CN102967308A - Three-dimensional positioning method of long-distance any target - Google Patents
Three-dimensional positioning method of long-distance any target Download PDFInfo
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- CN102967308A CN102967308A CN2012105309972A CN201210530997A CN102967308A CN 102967308 A CN102967308 A CN 102967308A CN 2012105309972 A CN2012105309972 A CN 2012105309972A CN 201210530997 A CN201210530997 A CN 201210530997A CN 102967308 A CN102967308 A CN 102967308A
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Abstract
The invention relates to a fast three-dimensional positioning method of a target, and particularly relates to a positioning method of any long-distance target. The positioning method of any long-distance target is characterized by at least comprising a first reference target positioning unit and a second reference target positioning unit, wherein the space positioning units of the first reference target positioning unit and the second reference target positioning unit determine the distance and space orientation between the first reference target positioning unit and the second reference target positioning unit; an included angle between the first reference target positioning unit and the second reference target positioning unit and a target body is acquired by the first reference target positioning unit through an optical method, and an included angle between the second reference target positioning unit and the first reference target positioning unit and the target body is acquired by the second reference target positioning unit through the optical method. The invention provides the three-dimensional positioning method of any long-distance target with a target distance difficult to measure.
Description
Technical field
The present invention relates to a kind of localization method of quick three-dimensional localization method, particularly a kind of remote arbitrary target of target.
Background technology
The three-dimensional localization of moving target has by radiolocation, by the emission radiowave, obtains the Doppler signal of echo, also has by optical theodolite, infrared tracker, GPS, radar etc., is used for satisfying different location requirement.The global location of moving target is the global location device to be installed finish in the moving target body, requires to obtain the global positioning information of moving target, obviously needs measurement or moving target to provide information.Enemy's moving target is to provide the global positioning information of controlling oneself, need to be by surveying instrument.
If be to realize this task by two definite positioning bodies by range finding, but being the information of two definite positioning bodies, prerequisite known by a side.
Summary of the invention
The 3-D positioning method that the purpose of this invention is to provide the remote arbitrary target that a kind of target range can't measure.
The object of the present invention is achieved like this, a kind of 3-D positioning method of remote arbitrary target, it is characterized in that: comprise at least the first reference target positioning unit, the second reference target positioning unit, determine distance and dimensional orientation between the first reference target positioning unit and the second reference target positioning unit by the space orientation unit of the first reference target positioning unit and the second reference target positioning unit, obtained the angle of the first reference target positioning unit and the second reference target positioning unit and objective body by optical means by the first reference target positioning unit, obtained the angle of the second reference target positioning unit and the first reference target positioning unit and objective body by optical means by the second reference target positioning unit, the first reference target positioning unit and the second reference target positioning unit carry out the gps locating information that radio communication is obtained the other side, by the first reference target positioning unit and the second reference target positioning unit according to a leg-of-mutton length of side, two angles calculate the extraterrestrial target of objective body.
Described the first reference target positioning unit has identical structure with the second reference target positioning unit.
Described the first reference target positioning unit or the second reference target positioning unit comprise processor, communication equipment, space orientation unit, electronic compass and gyro and optical target steady arm, the first reference target positioning unit is sought objective body by the first optical target steady arm, behind the objective body location, determine the angle a of the first reference target positioning unit and the second reference target positioning unit and objective body by the first electronic compass and the first gyro; The second reference target positioning unit is sought objective body by the second optical target steady arm, behind the objective body location, determine the angle b of the second reference target positioning unit and the first reference target positioning unit and objective body by electronic compass and gyro, exchange complementary information by communication equipment between first processor and the second processor, calculate the spatial orientation information of objective body according to Triangle Formula.
Described the first reference target positioning unit or the second reference target positioning unit or moving target or fixed target.
Advantage of the present invention is: self obtain spatial orientation information and determine angle on target information by the optical target positioning unit by two reference target positioning units, carry out each other the radio communication exchange message, calculate at last the space orientation of objective body by Triangle Formula, realized quick location that can't the measurement target distance.
Description of drawings
The invention will be further described below in conjunction with the embodiment accompanying drawing:
Fig. 1 is embodiment of the invention schematic diagram;
Fig. 2 is the first reference target positioning unit or the second reference target positioning unit circuit block diagram;
Fig. 3 is embodiment of the invention optical target locator structure figure.
Among the figure, the 1, first reference target positioning unit; 2, the second reference target positioning unit; 3, objective body; 4, processor; 5, communication equipment; 6, space orientation unit; 7, electronic compass; 8, gyroscope; 9, optical target steady arm; 10, memory; 11, display; 12, keyboard circuit; 13, pedestal; 14, more than half cylindrical cavity; 15, spheroid; 16, parallel telescope; 17, the water surface; 18, reference point; 19, rotor.
