CN101726294A - Method and system for positioning - Google Patents

Abstract

The invention discloses a positioning system comprising an optical module, a target calibrating device, an acceleration transducer and a data processing unit, wherein the optical module is used for aligning with a target required to be measured; the target calibrating device is used for recording azimuth angle data of the target; the acceleration transducer is used for recording acceleration data; and the data processing unit is used for processing the acceleration data and the azimuth angle data and determining the position of the target.

Description

The method and system of location

Technical field

The method and system that present disclosure relates generally to locate.

Background technology

Traditional location, navigation depend on method of astronomy and gps system substantially, and distance measuring method then mainly is to utilize parallax and laser ranging.Yet,, therefore can not be applied to the individual and use because traditional parallax range measurement system and gyroscope system is difficult to miniaturization.Therefore and be not suitable for the hidden situation that needs and the laser ranging mode need be launched laser pulse to target, and easily is detected.

Disclosure

Present disclosure provides a kind of localization method on the one hand, and described method comprises the following steps: the bearing data of record object; Recording acceleration data, and the position of determining described target based on described target direction angular data and described acceleration information.

Present disclosure a kind of positioning system is provided on the other hand, described system comprises: optical module is used to aim at the target that needs are measured; The target caliberating device is used to write down described target direction angular data; Acceleration transducer is used for recording acceleration data; Data processing unit, the position that is used to handle described acceleration information and described bearing data and definite described target.

Foregoing is a summary, and therefore comprises simplification, summary and the omission of details inevitably; Therefore, it only is illustrative that those of ordinary skill in the art will understand this summary, and is not intended to restriction by any way.In the instruction of here illustrating, other aspects, the feature and advantage of these equipment described here and/or process and/or other themes will become apparent.Provide this summary to select, in embodiment, can further describe this notion below and select with the notion of introducing reduced form.This summary also is not intended to key feature or the essential feature of discerning claimed theme, also is not intended to be used as the auxiliary scope of determining claimed theme.

Description of drawings

In conjunction with the accompanying drawings, by following description and appended claim, it is more complete apparent that above-mentioned and other features of the present disclosure will become.Understand that these accompanying drawings only illustrate according to several embodiments of the present disclosure, and therefore be not considered to limit its scope, so will utilize supplementary features and details to describe the disclosure by using accompanying drawing.

Fig. 1 is the schematic block diagram according to the positioning system of an embodiment of present disclosure;

Fig. 2 is the process flow diagram according to the localization method of an embodiment of present disclosure;

Fig. 3 is the geometric relationship synoptic diagram according to an embodiment of present disclosure;

Fig. 4 is the process flow diagram according to the localization method of another embodiment of present disclosure; And

Fig. 5 is the geometric relationship synoptic diagram according to another embodiment of present disclosure.

