CN106405603A - Portable efficient long-distance accurate target positioning system and positioning method - Google Patents
Portable efficient long-distance accurate target positioning system and positioning method Download PDFInfo
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- CN106405603A CN106405603A CN201610998060.6A CN201610998060A CN106405603A CN 106405603 A CN106405603 A CN 106405603A CN 201610998060 A CN201610998060 A CN 201610998060A CN 106405603 A CN106405603 A CN 106405603A
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- 238000005259 measurement Methods 0.000 claims abstract description 52
- 238000012545 processing Methods 0.000 claims abstract description 22
- 239000000835 fiber Substances 0.000 claims abstract description 17
- 230000006870 function Effects 0.000 claims description 7
- 230000004807 localization Effects 0.000 claims description 5
- 230000009897 systematic effect Effects 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a portable efficient long-distance accurate target positioning system and a positioning method. The system is composed of a GPS positioning instrument, a target body relative position measurement structure and a data processing unit. The positioning method comprises steps: a known reference point R is introduced, the GPS is used for determining the self position O, an accurate reference angle alpha<actual> is obtained through an included angle between an OR and a horizontal line, and a fiber optic gyroscope is used for measuring an angle alpha<measurement> between the OR and the horizontal line; a measurement angle beta<measurement> of a target point T and the distance L between the original point O and the T are obtained through measurement by using the method of the invention; the difference alpha<measurement> between the accurate angle alpha<actual> and the measurement angle is used for eliminating system errors caused by unknown factors such as the environment; and through error analysis, the range of a real value of the measurement angle of the target point T is obtained, and the position of the target point T is finally determined and positioned. A laser telescope can be used for measuring an accurate distance, the fiber optic gyroscope is used for measuring a more accurate course angle than an MEMS gyroscope, angle errors are smaller, the measurement precision is higher, the system can be carried by one person, and the system is portable and easy to operate.
Description
Technical field
The present invention relates to a kind of remote accurate target alignment system of portable high-efficiency, it is applicable to navigation, exploration landform
Three-dimensional localization etc. remote object.
Technical background
Remote object positioning can determine the positional information of target in advance, so that the moving situation of more preferable scheduled target,
Thus optimizing the action strategy for target.For example at sea rescue or chase after when cutting smuggling boat, in order to faster with target phase
Meet, positioned by remote object, determine the position of target and scheduled target moving situation in advance and make pursuit strategy particularly
Important.Remote object positioning can obtain more accurate distance and direction, equally has important work for exploration terrain
With.
Up to now, for the active demand to practical application, the localization method with regard to remote object has obtained
Concern and research.Traditional remote object positioning, using the method that is positioned manually, utilizes electronic compass measurement boat on plane map
To angle, obtain the distance of remote object using rangefinder, and draw on plane map and demarcate the position letter obtaining impact point
Breath, the course angle error that this positioning means measurement obtains is larger, and then makes telemeasurement position deviation larger, and expends
Time is long；Some aided remote object ranging system are too high due to installation dimension requirement, and volume is too small, is not exclusively for long-range
Target positioning designed it is difficult to self poisoning system integrations such as GPS it is impossible to provide the absolute coordinate of itself, and realize long-range
Being accurately positioned of target；Separately have in research approach and attempt abatement system error using two GPS measurements, and in actual applications by
All there is measure error and lead to global error to increase and not readily portable in each GPS system positioning；MEMS gyroscope measures
Course angle bias instaility is poor, can relatively accurately measure angular speed and angular acceleration, and measures course heading and there is accumulation
Error, leads to measuring results error larger, even if round-off error is also only in a small range correction, the result drawing is still not
Accurately.
Content of the invention
The purpose of the present invention is to propose to a kind of remote accurate target alignment system of portable high-efficiency.
The present invention is achieved by the following technical solutions.
A kind of remote accurate target alignment system of portable high-efficiency it is characterised in that：Described portable high-efficiency long distance
It is made up of GPS location instrument (1), objective body relative position measurement structure and data processing unit from accurate target alignment system.
Described GPS location instrument (1) is integrated in laserscope center (6), enters data into data processing by interface
Unit, determines self-position.