Embodiment
As shown in Figure 1, the present invention comprises the first reference target positioning unit 1 at least, the second reference target positioning unit 2, by space orientation unit 6 definite first reference target positioning units 1 of the first reference target positioning unit 1 and the second reference target positioning unit 2 and distance L and the space three-dimensional coordinate between the second reference target positioning unit 2, obtained the angle a of the first reference target positioning unit 1 and the second reference target positioning unit 2 and objective body 3 by optical means by the first reference target positioning unit 1, obtained the angle b of the second reference target positioning unit 2 and the first reference target positioning unit 1 and objective body 3 by optical means by the second reference target positioning unit 2, the first reference target positioning unit 1 and the second reference target positioning unit 2 carry out the space three-dimensional coordinate that radio communication is obtained the other side, by the first reference target positioning unit 1 and the second reference target positioning unit 2 according to a leg-of-mutton length of side, two angles calculate the distance of objective body 3, its space three-dimensional coordinate is determined in the orientation.
Space three-dimensional coordinate true origin O(I1) be the instant present position of certain certain object of time point, I2 is for another follow-up time point I1 present position, and take I1, I2 plane of living in as the Z axis initial point, direction is X or Y direction, and this object moves along positive direction of principal axis.When the present position that object is set is initial point, As time goes on, this object will move away from initial point, and this true origin is a static locus, irrelevant with the motion of this object, can calculate this origin position by computing method, i.e. motion and the anti-true origin that pushes away of relevant position by other objects, can more accurately determine the origin position of coordinate system by a plurality of reference point and verification method, thereby establish single cosmic space coordinate system.Absolute coordinates: with the coordinate system of static O point position initial point; Relative coordinate: take the I point of motion as the coordinate system of true origin.
As shown in Figure 2, the first reference target positioning unit 1 has identical structure with the second reference target positioning unit 2, is in different locus, the first reference target positioning unit 1 or the second reference target positioning unit 2 or moving target or fixed target.The first reference target positioning unit 1 or the second reference target positioning unit 2 comprise processor 4, wireless communication machine 5, space orientation unit 6, electronic compass 7 and gyroscope 8 and optical target steady arm 9, in addition for the easy to operate input keyboard circuit 12 that also is connected with, Output Display Unit 11, the memory 10 that needs when the information that gathers is processed, processor 4 is by interface and wireless communication machine 5, space orientation unit 6, electronic compass 7 and gyroscope 8 and optical target steady arm 9 are electrically connected, and are electrically connected keyboard circuit 12 by expansion interface simultaneously, Output Display Unit 11 and memory 10.
During work, the first reference target positioning unit 1 is sought objective body by the first optical target steady arm 9, the first optical target steady arm 9 is the parallel telescopical Three dimensional rotation platforms of a cuff, rotate the parallel telescope of drive by the Three dimensional rotation platform and seek objective body, parallel telescopical cross curve is dropped on the reference point of objective body, provide a coded message on the reference point of objective body, then to objective body 3 location, location preprocessor 4 is determined the angle a of the first reference target positioning unit 1 and the second reference target positioning unit 2 and objective body 3 by the information of interface read electric compass 7 and gyroscope 8 by electronic compass 7 and gyroscope 8.Meanwhile, the second reference target positioning unit 2 is also sought objective body 3 by optical target steady arm 9, rotate the parallel telescope of drive by the Three dimensional rotation platform and seek objective body, parallel telescopical cross curve is dropped on the same reference point of objective body, provide identical coded message on the reference point of objective body, to objective body 3 location, location preprocessor 4 is by the information of interface read electric compass 7 and gyroscope 8, determine the angle b of the second reference target positioning unit 2 and the first reference target positioning unit 1 and objective body 3 by electronic compass 7 and gyroscope 8, exchange complementary information by wireless communication machine communication between the processor of the second reference target positioning unit 2 processors and the first reference target positioning unit 1, calculated at last the spatial orientation information of objective body by processor 4 according to Triangle Formula.
As shown in Figure 3, provide the example structure figure of optical target steady arm 9, comprise pedestal 13, pedestal 13 has a more than half cylindrical cavity 14, spheroid 15 is located also Three dimensional rotation within it by more than half cylindrical cavity 14, and spheroid 15 has electronic compass 7 and gyroscope 8 by connecting link connection of rotating body 19 in the rotor 19, when rotor rotated, electronic compass 7 and gyroscope 8 provided azimuth information in real time.Parallel telescope 16 is arranged in the rotor 19, seek objective body 3 by parallel telescope 16, objective body 3 or the water surface 17 targets or aerial target, the reference point 18 that parallel telescope 16 is determined in the objective body 3.
Allow human eye conveniently watch easily in order to make parallel telescope 16 obtain picture, parallel telescope 16 is presented at display 11 by a digital imaging system with the image in the eyepiece, can large tracts of land cooperate searching objective body 3 by human eye like this.
Electronic compass is three-dimensional electronic compass, and it uses three axle magnetoresistive transducer measurement plane terrestrial magnetic field, double-shaft tilt angle compensation, and GPS cooperates and can do the blind area navigation, and gyro cooperates and does three-dimensional localization.
Gyroscope can change by tracing positional, is obtaining sometime current position, then as long as gyroscope is moving always, according to mathematical computations, just can know movement track.So the modal application of gyroscope is exactly navigating instrument, when GPS does not have signal, still can continue precision navigation by gyrostatic effect.
