BG64107B1 - Navigational system - Google Patents

Abstract

The system is used in the security and life-saving groups. It allows stereoobservation, photographing in different scales of the photo, documentation of the co-ordinates of the watched site - geographical latitude and longitude, height, as well as the co-ordinates of the observer, the distance between observer and the site, the hour, date, the azimuth and the measurement scale by making use of data from a satellite navigational system. The photo camera can be nonreflexing and mirroreflexing using photographic film or being digital. If digital, the photo and the data can be transmitted to a satellite telecommunication system. High degree of utilization of the component elements can be attained in the navigational system. It is made of a minumum number of building components - two-part photographic objective lens (3) which is built in the casing of a photo camera (1) and is connected in parallel and in a mobile way with a visor (5). The connection between the two parts (2 & 4) of the photo objector lens (3) is effected by means of a dismantable connection (6) allowing the casing (1) to occupy three stable operating positions. 6 claims, 13 figures

Description

Technical field

The invention relates to a navigation system which is useful in photographing objects together with their coordinates, determined by a satellite navigation system.

BACKGROUND OF THE INVENTION

A device including a viewfinder, a photographic lens and a non-mirror-reflex camera is known. Its lens is designed as a two-piece with a rear part connected to the body of the camera and a front part that is connected in parallel and movably with the viewfinder, the connection between the front and rear part of the lens is made by a detachable connection / 1 /.

However, the instrument does not record on the photograph the coordinates of the observer as determined by satellite navigation equipment and does not allow to determine the distance to the observed object using the data from the photo.

Known navigation device that allows stereo surveillance, shooting at different scales, documenting coordinates - latitude and longitude, time and date. The coordinates are determined by satellite navigation system. The recording element is placed in front of a display made up of light-emitting diodes, which, when illuminated, record on the recording element the coordinates of the observer's place latitude, longitude, reading of the compass, measuring scale, time and date / 2 /.

The navigation instrument cannot determine the geographical coordinates - latitude and longitude, altitude, speed of the object of observation, and the distance between the observer and the object of observation cannot be quickly calculated.

A radar navigation system is known. It operates on the principle of reflection of electromagnetic waves from a metal surface. A radio signal is emitted from the transmitter to an object with a metal surface, the signal is reflected from the object and returned to the receiver of the radar system. The time between the transmission and reception of the signal is measured and the distance to the object is calculated, and the coordinates of the observed object are determined on the basis of it.

Due to the principle of operation of radar systems, it is not possible to document (register) the appearance of the observed object. Radar systems are relatively sophisticated, large in size and in weight. Requires qualified service personnel.

SUMMARY OF THE INVENTION

It is an object of the invention to provide a navigation system that serves to determine and capture the coordinates of the observed object, the coordinates of the observer, as well as the capture of the observed object itself. The coordinates are determined in a computational module using data from the satellite navigation system, azimuth and vertical angle sensors, a rangefinder, and keypad input.

The task is solved with a navigation system consisting of an optical and an electronic part. The optical part can be made in two variants. The first option is based on a non-reflex camera optical instrument that can take pictures at different scales and be used for stereo surveillance. The optical part consists of a viewfinder, a lens and a non-mirror-reflex camera. The lens is made of two parts - with front and back. The image on the recording element can be obtained on two scales using conventional lenses and at different scales using a zoom lens. When shooting at a normal scale, the light rays pass through the back of the lens, and when shooting at a large scale, the rays pass through the front and back of the lens. The lens with its rear is built into the camera body, and its front is connected in parallel and movably with a viewfinder. The connection between the front and back of the lens is made by a detachable joint, such as springs. The springs, along with the restraints that are located on the front of the lens, provide three stable positions for the camera body relative to the front of the lens. The brightness of the two-part lens is changed in two steps by the iris aperture mounted in the front. In the front of the lens is a compass-mounted azimuth sensor, a measuring scale whose readings are projected onto the camera's recording element. Large-scale sighting is done through a viewfinder that is placed in the viewfinder.

