CN206270499U - A kind of remote accurate target alignment system of portable high-efficiency - Google Patents
A kind of remote accurate target alignment system of portable high-efficiency Download PDFInfo
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- CN206270499U CN206270499U CN201621220148.7U CN201621220148U CN206270499U CN 206270499 U CN206270499 U CN 206270499U CN 201621220148 U CN201621220148 U CN 201621220148U CN 206270499 U CN206270499 U CN 206270499U
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Abstract
A kind of remote accurate target alignment system of portable high-efficiency, is made up of GPS location instrument, objective body relative position measurement structure and data processing unit.Localization method：A known reference point R is introduced, self-position O is determined using GPS, obtain more accurately referring to angle [alpha] by OR and horizontal line angleIt is real, and measure OR and horizontal angle [alpha] using fibre optic gyroscopeSurvey；The measurement angle beta of impact point T is obtained with measurementSurveyAnd origin O and T apart from L；Using precise angle alphaIt is realWith the difference α of measurement angleSurveyEliminate the systematic error that the ignorance factors such as environment are caused；Impact point T is obtained by error analysis and measures angle actual value in-scope, and finally confirm the position of positioning impact point T.The utility model can measure more accurate distance using laserscope, and more accurate than the course angle that MEMS gyroscope is measured using fibre optic gyroscope, angular error is smaller, and certainty of measurement is higher；System single can be carried, portable easy to operate.
Description
Technical field
The utility model is related to a kind of remote accurate target alignment system of portable high-efficiency, is applicable to navigation, exploration
The three-dimensional localization of the remote objects such as landform.
Background technology
Remote object positioning can in advance determine the positional information of target, so as to the moving situation of more preferable scheduled target,
So as to optimize the action strategy for target.For example at sea rescue or chase after cut smuggling boat when, in order to faster with target phase
Meet, by remote object position, in advance determine target position and scheduled target moving situation and make pursuit strategy particularly
It is important.Remote object positioning can obtain more accurate distance and direction, equally have important work for exploration terrain
With.
Up to now, for the active demand to practical application, the localization method on remote object has been obtained
Concern and research.Traditional remote object positioning measures boat that is, on plane map using method is positioned manually using electronic compass
To angle, the distance of remote object is obtained using rangefinder, and the position letter for obtaining impact point is drawn and demarcated on plane map
Breath, the course angle error that this positioning means measurement is obtained is larger, and then causes that telemeasurement position deviation is larger, and expends
Time is long；Some aided remote object ranging systems are too high due to installation dimension requirement, and volume is too small, is not exclusively for long-range
Target positioning is designed, it is difficult to the self poisoning system integration such as GPS, it is impossible to provide the absolute coordinate of itself, and realize long-range
Target is accurately positioned；It is another have in research approach attempt abatement system error using two GPS measurements, and in actual applications by
There is measurement error in each gps system positioning and cause global error to increase and not readily portable；MEMS gyroscope is measured
Course angle bias instaility is poor, can relatively accurately measure angular speed and angular acceleration, and measures course heading and there is accumulation
Error, causes measuring results error larger, even if round-off error is also only in a small range amendment, the result for drawing is still not
Accurately.
The content of the invention
The purpose of this utility model is to propose a kind of remote accurate target alignment system of portable high-efficiency.
The utility model is achieved through 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), and data processing is entered data into 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)
Laserscope (6) center is integrated in electronic compass (4)；Eyepiece adjusting knob (5) is installed in laserscope (6) both sides
On handle, and pancratic eyepiece during rotation；Control reading button (9) is other installed in eyepiece adjusting knob (5), will can be surveyed after pressing
The relative position information for measuring passes to data processing unit by interface；Display screen (7) installed in laserscope (6) just
Front；Function button (8) is installed in 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 measured by interface GPS location instrument (1) and objective body relative position measurement structure；Memory (10)
With processor connection (2), there is data processing software and for data storage.
A kind of remote accurate target localization method of portable high-efficiency, it is characterised in that comprise the following steps：
(1) a reference point R for determination longitude and latitude is introduced, the longitude and latitude of itself O is determined using GPS location.
(2) position reference point R and itself original will be determined using Gauss coordinate transformation software special in data processing unit
The latitude coordinates of point O are converted into rectangular co-ordinate.
(3) straight line is horizontal line where being (0,0), absolute zero initial side of an angle with itself origin O, is obtained by coordinate transform
Rectangular co-ordinate (the X of R1, Y1)。
(4) obtain more accurately referring to angle [alpha] by OR and horizontal angleIt is real。
(5) measure OR using fibre optic gyroscope and horizontal angle obtains a measurement angle [alpha]Survey。
(6) measuring target point T and origin O and horizontal angle, obtain the measurement angle beta of impact point TSurvey。
(7) with laserscope measure origin O and T apart from L.