Embodiment

In the detailed description hereinafter, with reference to the accompanying drawing of a part that forms this instructions.In the accompanying drawings, similar Reference numeral is often referred to similar parts of generation, unless point out separately in the context.Illustrative examples described in detail specifications, accompanying drawing and claims also is not intended to restriction.Under situation about not departing from, can adopt other embodiment, and can carry out other variations in the spirit and scope of this main body that represents.Understandablely be, this roughly describe and accompanying drawing in the each side of illustrated present disclosure can in wide in range configuration variation, arrange, replace, make up, break and design, all these are all taken explicitly into account in this.Fig. 1 is the schematic block diagram according to the positioning system 100 of an embodiment of present disclosure.As shown in Figure 1, this system 100 comprises optical module 102, target caliberating device 104, acceleration transducer 106, data processing unit 108 and data dump device 110.Wherein said optical module 102 can be the telescope assembly for example.Described optical module 102 can have the position angle scale mark, is used to aim at the target that needs are measured, and writes down this target direction angle.When aiming at the target that needs to measure by optical module 102, start target caliberating device 104, be positioned at the target at center, the optical module visual field, the position angle of writing down its current time with demarcation.Target caliberating device 104 and angulation scale line can be configured to the part of optical module 102, also can be the devices that is independent of outside the optical module 102.When starting target caliberating device 104, be transmitted to data processing unit 108 according to the corresponding bearing data of position angle scale mark of correspondence.Acceleration transducer 106 for example can adopt the acceleration transducer array, is used for gathering and recording acceleration data.Described acceleration information can be three-dimensional (3D) acceleration information.Acceleration transducer 106 can be the multiple degrees of freedom acceleration transducer, and it not only can gather the three-dimensional acceleration data, can also draw angle variable quantity based on the three-dimensional acceleration data of being gathered, and this angle variable quantity is the poor of twice angle that fixes the position.Also can among the optical module 102 or outside comprise electronics or magnetic compass system or measurement of higher degree system (not shown), with the auxiliary record angle variable quantity, thus the precision of improve measuring.Data processing unit 108 is used to store and handle acceleration information and the angle variable quantity from acceleration transducer 106 or electronics or magnetic compass system, and from the described bearing data of described target caliberating device 104.Data dump device 110 is used to remove the data of record before this, and this device can be the data dump button, log-on data scavenge unit 110, and then the instruction that will clear data sends to data processing unit 108.Subsequent data processing unit 108 is with the predetermined data set in this system 100 or all data dumps.Data processing unit 108 can comprise CPU and the storer that has been used for control and computing effect.Outside data processing unit 108, also independent storer can be set, be used to store data.Data processing unit 108 can comprise one or more CPU and one or more storer.

Fig. 2 is the process flow diagram according to the localization method of an embodiment of present disclosure.In step 202, use optical module 102 to aim at the target C that will measure at primary importance A, start target caliberating device 104 this moment, the data processing unit 108 of system 100 is demarcated instruction from target caliberating device 104 receiving targets, and obtains the first party parallactic angle θ of current time according to the position angle scale of target correspondence ₁, and with this first party parallactic angle θ ₁Be stored in the data processing unit 108, also can be stored in the independent storer.Data processing unit 108 control acceleration transducers 106 records are from the acceleration information a of this system 100 of (T1 constantly) beginning at this quarter afterwards.In step 204, described system 100 moves to second place B.In step 206, reusing optical module 102 aims at described target C and starts target caliberating device 104 once more, data processing unit 108 is demarcated instruction from target caliberating device 104 receiving targets, and obtains the second party parallactic angle θ of current time T2 according to the position angle scale of target correspondence ₂, and with this second party parallactic angle θ ₂Be stored in the data processing unit 108.Similarly, also can be stored in the independent storer.Simultaneously, data processing unit 108 control acceleration transducers 106 from this moment T2 stop to write down described acceleration information a.In step 208,108 pairs of data processing units are analyzed computing from all acceleration information a of acceleration transducer 106 (and/or electric or magnetic platform compass system) alternatively.These acceleration informations a can be the three-dimensional acceleration data.Will speed up degrees of data a by twice integration (integration once can get speed v, twice of integration can at the displacement S of integration time interval T1 in the T2), be carved into the T2 S of displacement in the horizontal and vertical directions constantly in the time of can obtaining from T1 _x, S _yThereby, obtain primary importance A between the second place B apart from S and direction θ.

$\mathrm{\&theta;}=|{\mathrm{\&theta;}}_2-{\mathrm{\&theta;}}_1|,S_x={\&Integral;}_{T1}^{\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">T</figure-callout>}2}{\&Integral;}_{T1}^{T2}{a}_x\mathrm{dtdt},$ $S_y={\&Integral;}_{T1}^{\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">T</figure-callout>}2}{\&Integral;}_{T1}^{T2}{a}_y\mathrm{dtdt},\stackrel{\&RightArrow;}{S}=\stackrel{\&RightArrow;}{S_x}+\stackrel{\&RightArrow;}{S_y}.$

In step 210, based on described first party parallactic angle θ ₁, second party parallactic angle θ ₂And primary importance A between the second place B apart from S and direction θ, as shown in Figure 3, by leg-of-mutton geometric relationship calculate primary importance A to target C apart from S ₁And second place B to target C apart from S ₂Thereby, realize location to target C.