The electronic part of both versions of the navigation system is the same. It consists of satellite navigation equipment (CHA), which receives radio signals from navigation artificial satellites on earth (NIH). The NISH signals are processed by the CHA and the three-dimensional parameter of the observer's position is determined - longitude, latitude and altitude. When viewed with the camera, the azimuth and vertical angle at the given observation location are obtained from the observed object. In order for trigonometric dependencies to be used in determining the location of the observed object, we need to have the position information listed above at least at one more point. The calculation module processes latitudes, longitudes, altitudes, azimuths, vertical angles of at least two points and calculates latitude, longitude, and height of the observed object. When rapid coordinates are required or when the subject is mobile, two or more navigation systems located at different points may exchange information by cable or radio. Once the coordinates are specified, they can be captured with the observed object to which they refer. The resulting image, when the registration element is an electronic converter, can be transmitted electronically (eg GSM / telephone) to a satellite telecommunications system (eg Iridium, Globalstar).

The second variant of the navigation system is built on the basis of a mirror-reflex camera, which contains the CHA, a computing module, an azimuth sensor, a vertical angle sensor, a display for the data from the computing module. If the recording element is an electronic converter, the data from the computing module is programmed.

The advantages of the invention are the following: all important coordinates of the object being monitored (the three-dimensional position parameters) and the coordinates of the location from which it is monitored with the accuracy of the satellite navigation system are documented. The appearance of the observed object on various scales is documented. For the non-reflex camera, the navigation system can be used for stereo surveillance. The degree of usability of the constituent elements has been increased and as a result their number has been kept to a minimum. The system can operate anywhere on the earth, as it can work with two global satellite systems (GPS and Iridium). When operating the system, no special technical knowledge and skills are required of the service personnel.

Explanation of the annexed figures

Two exemplary embodiments of a navigation system according to the invention are shown in the accompanying drawings, of which:

Figure 1 is a general view of a navigation system constructed with a non-reflex camera on a large-scale shooting;

Figure 2 is a general view of a navigation system for normal-scale shooting and stereo surveillance;

Figure 3 is a general view of a navigation system for stereo surveillance and transportation;

Figure 4 is a sectional view of a large-scale image navigation system;

Figure 5 is an iris diaphragm, two-positioned in the front lobe 4 of lens 3;

figure 6 is a viewfinder frame 32;

Figure 7 is a sectional view of a navigation system constructed with a SLR camera;

Figure 8 is a drawing illustrating close-up photographs of a distant object close-up together with location data;

9 is a drawing illustrating a photograph of a distant object in a normal plan together with location data;

Figure 10 is a drawing of a terrain showing the location of an observer - item A and item B, and the observed object - item C;

Figure 11 is an exemplary configuration of a navigation system with shown directions of information flows;

Figure 12 is a general view of a navigation system constructed with a non-reflex camera and a rangefinder;

Figure 13 is a block diagram.

An exemplary embodiment of the invention

According to one embodiment of the first embodiment, the navigation system consists of a body of camera 1 in which the rear part 2 of a two-part lens is embedded 3. The front part 4 of the lens 1 is connected in parallel and movably to the viewfinder 5. The connection between the front part 4 and the rear part 2 of the two-part lens is made by a detachable joint 6, in this case two springs. There are restraints on the front part 4

7. The viewfinder 5 consists of a lens 9 that is achromatic in structure and an eyepiece 10 that is Erfle eyepiece in construction. The front part 4 of the lens 3 consists of a lens 11, which is by design an "Aplanat", and an eyepiece 12, which by construction is an eyepiece of Erfle. The rear lobe 2 of the lens 3 is anastigmat - Triplet. The diameters (relative apertures) of lens 11 and eyepiece 12 are larger than the respective diameters of lens 9 and eyepiece 10. The lens 11 is more light-gray than lens 9, and to a greater extent eliminates the aberrations required by photographic lenses. The lens of the lens 11 is adjusted by two steps through the iris aperture 13. The finger 15 is fixed to the moving ring 16 of the aperture 13. When the housing 1 of the camera touches the housing of the front 4, the pin 14 pushes the finger 15, the moving ring 16 of the aperture 13 rotates and the diameter of the hole 17 narrows. In this position, the lenses of the lens 11 are aligned with the lenses of the lens

9. When the camera body 1 does not touch the lateral face of the front 4, the spring 18 pulls the diaphragm 13 on the movable ring 16 and the diameter of the aperture 17 increases. In this position, when close-ups are taken, the lenses of the lens lie greater than the lenses of the lens 9. Camera 1 has a viewfinder