The parts that present embodiment is not described in detail and structure belong to well-known components and common structure or the conventional means of the industry, here not one by one narration.
Claims (4)
1. the 3-D positioning method of a remote arbitrary target, it is characterized in that: comprise at least the first reference target positioning unit, the second reference target positioning unit, determine distance and dimensional orientation between the first reference target positioning unit and the second reference target positioning unit by the space orientation unit of the first reference target positioning unit and the second reference target positioning unit, obtained the angle of the first reference target positioning unit and the second reference target positioning unit and objective body by optical means by the first reference target positioning unit, obtained the angle of the second reference target positioning unit and the first reference target positioning unit and objective body by optical means by the second reference target positioning unit, the first reference target positioning unit and the second reference target positioning unit carry out the gps locating information that radio communication is obtained the other side, by the first reference target positioning unit and the second reference target positioning unit according to a leg-of-mutton length of side, two angles calculate the extraterrestrial target of objective body.
2. the 3-D positioning method of a kind of remote arbitrary target according to claim 1, it is characterized in that: described the first reference target positioning unit has identical structure with the second reference target positioning unit.
3. the 3-D positioning method of a kind of remote arbitrary target according to claim 1, it is characterized in that: described the first reference target positioning unit or the second reference target positioning unit comprise processor, communication equipment, space orientation unit, electronic compass and gyro and optical target steady arm, the first reference target positioning unit is sought objective body by the first optical target steady arm, behind the objective body location, determine the angle a of the first reference target positioning unit and the second reference target positioning unit and objective body by the first electronic compass and the first gyro; The second reference target positioning unit is sought objective body by the second optical target steady arm, behind the objective body location, determine the angle b of the second reference target positioning unit and the first reference target positioning unit and objective body by electronic compass and gyro, exchange complementary information by communication equipment between first processor and the second processor, calculate the spatial orientation information of objective body according to Triangle Formula.
4. the 3-D positioning method of a kind of remote arbitrary target according to claim 1 is characterized in that: described the first reference target positioning unit or the second reference target positioning unit or moving target or fixed target.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210541741.1A CN103033181B (en) | 2012-12-11 | 2012-12-11 | Determine the optical target positioner of the 3rd target |
| CN201210530997.2A CN102967308B (en) | 2012-12-11 | 2012-12-11 | A kind of 3-D positioning method of remote arbitrary target |
| CN201210542002.4A CN103033182B (en) | 2012-12-11 | 2012-12-11 | Determine the detent mechanism of the 3rd target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210530997.2A CN102967308B (en) | 2012-12-11 | 2012-12-11 | A kind of 3-D positioning method of remote arbitrary target |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
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| CN201210542002.4A Division CN103033182B (en) | 2012-12-11 | 2012-12-11 | Determine the detent mechanism of the 3rd target |
| CN201210541741.1A Division CN103033181B (en) | 2012-12-11 | 2012-12-11 | Determine the optical target positioner of the 3rd target |
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| Publication Number | Publication Date |
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| CN102967308A true CN102967308A (en) | 2013-03-13 |
| CN102967308B CN102967308B (en) | 2016-01-13 |
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| CN201210542002.4A Active CN103033182B (en) | 2012-12-11 | 2012-12-11 | Determine the detent mechanism of the 3rd target |
| CN201210530997.2A Active CN102967308B (en) | 2012-12-11 | 2012-12-11 | A kind of 3-D positioning method of remote arbitrary target |
| CN201210541741.1A Active CN103033181B (en) | 2012-12-11 | 2012-12-11 | Determine the optical target positioner of the 3rd target |
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| CN201210542002.4A Active CN103033182B (en) | 2012-12-11 | 2012-12-11 | Determine the detent mechanism of the 3rd target |
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| CN201210541741.1A Active CN103033181B (en) | 2012-12-11 | 2012-12-11 | Determine the optical target positioner of the 3rd target |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104457736A (en) * | 2014-11-03 | 2015-03-25 | 深圳市邦彦信息技术有限公司 | Method and device for acquiring target location information |
| CN111504319A (en) * | 2020-04-08 | 2020-08-07 | 安徽舒州农业科技有限责任公司 | Automatic driving control method and system based on agricultural unmanned aerial vehicle |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105674948A (en) * | 2016-01-12 | 2016-06-15 | 上海斐讯数据通信技术有限公司 | Triangulation device and method and mobile terminal |
| CN109186566A (en) * | 2018-10-31 | 2019-01-11 | 中国船舶重工集团公司第七0七研究所 | A kind of interface measuring instrument and measurement method |
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| CN101672913A (en) * | 2009-10-27 | 2010-03-17 | 湖南农业大学 | Laser three-point dynamic positioning method and system thereof |
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| CN111504319A (en) * | 2020-04-08 | 2020-08-07 | 安徽舒州农业科技有限责任公司 | Automatic driving control method and system based on agricultural unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103033181B (en) | 2016-02-17 |
| CN103033182B (en) | 2015-09-23 |
| CN103033181A (en) | 2013-04-10 |
| CN103033182A (en) | 2013-04-10 |
| CN102967308B (en) | 2016-01-13 |
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