(8) by precise angle alphaIt is realWith the difference α of measurement angleSurveyEliminate the system mistake that the ignorance factors such as environment are caused
Difference.
(9) data processing unit analytical error obtains impact point T measurement angle actual value in-scopes.
(10) calculated by the program of data processing unit, obtain positioning the position of impact point T.
The remote accurate target alignment system of a kind of portable high-efficiency described in the utility model, the reference point R described in it
Previously known geographical position coordinates, the systematic errors such as environment are eliminated using this reference point.
With a GPS location instrument, error is small and single can carry, portable easy to operate, using more accurate for the utility model
Fibre optic gyroscope, the course heading error of measurement is smaller, while introduce a reference point round-off error for known position information,
Make the measurement result for obtaining more accurate, calculated automatically with processor so that the measurement result time is shorter, certainty of measurement is higher.
The utility model has the advantages that：The factors such as environment are eliminated to measurement angle by introducing a known reference point
Influence, more accurate distance is obtained using laserscope is measurable, improves the precision of measurement；Fibre optic gyroscope compares MEMS
The course angle that gyroscope measurement is obtained is more accurate, and angular error is smaller, and certainty of measurement is higher；Can be true at any time using GPS location
The position of location survey amount origin so that measurement point can be moved, measurement error is small and single can carry, portable easy to operate；Using meter
Calculation machine program processing data replaces manual calculation, makes measurement more efficient.
Brief description of the drawings
Fig. 1 is the utility model example structure figure.Wherein, 1 is GPS location instrument, and 2 is processor, and 3 is gyroscope, and 4 are
Electronic compass, 5 is eyepiece adjusting knob, and 6 is laserscope, and 7 is display screen, and 8 is function button, and 9 is control reading button,
10 is memory.
Fig. 2 realizes schematic flow sheet for of the present utility model.
Fig. 3 is angle and distance coordinates table diagram of the present utility model.
Specific embodiment
The utility model is further illustrated with reference to by accompanying drawing.
As shown in figure 1, a kind of remote accurate target alignment system of portable high-efficiency, by 1GPS position indicators, target body phase
Position measurement structure and data processing unit are constituted.
Described GPS location instrument 1 is integrated in the center of laserscope 6, and data processing unit is entered data into 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
The center of laserscope 6；Eyepiece adjusting knob 5 is arranged on the handle on the both sides of laserscope 6, and adjustable program during rotation
Mirror；Control reading button 9 is arranged on by eyepiece adjusting knob 5, and the relative position information for obtaining can will be measured after pressing by connecing
Data processing unit is passed in oral instructions；Display screen 7 is arranged on the front of laserscope 6；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 the center of laserscope 6.Treatment
The data that device 2 is measured by interface GPS location instrument 1 and objective body relative position measurement structure；Memory 10 and processor 2
Connection, has data processing software and for data storage.
During work, reference point R is found with the utility model first, the center of laserscope is fallen on R points.Then press
Down be arranged on laserscope on 9 control reading buttons, make processor 2 pass through interface reading electronic compass 4, gyroscope 3 with
And the information of GPS location instrument 1, so as to obtain OR with horizontal measurement angle [alpha]SurveyWith actual angle αIt is real.The utility model is used again
Impact point T is found, the center of laserscope is fallen on impact point T, then press the control in laserscope
Reading button 9, makes processor 2 that the information of electronic compass 4 and gyroscope 3 and GPS location instrument 1 is read by interface, so that
To OT and horizontal measurement angle betaSurvey, finally automatically determine out target T's with the data processing software in data processing unit
Spatial positional information.
As shown in Fig. 2 a kind of remote accurate target alignment system of portable high-efficiency, it realizes that flow is shown is：
(1) a reference point R for determination longitude and latitude is introduced, the longitude and latitude of itself O is determined using GPS location of the present utility model
Degree.
(2) latitude coordinates of reference point R and itself origin O are converted into right angle using special Gauss coordinate transformation software
Coordinate.
(3) straight line is horizontal line where being (0,0), absolute zero initial side of an angle with itself origin O, is obtained by coordinate transform
Rectangular co-ordinate (the X of R1, Y1)。
(4) obtain more accurately referring to angle [alpha] by OR and horizontal angleIt is real。
(5) measure OR using fibre optic gyroscope of the present utility model and horizontal angle obtains a measurement angle [alpha]Survey。
(6) the utility model measuring target point T and origin O and horizontal angle are used, the measurement angle of impact point T is obtained
βSurvey。
(7) with laserscope of the present utility model measure origin O and T apart from L.
(8) by precise angle alphaIt is realWith the difference α of measurement angleSurveyEliminate the system mistake that the ignorance factors such as environment are caused
Difference.
(9) data processing unit analytical error obtains impact point T measurement angle actual value in-scopes.