Fig. 3 is the geometric relationship synoptic diagram according to an embodiment of present disclosure.Wherein writing down described position angle scale mark is 0 degree with positive north, the angle descriptive system that increases progressively clockwise.As the corresponding due east of 90 degree, position angle.As shown in Figure 3, for convenience of description, primary importance A is 90 degree to the direction θ between the second place B.According to above-mentioned steps obtain between some A and the some C apart from S ₁And some B and point between the C apart from S ₂Just can realize location to a C.For instance, suppose first party parallactic angle θ ₁Be 30 degree, second party parallactic angle θ ₂Be 150 degree, some A is 1000 meters to some B's apart from S, so according to following formula

$S_1^2={\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">S</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">S</figure-callout>}}_2^3-2{\mathrm{<figure-callout\; id="2"\; label="SS"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">SS</figure-callout>}}_2\cos (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&theta;}}_2)$

And $S_1\sin (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&theta;}}_1)={\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">S</figure-callout>}}_2\sin (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&theta;}}_2)$

Can calculate S ₁And S ₂It is respectively 1000 meters.Therefore, to be positioned at apart from 1000 meters of A points and apart from the B point also be 1000 meters position (angle of given example is more special) to target C.

After finishing aforesaid operations, but log-on data scavenge unit 110 clear data, to begin new positioning action.And system 100 also can continue to move to next observation position, takes multiple measurements so that reach higher degree of accuracy.The process flow diagram of method of operating in the case is shown among Fig. 4.In step 402, use optical module 102 to aim at the target C that will measure at primary importance A, start target caliberating device 104 this moment, the data processing unit 108 of system 100 is demarcated instruction from target caliberating device 104 receiving targets, and obtains the first party parallactic angle θ of current time according to the position angle scale of target correspondence ₁, and with this first party parallactic angle θ ₁Be stored in the data processing unit 108 or in the independent storer.And this moment, data processing unit 108 control acceleration transducers 106 write down from the acceleration information a of this system 100 of (T1 constantly) beginning at this quarter.In step 404, described system 100 moves to second place B.In step 406, reusing optical module 102 aims at described target C and starts target caliberating device 104 once more, data processing unit 108 is demarcated instruction from target caliberating device 104 receiving targets, and obtains the second party parallactic angle θ of current time T2 according to the position angle scale of target correspondence ₂, and with this second party parallactic angle θ ₂Be stored in the data processing unit 108 or in the independent storer.In step 408, described system 100 moves to the 3rd position B1.In step 410, reusing optical module 102 aims at described target C and starts target caliberating device 104 once more, data processing unit 108 is demarcated instruction from target caliberating device 104 receiving targets, and obtains third party's parallactic angle θ of current time T3 according to the position angle scale of target correspondence ₃, and with this third party's parallactic angle θ ₃Be stored in the data processing unit 108 or in the independent storer.Simultaneously, data processing unit 108 control acceleration transducers 106 from this moment T3 stop to write down described acceleration information a.In step 412,108 pairs of data processing units are analyzed computing from all acceleration information a of acceleration transducer 106 (and/or electric or magnetic platform compass system) alternatively.Will speed up degrees of data a by twice integration, be carved into the T2 S of displacement in the horizontal and vertical directions constantly in the time of can obtaining from T1 _x, S _yThereby, obtain primary importance A between the second place B apart from S and direction θ, and be carved into the T3 S ' of displacement in the horizontal and vertical directions constantly when obtaining from T2 _x, S ' _yThereby, obtain between second place B to the three position B1 apart from S ' and direction θ '.