Described objective body relative position measurement structure includes laserscope (6), fibre optic gyroscope (3), electronics sieve
Disk (4), eyepiece adjusting knob (5), control reading button (9), function button (8) and display screen (7).Fibre optic gyroscope (3)
It is integrated in laserscope (6) center with electronic compass (4)；Eyepiece adjusting knob (5) is arranged on laserscope (6) both sides
On handle, and pancratic eyepiece when rotating；Control reading button (9) to be arranged on eyepiece adjusting knob (5) side, can will survey after pressing
The relative position information measuring passes to data processing unit by interface；Display screen (7) is just being arranged on laserscope (6)
Front；Function button (8) is arranged on display screen (7) both sides.
Described data processing unit includes memory (10) and processor (2), is integrated in laserscope center.Place
The data that reason device (2) is recorded by interface GPS location instrument (1) and objective body relative position measurement structure；Memory (10)
Connect (2) with processor, have data processing software and be used for data storage.
A kind of remote accurate target localization method of portable high-efficiency is it is characterised in that comprise the following steps：
(1) introduce reference point R of a determination longitude and latitude, determine the longitude and latitude of itself O using GPS location.
(2) special Gauss coordinate transformation software in data processing unit is utilized will to determine that position reference point R is former with itself
The latitude coordinates of point O are converted into rectangular co-ordinate.
(3) with itself initial point O for (0,0), absolute zero initial side of an angle place straight line is horizontal line, is obtained by coordinate transform
Rectangular co-ordinate (the X of R1, Y1).
(4) more accurate reference angle [alpha] is obtained by OR and horizontal angleReal.
(5) measure OR using fibre optic gyroscope and horizontal angle obtains a measurement angle [alpha]Survey.
(6) measuring target point T and initial point O and horizontal angle, obtain the measurement angle beta of impact point TSurvey.
(7) with laserscope record initial point O and T apart from L.
(8) pass through precise angle alphaRealDifference α with measurement angleSurveyThe system that the ignorance factors such as elimination environment cause is by mistake
Difference.
(9) data processing unit analytical error obtains impact point T measurement angle actual value in-scope.
(10) calculated by the program of data processing unit, obtain positioning the position of impact point T.
A kind of remote accurate target alignment system of portable high-efficiency of the present invention, its described reference point R is in advance
Known geographical locations coordinate, eliminates the systematic errors such as environment using this reference point.
With a GPS location instrument, error is little and can one carry, portable easy to operate for the present invention, using more accurate light
Fiber gyroscope, the course heading error of measurement is less, be simultaneously introduced the reference point round-off error of a known position information so that
The measurement result arriving is more accurate, is automatically calculated with processor and makes that the measurement result time is shorter, certainty of measurement is higher.
It is an advantage of the invention that：Eliminate the shadow to measurement angle for the factors such as environment by introducing a known reference point
Ring, can be measured using laserscope and obtain more accurate distance, improve the precision of measurement；Fibre optic gyroscope is than MEMS top
The course angle that spiral shell instrument measurement obtains is more accurate, and angular error is less, and certainty of measurement is higher；Can be determined at any time using GPS location
So that measurement point can move, measure error is little and can one carry, portable easy to operate for the position of measurement initial point；Using calculating
Machine program processing data replaces manual calculation, makes measurement more efficient.
Brief description
Fig. 1 is embodiment of the present invention structure chart.Wherein, 1 is GPS location instrument, and 2 is processor, and 3 is gyroscope, and 4 is electronics
Compass, 5 is eyepiece adjusting knob, and 6 is laserscope, and 7 is display screen, and 8 is function button, and 9 is to control reading button, and 10 are
Memory.
Fig. 2 realizes schematic flow sheet for the present invention's.
Fig. 3 is the angle and distance coordinates table diagram of the present invention.
Specific embodiment
With reference to by accompanying drawing, the present invention is further described.
As shown in figure 1, a kind of remote accurate target alignment system of portable high-efficiency, by 1 GPS location instrument, target body phase
To position measurement structure and data processing unit composition.
Described GPS location instrument 1 is integrated in laserscope 6 center, enters data into data processing unit by interface,
Determine self-position.
