci, L _cirepresent respectively position angle, the angle of pitch and the distance of i calibration point under the heart polar coordinates of station.

6. the terrain object based on geography information as claimed in claim 1, apart from single station measuring method, is characterized in that, the neighborhood point search that carries out in all calibration points described in described step (5) adopts nearest neighbor method, and concrete steps are as follows:

Step 1: the angle α that calculates each calibration point sight line and impact point sight line _c;

Step 2: search angle ^α _cminimum calibration point P _min;

Step 3: at P _minneighborhood point in search and a P _minlandform attribute G _cequal calibration point, obtains point set P _nb.

7. the terrain object based on geography information as claimed in claim 1, apart from single station measuring method, is characterized in that, the concrete steps of described step (6) are as follows:

If the rectangular equation of plane is:

Ax+By+Cz+1=0 (formula 7)

Collection P sets up an office _nbin point total K, by P _nbmiddle polar coordinates are a little transformed into rectangular coordinate:

(formula 8)

Wherein, i represents point set P _nbin the sequence number of point;

The least square fitting solution that obtains plane equation is:

wherein

brief note is Σ.(formula 9)

The straight-line equation that survey station point is pointed to the sight line of impact point is denoted as:

(formula 10)

By formula (7), (10) simultaneous solution, obtain the distance L of impact point apart from survey station point _p:

(formula 11)

Wherein, θ _crepresent the position angle of calibration point, β _crepresent the angle of pitch of calibration point, L _crepresent the distance between calibration point and survey station point, α _crepresent the angle of calibration point sight line and impact point sight line, G _crepresent the landform attribute of calibration point; θ _prepresent the position angle of impact point; β _prepresent the angle of pitch of impact point.

8. right to use requires the measuring system of the terrain object distance measurement method based on geography information described in 1, comprises Photodetection system, GPS, acquisition software, electronic chart, data handling system, wherein:

Described Photodetection system is used for position angle and the angle of pitch of measurement target, and sends in real time data handling system;

Described GPS is for measuring the terrestrial coordinate of survey station point;

Described acquisition software, for the topographical surface sampling to monitored area on electronic chart, obtains the terrestrial coordinate of sampled point, and using sampled point storage as calibration point;

Described data handling system is used for position angle and the angle of pitch of the measurement target that receives Photodetection system transmission, the terrestrial coordinate of the survey station point that reception GPS measures, the calibration point that storage of collected software obtains; For the division of calibration point landform, coordinate transform, neighborhood point search and target range are calculated;

Described Photodetection system, GPS, acquisition software connect respectively described data handling system, acquisition software connecting electronic map.

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