(10) calculated by the program of data processing unit, obtain positioning the position of impact point T.
As shown in figure 3, space coordinates origin O is some time carving copy utility model present position, to cross the origin horizontal methods of O
Line is Y-axis, and horizontal line is X-axis, and position (X of the R points in this rectangular co-ordinate is determined by coordinate transform1, Y1), it is calculated essence
True reference angle [alpha]It is real, fibre optic gyroscope measurement OR and horizontal angle to one measurement angle [alpha]Survey, impact point T and level
The angle β of lineSurvey。
Environment causes during measurement reference point R systematic error and the sum of the measurement error of instrument：Δθ1=Δ θSystem+
Δθ1 surveys, Δ θ1=αSurvey-αIt is real。
In measuring target point T：βIt is real=βSurvey+ΔθSystem-ΔβSurvey
So obtaining：X=lcos βIt is real=lcos [βSurvey+ΔθSystem-ΔβSurvey]
=lcos [βSurvey+ΔθSystem+（Δθ1 is even-Δθ1 surveys)-ΔβSurvey]
=lcos [βSurvey+ΔθSystem+Δθ1 is even-(Δθ1 is even+ΔβSurvey)]
=lcos [βSurvey+Δθ1-(Δθ1 is even+ΔβSurvey)]
Similarly：Y=lsin βIt is real=lsin [βSurvey+Δθ1-(Δθ1 is even+ΔβSurvey)]
Make γ=βSurvey+Δθ1(by known above), Δ γ=Δ θ1 is even+ΔβSurvey
Obtain x=lcos (γ-Δ γ)
Y=lsin (γ-Δ γ)；
There is a uncertainty u in fibre optic gyroscope production finished productFibre optic gyroscope.Angle is turned to by radian by Circular measure, by
The Transfer Formula of uncertainty
By uncertainty Transfer Formula N=lsinx when have the uncertainty u of NN=l | cosx | ux。
BecauseSo
Again because eliminating the systematic error that the factors such as environment cause by introducing known reference point R, make
The error for going out instrument is:
X actual values are obtained to fallIn the range of.
Similarly y actual values fallIn the range of.
In order that instrument can preferably carry out man-machine information interaction, display screen is specially installed and is used to show measurement and is calculated
Resulting data, while facilitating user to set and using the utility model.
Electronic compass is three-dimensional electronic compass, and with three axle magnetoresistive transducer measurement plane earth's magnetic fields, double-shaft tilt angle is compensated, 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 for obtaining target object.It is relative for measuring
Angle.
The part and structure that the present embodiment is not described in belong to well-known components and common structure or means, differ here
One narration.
Claims (1)
1. the remote accurate target alignment system of a kind of portable high-efficiency, it is characterised in that by GPS location instrument (1), target body phase
Position measurement structure and data processing unit are constituted；
Described GPS location instrument (1) is integrated in laserscope (6) center, and data processing unit is entered data into 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；Handle of the eyepiece adjusting knob (5) installed in laserscope (6) both sides
On hand, and rotation when pancratic eyepiece；Control reading button (9) is other installed in eyepiece adjusting knob (5), will can be measured after pressing
The relative position information for obtaining passes to data processing unit by interface；Display screen (7) installed in laserscope (6) just before
Side；Function button (8) is installed in display screen (7) both sides；
Described data processing unit includes memory (10) and processor (2), is integrated in laserscope center；Processor
(2) data measured by interface GPS location instrument (1) and objective body relative position measurement structure；Memory (10) and place
Reason device (2) connection, has data processing software and for data storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621220148.7U CN206270499U (en) | 2016-11-14 | 2016-11-14 | A kind of remote accurate target alignment system of portable high-efficiency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621220148.7U CN206270499U (en) | 2016-11-14 | 2016-11-14 | A kind of remote accurate target alignment system of portable high-efficiency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206270499U true CN206270499U (en) | 2017-06-20 |
Family
ID=59040203
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621220148.7U Expired - Fee Related CN206270499U (en) | 2016-11-14 | 2016-11-14 | A kind of remote accurate target alignment system of portable high-efficiency |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405603A (en) * | 2016-11-14 | 2017-02-15 | 南昌大学 | Portable efficient long-distance accurate target positioning system and positioning method |
| US11368670B2 (en) | 2017-10-26 | 2022-06-21 | Yeda Research And Development Co. Ltd. | Augmented reality display system and method |
-
2016
- 2016-11-14 CN CN201621220148.7U patent/CN206270499U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405603A (en) * | 2016-11-14 | 2017-02-15 | 南昌大学 | Portable efficient long-distance accurate target positioning system and positioning method |
| US11368670B2 (en) | 2017-10-26 | 2022-06-21 | Yeda Research And Development Co. Ltd. | Augmented reality display system and method |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170620 Termination date: 20181114 |