Described objective body relative position measurement structure include laserscope 6, fibre optic gyroscope 3, electronic compass 4,
Eyepiece adjusting knob 5, control reading button 9, function button 8 and display screen 7.Fibre optic gyroscope 3 and electronic compass 4 are integrated in
Laserscope 6 center；Eyepiece adjusting knob 5 is arranged on the handle on laserscope 6 both sides, and adjustable program when rotating
Mirror；Control reading button 9 to be arranged on by eyepiece adjusting knob 5, the relative position information that measurement obtains can be passed through to connect after pressing
Data processing unit is passed in oral instructions；Display screen 7 is arranged on laserscope 6 dead ahead；Function button 8 is arranged on 7 liang of display screen
Side.
Described data processing unit includes memory 10 and processor 2, is integrated in laserscope 6 center.Process
The data that device 2 is recorded by interface GPS location instrument 1 and objective body relative position measurement structure；Memory 10 and processor 2
Connect, have data processing software and be used for data storage.
During work, find reference point R with the present invention first, so that the center of laserscope is fallen on R point.Then press peace
It is contained in 9 control reading buttons in laserscope, make processor 2 read electronic compass 4, gyroscope 3 and GPS by interface
The information of position indicator 1, thus obtain OR and horizontal measurement angle [alpha]SurveyWith actual angle αReal.Find impact point with the present invention again
T, makes the center of laserscope fall on impact point T, then presses the control reading button 9 being arranged in laserscope,
Processor 2 is made to read the information of electronic compass 4 and gyroscope 3 and GPS location instrument 1 by interface, thus obtaining OT and level
The measurement angle beta of lineSurvey, the space bit confidence of target T is finally automatically determined out with the data processing software in data processing unit
Breath.
As shown in Fig. 2 a kind of remote accurate target alignment system of portable high-efficiency, its realize flow process and show be：
(1) introduce reference point R of a determination longitude and latitude, determine the longitude and latitude of itself O using the GPS location of the present invention.
(2) using special Gauss coordinate transformation software, the latitude coordinates of reference point R and itself initial point O are converted into right angle
Coordinate.
(3) with itself initial point O for (0,0), absolute zero initial side of an angle place straight line is horizontal line, is obtained by coordinate transform
Rectangular co-ordinate (the X of R1, Y1).
(4) more accurate reference angle [alpha] is obtained by OR and horizontal angleReal.
(5) obtain a measurement angle [alpha] using the fibre optic gyroscope measurement OR and horizontal angle of the present inventionSurvey.
(6) use measuring target point T of the present invention and initial point O and horizontal angle, obtain the measurement angle beta of impact point TSurvey.
(7) with the laserscope of the present invention record initial point O and T apart from L.
(8) pass through precise angle alphaRealDifference α with measurement angleSurveyThe system that the ignorance factors such as elimination environment cause is by mistake
Difference.
(9) data processing unit analytical error obtains impact point T measurement angle actual value in-scope.
(10) calculated by the program of data processing unit, obtain positioning the position of impact point T.
As shown in figure 3, space coordinates initial point O invents present position for some time carving copy, to cross the horizontal normal of initial point O it is
Y-axis, horizontal line is X-axis, determines position (X in this rectangular co-ordinate for the R point by coordinate transform1, Y1), it is calculated accurate
With reference to angle [alpha]Real, fibre optic gyroscope measure OR and horizontal angle to a measurement angle [alpha]Survey, impact point T with horizontal
Angle βSurvey.
Systematic error and the sum of the measure error of instrument that during measurement reference point R, environment causes：Δθ1=Δ θSystem+
Δθ1 survey, Δ θ1=αSurvey-αReal.
In measuring target point T：βReal=βSurvey+ΔθSystem-ΔβSurvey
In the same manner：Y=l sin βReal=l sin [βSurvey+Δθ1-(Δθ1 is even+ΔβSurvey)]
Make γ=βSurvey+Δθ1(by known above), Δ γ=Δ θ1 is even+ΔβSurvey
Obtain x=l cos (γ-Δ γ)
Y=l sin (γ-Δ γ)；
Fibre optic gyroscope produces finished product and there is uncertainty uFibre optic gyroscope.Angle is turned to by radian by Circular measure, by
The Transfer Formula of uncertainty
By uncertainty Transfer Formula N=l sinx when have uncertainty u of NN=l | cos x | ux.