19. A compass is mounted in the front compartment 4 - an electronic sensor for azimuth 20 and a measuring 5 scale 21. An electronic sensor for a vertical angle 38 is also built in. Satellite navigation equipment 53 and a computing module (IM) 35 are located in the housing of the front compartment 4 and in the viewfinder housing 5. The data from the CHA and 10 IMs are transmitted to the display 22 of the camera 1 through the optical system of the two-part lens 3. In the front part 4 there is an emitter of infrared rays 33 and in the camera 1 - a receiver of infrared 15 rays 34. On the housing of the front partition 4 is a p a slot 36, and on the body of the camera 1 a window 37 which serves to transmit the infrared rays between the transmitter 33 and the receiver 34 during normal shooting. The viewfinder 5 has a viewfinder scale 32. The photosensitive band 8 is positioned in front of the display 22, the display being filled with LEDs. LED readings are recorded on the photographic tape when they emit light. The following information is posted on the instrument photo: the observed object, the latitude of the observer 39, the latitude of the observed object, only figures other than the latitude of the observer 40, the longitude of the observer 41, the longitude of the observed object are documented. only the numbers other than the longitude of the observer 42, the height of the observer 43, the height of the observed object 44, the projection of the compass 20, the reading of the sensor for the self are documented imote 45, hour 46, date 47, distance between observer and observed object 48, scale (distance) scale 21, speed 57.

Another variant of the navigation system consists of a mirror reflex camera 49 with a lens 50. The camera incorporates CHA 53 and IM 35, azimuth sensor 20, vertical angle sensor 38. Behind the photographic band 8 is the data display 22. The measuring scale is the measuring scale 22. filled with cross LEDs on display 22, the number of which illuminates smoothly and is projected into the viewfinder, against the background of the object. The IM 35 plugs have data connectors: a cable port 51 and a radio channel port 52.

The navigation system provides for the possibility of including a rangefinder attachment, for example, a laser rangefinder 56 (Fig. 12), which has a lens 54th, eyepiece 55. The laser beam is parallel to the optical axis of the viewfinder 5 and the data from the rangefinder 56 enter the computational module 35.

The block diagram of a navigation system 60 that exchanges data with another navigation system 58 over a radio channel is shown in FIG. 13. The two navigation systems are interconnected directly or through a telecommunication satellite 59. Data from: CHA 53 - latitude φ, longitude λ, altitude h; from the azimuth sensor 20 - azimuth Λ; from the vertical angle sensor - angle β; from the rangefinder - distance 1; from the keyboard 61 - the dimensions of the observed object δ and the number of divisions η of the scale 21. The result and the photo on a digital camera can be transmitted at a distance with a transmitter 57, the connection between the transmitter 57 and the BM 35 is two-way.

Use of the invention

In close-up shooting (Fig. 4), the light rays pass through the front part 4 and through the back part 2 of the two-part lens 1 and reach the photographic lane 8, with the sight being made through the viewfinder 5 with the viewfinder 32. With the right eye to the cameraman. The springs 6 (Fig. 1) provide a fixed position of the two sections of the lens 3 towards each other. Stereo monitoring is performed by observing with both eyes through the viewfinder 5 and through the front 4. When the camera is not required and during transportation, the camera body 1 is in a stable position (Fig. 3) provided by the springs 6 and the restraints 7 Stereo surveillance and normal shooting (Fig. 2) is performed by placing the camera body 1 in the restraints 7. In this position (Fig. 2) the optical axes of the front part 4 and the rear part 2 are parallel to each other. When shooting normally, without stereo surveillance (Fig. 2), the left eye is viewed through the viewfinder 19 of camera 1. In determining the location of a fixed object, it is sufficient to use a navigation system, and the observed object should to be photographed from two different places. In the calculation module 35, the data for the first place - item A (Fig. 10): the latitude φ _Α , the longitude λ _Α , the height h _A , the azimuth of the observed object - item C from item A, and ,, the vertical angle to the object - point C of τ. A, β ,. In order to document this data together with the observed object, a photo of the object is taken from the first location - item A, and the listed parameters can be documented on the recording element (photocell, electronic converter). The observer then occupies a second location - item C (Fig. 10), performs the same actions as described above, and in the IM 35 the data for τ arrives. In: φ _Β , λ _Β , h _B , Oj, β ₂ . The calculations in IM 35 are performed in the following sequence (Fig. 10):

1. Design Δ ABC in Δ AED, which is located in a horizontal plane.

2. Calculate the length of the segment AE, which is the projection of the segment AB in the horizontal Δ AED. Therefore, the coordinates of τ are used. A (φ _Α , λ _Α ) and τ. In (<p _in , λ _Β ). It is taken into account that item C and item E have the same coordinates (width and length).