$\mathrm{\&theta;}=|{\mathrm{\&theta;}}_2-{\mathrm{\&theta;}}_1|,S_x={\&Integral;}_{T1}^{\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">T</figure-callout>}2}{\&Integral;}_{T1}^{T2}{a}_x\mathrm{dtdt},$ $S_y={\&Integral;}_{T1}^{\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">T</figure-callout>}2}{\&Integral;}_{T1}^{T2}{a}_y\mathrm{dtdt},\stackrel{\&RightArrow;}{S}=\stackrel{\&RightArrow;}{S_x}+\stackrel{\&RightArrow;}{S_y},$

${\mathrm{\&theta;}}^{\&prime;}=|{\mathrm{\&theta;}}_3-{\mathrm{\&theta;}}_2|,S_x^{\&prime;}={\&Integral;}_{T2}^{T3}{\&Integral;}_{T2}^{T3}{a}_x\mathrm{dtdt},$ $S_y^{\&prime;}={\&Integral;}_{T2}^{T3}{\&Integral;}_{T2}^{T3}{a}_y\mathrm{dtdt},\stackrel{\&RightArrow;}{S^{\&prime;}}=\stackrel{\&RightArrow;}{S_x^{\&prime;}}+\stackrel{\&RightArrow;}{S_y^{\&prime;}}.$

In step 414, based on described first party parallactic angle θ ₁, second party parallactic angle θ ₂, third party's parallactic angle θ ₃And primary importance between the second place apart from S and direction θ, between second place B to the three position B1 apart from S ' and direction θ ', as shown in Figure 5, by leg-of-mutton geometric relationship calculate primary importance A to target C apart from S ₁, second place B to target C apart from S ₂And the 3rd position B1 to target C apart from S ₃Thereby, realize location to target C.The coordinate of A, B, B1, C of setting up an office be respectively (X1, Y1), (X2, Y2), (X3, Y3) (X4, Y4) because

With

If the horizontal ordinate information that itself has comprised displacement is so that (X1 Y1) is true origin, and then the coordinate of B, B1 is known.According to above symbol description, then have:

$\left\{\begin{array}{c}y=\cot \left({\mathrm{\&theta;}}_1\right)(x-X1)+Y1\\ y=\cot \left({\mathrm{\&theta;}}_2\right)(x-X2)+\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="H2008101673380E0000021.png"\; state="\{\{state\}\}">Y</figure-callout>}2\end{array}\right.$ With $\left\{\begin{array}{c}y=\cot \left({\mathrm{\&theta;}}_2\right)(x-X2)+Y2\\ y=\cot \left({\mathrm{\&theta;}}_3\right)(x-X3)+Y3\end{array}\right.,$

Separate this two equation and can obtain two groups of C point coordinate (consider and may have error), both obtain behind the simple weighted average (X4 Y4) can think the position of target C.

Should be appreciated that in above-mentioned another embodiment shown in Figure 4, can not utilize between second place B to the three position B1 apart from S ' and direction θ ', and utilize distance between primary importance A to the three position B1.By similar geometrical calculation method, can realize location equally to target C.It is to be further understood that as required, can demarcate more frequently target fully, and, realize location target by similar computing method.

According to present disclosure, also can realize location by observation to prominent feature to system 100 self, particularly, prominent feature is respectively at the primary importance A of known location and the second place B of known location, 100 positions of system at described target C, carrying out shown in above-mentioned Fig. 2 operation can realize can measuring the target of any unknown position at any time afterwards, and marking on map the location of system 100 self.

Although shown and described present disclosure with reference to the particular of present disclosure, but those of ordinary skill in the art will understand, under the situation of the spirit and scope that do not depart from present disclosure, can carry out aforementioned therein and other form and variations in detail, include but not limited to interpolation, minimizing or modified elements or substitute, and/or add, reduce or revise the step of carrying out with identical or different order with equivalent.

Difference between the hardware and software of the various aspects of these systems is realized seldom; Use hardware or software usually (but not always, can be very important) because in specific environment, between hardware and software, select be of the design alternative of expression cost with respect to efficiency trade-off.Have various tool now, can be implemented in process and/or the system and/or the other technologies (for example, hardware, software and/or firmware) of this description thus, and preferred kit will change with the environment of layoutprocedure and/or system and/or other technologies.For example, be most important if the implementer determines speed and degree of accuracy, the implementer can select main hardware and/or firmware instrument so; If dirigibility is most important, the implementer can select main software to realize so; Perhaps, once more alternatively, the implementer can select certain combination of hardware, software and/or firmware.