BecauseSo
Again because eliminating, by introducing known reference point R, the systematic error that the factors such as environment cause, make
The error going out instrument is:
Obtain x actual value to fallIn the range of.
Y actual value falls in the same mannerIn the range of.
In order that instrument can preferably carry out man-machine information interaction, display screen is specially installed in order to show measurement and to calculate
Obtained data, facilitates user setup simultaneously and uses the present invention.
Electronic compass is three-dimensional electronic compass, and with three axle magnetoresistive transducer measurement plane earth's magnetic fields, double-shaft tilt angle compensates, and
Three-dimensional localization is done in the cooperation of light pricker gyroscope.
Fibre optic gyroscope can measure course angle, roll angle and the angle of pitch obtaining target object.For measuring relatively
Angle.
The part that the present embodiment is not described in and structure belong to well-known components and common structure or means, differ here
One narration.
Claims (2)
1. a kind of remote accurate target alignment system of portable high-efficiency is it is characterised in that by GPS location instrument (1), target body phase
To position measurement structure and data processing unit composition；
Described GPS location instrument (1) is integrated in laserscope center (6), enters data into data processing unit by interface,
Determine self-position；
Described objective body relative position measurement structure includes laserscope (6), fibre optic gyroscope (3), electronic compass
(4), eyepiece adjusting knob (5), control reading button (9), function button (8) and display screen (7)；Fibre optic gyroscope (3) and
Electronic compass (4) is integrated in laserscope (6) center；Eyepiece adjusting knob (5) is arranged on the handle on laserscope (6) both sides
On hand, and rotate when pancratic eyepiece；Control reading button (9) to be arranged on eyepiece adjusting knob (5) side, can will measure after pressing
The relative position information obtaining passes to data processing unit by interface；Display screen (7) be arranged on laserscope (6) just before
Side；Function button (8) is arranged on display screen (7) both sides；
Described data processing unit includes memory (10) and processor (2), is integrated in laserscope center；Processor
(2) data being recorded by interface GPS location instrument (1) and objective body relative position measurement structure；Memory (10) and place
Reason device connects (2), has data processing software and is used for data storage.
2. the localization method of the remote accurate target of the portable high-efficiency described in claim 1 alignment system, it is characterized in that including
Following steps：
(1) introduce reference point R of a determination longitude and latitude, determine the longitude and latitude of itself O using GPS location；
(2) special Gauss coordinate transformation software in data processing unit is utilized will to determine position reference point R and itself initial point O's
Latitude coordinates are converted into rectangular co-ordinate；
(3) with itself initial point O for (0,0), absolute zero initial side of an angle place straight line is horizontal line, obtains R's by coordinate transform
Rectangular co-ordinate (X1, Y1)；
(4) more accurate reference angle [alpha] is obtained by OR and horizontal angleReal；
(5) measure OR using fibre optic gyroscope and horizontal angle obtains a measurement angle [alpha]Survey；
(6) measuring target point T and initial point O and horizontal angle, obtain the measurement angle beta of impact point TSurvey；
(7) with laserscope record initial point O and T apart from L；
(8) pass through precise angle alphaRealDifference α with measurement angleSurveyEliminate the systematic error that the ignorance factors such as environment cause；
(9) data processing unit analytical error obtains impact point T measurement angle actual value in-scope；
(10) calculated by the program of data processing unit, obtain positioning the position of impact point T.
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| CN201610998060.6A CN106405603A (en) | 2016-11-14 | 2016-11-14 | Portable efficient long-distance accurate target positioning system and positioning method |
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| CN201610998060.6A CN106405603A (en) | 2016-11-14 | 2016-11-14 | Portable efficient long-distance accurate target positioning system and positioning method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108981676A (en) * | 2017-05-31 | 2018-12-11 | 莱卡地球系统公开股份有限公司 | Geodesic survey |
| CN111397606A (en) * | 2019-01-02 | 2020-07-10 | 上海欧迅睿智能科技有限公司 | Water surface vehicle target positioning method based on satellite positioning and laser ranging |
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Application publication date: 20170215 |