3. Calculate 4σ between the segment AB (AE) and the north pole.

4. Calculate 4 EAD »4α, - <σ

5. Calculate 4AED = 180 ° - (4¾ - 4σ).

6. It is decided Δ AED at known sides AE and two adjacent angles - determine the lengths of the other two sides AD and ED.

7. Calculate the geographical coordinates of item D by known coordinates of item A (φ _Α , λ _Α ), the length of the side AD, and the azimuth of item D in item A: a. The geographical coordinates φ and λ of item D and item C are the same.

8. Calculate the height of item C relative to item D. The rectangular Δ ADC on given sides AD and 4 DAC β ₁ is decided. The length of the DC segment is calculated. The height of the point C, h _c -h _A + DC.

9. Calculate the distance to the object AC = 1 by: rectangular Δ ADC, side AD, 4 DAC - β _Ι .

In the second way of determining the coordinates of item C, the calculations in IM 35 are performed in the following sequence.

1. With a rangefinder (for example, a laser) the distance AC 1 is determined (Figs. 10 and 13).

2. In the right triangle ACD, calculate the side CD by given AC and <β].

3. The height h _c "h _A + CD is calculated.

4. In the right triangle ACD, by country AC and 1: β], calculate the side

AD.

5. Calculate the geographical coordinates φ and λ of item D by known coordinates of item A (<p _A , λ _Α ), the length of the section AD and the azimuth of item D at point A: a. The points D and C have the same latitudes and longitudes.

In the third way, the coordinates of the observed object - item C are manually determined without using the IM 35.

1. The distance 1 to the object of observation - item C (Fig. 10), 1 ⁼ AC is determined at known dimensions δ of the object. The figure counts the number η of the divisions from the measuring (scale) scale 21 that correspond to the observed object (Fig. 8). The distance 1 is determined by the formula in which it is a function of the number of divisions η: 1 - δ, where K is a coefficient.

2. Since the image is recorded azimuth of the object being viewed (Fig. 8): a _d

3. At known vertical angle β _] and distance 1 to the object, the height of item C is calculated with respect to item A (Fig. 10). h _c «h _A + CD.

4. Determine the distance AD by given -t β ₁ and distance AC - = 1.

5. The geographical coordinates φ and λ of item D are calculated, which are the same as the coordinates of the observed object - item C for known: geographical coordinates of the place from which <p _A and λ _Α , azimuth of the object item t. C, cq and distance AD.

In the fourth way, the coordinates of the observed object are calculated in BM 35, with the data δ and η being entered in BM 35 of the keyboard 61. The sequence of calculations is as in the third way.

When determining the location of a moving object, or if it is necessary to quickly calculate the coordinates of a moving object, at least two navigation systems interconnected must be used. In this case, FIG. 10 it should be specified that the navigation systems are located simultaneously at points A and B and that point C is movable. The two observers located at points A and B must observe the moving object C at the sight of their cameras. Data are exchanged between the navigation systems for φ, λ, h, α, β via radio or cable. Each navigation system is able to independently determine the coordinates of the moving object C using the data from the second navigation system.

When the camera used in the navigation system is digital, the image of the subject, together with the data: φ, λ, h, α, β, can be transmitted remotely via telecommunication satellites. For this purpose, a data port 52 is mounted in the navigation system where a digital telephone is connected, for example a GSM system, which transmits the picture and coordinates to a satellite, for example the Iridium system - FIG. 11.

Claims (6)

Claims A navigation system comprising a two-part lens, a camera, a viewfinder, a detachable joint, a recording element located in front of a display, characterized in that satellite navigation equipment (53) is connected to a computing module (35) determining the coordinates of the observed object (53). , azimuth sensor (20) and vertical angle sensor (38). 2. The navigation system according to claim 1, characterized in that the computing module (35) is coupled to a laser rangefinder (56). Navigation system according to claim 1, characterized in that the recording element (8) is placed in front of a display (22) made up of light-emitting diodes recording on the recording element (8) the latitude (39) and longitude (41) of the navigation system. the observer, the latitude (40) and longitude (42) of the object of observation, the height (43) of the observer, the height (44) of the object, the distance between the observer and the object (48), the speed of the object (57), the readings of the compass (45), hours (46) and date (47). A navigation system according to claim 1, characterized in that the data exchange between the two navigation systems is carried out via a cable connection. A navigation system according to claim 1, characterized in that the camera (49) is a mirror reflex. 5 The navigation system according to claim 1, characterized in that a keypad (61) for manual data entry is connected to the computing module (35).