The various embodiments of foregoing detailed description has passed through to have used block diagram, process flow diagram and/or Examples set these equipment and/or process.Comprise at such block diagram, process flow diagram and/or example under the situation of one or more functions and/or operation, those of ordinary skill in the art will understand, can be separately and/or jointly by various hardware, software, firmware or in fact its any combination realize each function and/or operation in such block diagram, process flow diagram and/or the example.In one embodiment, can realize the several sections of theme described here by special IC (ASIC), field programmable gate array (FPGA), digital signal processor (DSP) or other integrated forms.Yet, those of ordinary skill in the art will recognize, in integrated circuit, can realize on an equal basis aspect some of all or part of embodiment disclosed herein, as operate on one or more computing machines one or more computer programs (for example, as operate in one or more programs on one or more computer systems), as operate on one or more processors one or more programs (for example, as operate in one or more programs on one or more microprocessors), as firmware, or as in fact its any combination, and recognize according to disclosure design circuit and/or write software and/or the skill of the code of firmware with complete one skilled in the relevant art within.In addition, those of ordinary skill in the art will understand, theme mechanism described here can be distributed as various forms of program products, and can use theme described here illustrative embodiment and no matter be used for the particular type of the signal bearing medium of actual this distribution of execution.The example of signal bearing medium includes, but are not limited to following content: such as the recordable-type media of floppy disk, hard drive, CD (CD), digital video disk (DVD), numerical tape, computer memory etc.; And such as the transmission type media (for example, fiber optic cables, waveguide, wire communication link, wireless communication link etc.) of numeral and/or analogue communication medium.

Those of ordinary skill in the art will recognize, describe equipment and/or process in the mode of illustrating at this, and after this use engineering practice with described equipment and/or process integration in data handling system, be common in the art.That is to say that the experiment by reasonable amount can be with equipment component at least described here and/or process integration in data handling system.Those of ordinary skill in the art will recognize, typical data handling system generally includes one or more system unit shells, video display apparatus, such as the storer of volatibility and nonvolatile memory, such as the processor of microprocessor and digital signal processor, such as the computational entity of operating system, driver, graphical user interface and application program, such as one or more interactive devices of touch pad or screen, and/or comprise feedback cycle and control the motor (feedback that for example, is used for sensed position and/or speed; The control motor that is used for mobile and/or adjusting part and/or quantity) control system.Typical data handling system can utilize any suitable commercially available assembly to realize, such as those assemblies of finding in data computation/communication and/or network calculations/communication system usually.

Theme described here has illustrated the different assemblies that are included in different other assemblies or are connected to different other assemblies sometimes.Be to be understood that illustrated structure only is exemplary, and in fact can realize obtaining a lot of other structures of identical function.On the meaning of notion, any arrangement of components that obtains identical function is all by " association " effectively, so that obtain the function of expectation.Therefore, can regard each other " association " as at any two assemblies of this combination,, and not consider structure or intermediate module so that obtain the function of expectation for obtaining specific function.Equally, so related any two assemblies can also be regarded as each other " being operably connected " or " operationally coupling " function to obtain to expect, and can also be regarded as each other " can operate and can be coupled " to obtain the function of expectation by so related any two assemblies.But can operate the object lesson that can be coupled include but not limited to physics pairing and/or physics interactive component and/or wireless can be alternately and/or wireless interaction assembly and/or logic alternately and/or the logic interactive component.

About in these a large amount of any plural numbers and/or singular references used, those of ordinary skill in the art can be fit to environment and/or application and be transformed into plural number from the complex conversion to the odd number and/or from odd number.For clarity sake, clearly illustrated the displacement of various singular/plural at this.

Those of ordinary skill in the art will understand, usually, at this and especially in the appended claims (for example, claims itself) term that uses in as " open " term (is for example wished usually, term " comprises (including) " should be interpreted as " including but not limited to ", term " has " should be interpreted as " having at least ", and term " comprises (includes) " and should be interpreted as " including but not limited to " etc.).Those of ordinary skill in the art also will understand, if be intended that the concrete quantity of the claim of introducing record, in this claim, will clearly put down in writing such intention, and under the situation that does not have such record, just not have such intention.For example, for helping to understand, below appended claim can comprise and use introductory phrase " at least one " and " one or more " to put down in writing to introduce claim.Yet, use such phrase should not be interpreted as hint, introducing any specific rights that claim record will comprise the claim record of such introduction by indefinite article " (a) " or " one (an) " requires to be restricted to and only comprises an invention of record like this, even when same claim comprises introductory phrase " one or more " or " at least one " and such as the indefinite article of " (a) " or " (an) " (for example, " one (a) " or " one (an) " should be interpreted into the meaning usually be " at least one " or " one or more "); Concerning being used to introduce the claim record, sets up too the use definite article.In addition, even clearly put down in writing the concrete quantity of the claim of introducing record, those of ordinary skill in the art will recognize, such record (for example should be interpreted into quantity that the meaning is at least to be put down in writing usually, only record " two records ", do not have other modifiers, the meaning is at least two records usually, perhaps two or more records).In addition, be similar in use " at least one among A, B and the C; etc. " those situations of idiom under, such explanation usually wishes it is the meaning (for example, " having at least one the system among A, B and the C " will include but not limited to have A separately, has B separately, have C separately, have A and B, have A and C, have B and C and/or have the system of A, B and C etc.) of this idiom that those of ordinary skill in the art understands.Be similar in use " at least one among A, B or the C; etc. " those situations of idiom under, such explanation usually wishes it is the meaning (for example, " having at least one the system among A, B or the C " will include but not limited to have A separately, has B separately, have C separately, have A and B, have A and C, have B and C and/or have the system of A, B and C etc.) of this idiom that those of ordinary skill in the art understands.Those of ordinary skill in the art also will understand, no matter in instructions, claims still are accompanying drawing, representing in fact that any adversative of two or more alternative terms and/or phrase all are to be understood as contains of comprising in the term, any one of term or the possibility of these two terms.For example, phrase " A or B " will be understood as that the possibility that comprises " A " or " B " or " A and B ".

Although disclose the various aspects of these embodiments at this, other aspects and embodiment will be apparent to those of ordinary skill in the art.Various aspects disclosed herein and embodiment are for purposes of illustration, and are not intended to restriction, and real scope and spirit are represented by following claim.

Claims (9)

1. localization method, described method comprises the following steps:

The bearing data of record object;

Recording acceleration data;

Determine the position of described target based on described target direction angular data and described acceleration information.

2. method according to claim 1 wherein writes down described target direction angular data and also comprises the following steps:

First party parallactic angle and opening entry acceleration information in primary importance record first target constantly; And

In the second party parallactic angle of second place record second described target constantly and stop to write down described acceleration information.

3. method according to claim 2 determines that wherein the position of described target also comprises the following steps:

Determine the position of described target based on described first party parallactic angle, second party parallactic angle and acceleration information.

4. method according to claim 2 also comprises the following steps:

The described acceleration information of integration is to obtain primary importance to distance between the second place and direction; And

To distance between the second place and direction, calculate primary importance range-to-go and second place range-to-go based on described first party parallactic angle, second party parallactic angle and primary importance.

5. method according to claim 1, wherein said acceleration information comprises the three-dimensional acceleration data.

6. positioning system, described system comprises:

Optical module is used to aim at the target that needs are measured;

The target caliberating device is used to write down described target direction angular data;

Acceleration transducer is used for recording acceleration data; And

Data processing unit, the position that is used to handle described acceleration information and described bearing data and definite described target.

7. system according to claim 6 further comprises the data dump device, is used for removing the data of this system.

8. system according to claim 6 further comprises electronics or magnetic compass system and measurement of higher degree system.

9. system according to claim 6, wherein said acceleration information comprises the three-dimensional acceleration data.

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