CN102967308B - A kind of 3-D positioning method of remote arbitrary target - Google Patents
A kind of 3-D positioning method of remote arbitrary target Download PDFInfo
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- CN102967308B CN102967308B CN201210530997.2A CN201210530997A CN102967308B CN 102967308 B CN102967308 B CN 102967308B CN 201210530997 A CN201210530997 A CN 201210530997A CN 102967308 B CN102967308 B CN 102967308B
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Abstract
The present invention relates to a kind of quick three-dimensional localization method of target, particularly a kind of localization method of remote arbitrary target, it is characterized in that: at least comprise the first reference target positioning unit, second reference target positioning unit, the Distance geometry dimensional orientation between the first reference target positioning unit and the second reference target positioning unit is determined by the space orientation unit of the first reference target positioning unit and the second reference target positioning unit, the angle of the first reference target positioning unit and the second reference target positioning unit and objective body is optically obtained by the first reference target positioning unit, the angle of the second reference target positioning unit and the first reference target positioning unit and objective body is optically obtained by the second reference target positioning unit.It provide the 3-D positioning method of the remote arbitrary target that a kind of target range cannot be measured.
Description
Technical field
The present invention relates to a kind of quick three-dimensional localization method of target, particularly a kind of localization method of remote arbitrary target.
Background technology
The three-dimensional localization of moving target has by radiolocation, by launching radiowave, obtaining the Doppler signal of echo, also having by optical theodolite, infrared tracking instrument, GPS, radar etc., for satisfied different location requirement.The global location of moving target in moving target body, installs global location device complete, and requires the global positioning information obtaining moving target, obviously needs measurement or moving target to provide information.The moving target of enemy to provide the global positioning information of controlling oneself, and needs by surveying instrument.
If the positioning body determined by two is to realize this task by range finding, but the information that prerequisite is the positioning body that two are determined is known by a side.
Summary of the invention
The object of this invention is to provide the 3-D positioning method of the remote arbitrary target that a kind of target range cannot be measured.
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: at least comprise the first reference target positioning unit, second reference target positioning unit, the Distance geometry dimensional orientation between the first reference target positioning unit and the second reference target positioning unit is determined by the space orientation unit of the first reference target positioning unit and the second reference target positioning unit, the angle of the first reference target positioning unit and the second reference target positioning unit and objective body is optically obtained by the first reference target positioning unit, the angle of the second reference target positioning unit and the first reference target positioning unit and objective body is optically obtained by the second reference target positioning unit, first reference target positioning unit and the second reference target positioning unit carry out the gps locating information that radio communication obtains 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 angle calcu-lation go out the extraterrestrial target of objective body.
The first described reference target positioning unit and the second reference target positioning unit have identical structure.
The first described 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 positioner, first reference target positioning unit finds objective body by the first optical target positioner, behind objective body location, determined 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; Second reference target positioning unit finds objective body by the second optical target positioner, behind objective body location, the angle b of the second reference target positioning unit and the first reference target positioning unit and objective body is determined 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.
The first described 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 by two reference target positioning units and by optical target positioning unit determination target angle information, carry out radio communication each other and exchange information, calculate the space orientation of objective body finally by Triangle Formula, achieve cannot the quick position of measurement target distance.
Accompanying drawing explanation
Below in conjunction with embodiment accompanying drawing, the invention will be further described:
Fig. 1 is embodiment of the present 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 present invention optical target positioner structural drawing.
In 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 positioner; 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 at least comprises the first reference target positioning unit 1, second reference target positioning unit 2, distance L between the first reference target positioning unit 1 and the second reference target positioning unit 2 and space three-dimensional coordinate is determined by the space orientation unit 6 of the first reference target positioning unit 1 and the second reference target positioning unit 2, the angle a of the first reference target positioning unit 1 and the second reference target positioning unit 2 and objective body 3 is optically obtained by the first reference target positioning unit 1, the angle b of the second reference target positioning unit 2 and the first reference target positioning unit 1 and objective body 3 is optically obtained by the second reference target positioning unit 2, first reference target positioning unit 1 and the second reference target positioning unit 2 carry out the space three-dimensional coordinate that radio communication obtains 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 angle calcu-lation go out the distance of objective body 3, orientation, determine its space three-dimensional coordinate.
Space three-dimensional coordinate true origin O(I1) be the instant present position of certain certain object of time point, I2 is another follow-up time point I1 present position, and with plane residing for I1, I2 for Z axis initial point, direction is X or Y direction, and this object moves along positive direction of principal axis.When the present position arranging object is initial point, As time goes on, this object will move away from initial point, and this true origin is a static locus, have nothing to do with the motion of this object, this origin position can be calculated by computing method, namely by the motion of other objects and relevant position is counter pushes away true origin, more accurately can be determined the origin position of coordinate system by multiple reference point and verification method, thus establish single cosmic space coordinate system.Absolute coordinates: with the coordinate system of static O point position initial point; Relative coordinate: the coordinate system being true origin with the I moved point.
As shown in Figure 2, the first reference target positioning unit 1 and the second reference target positioning unit 2 have identical structure, are in different locus, the first reference target positioning unit 1 or the second reference target positioning unit 2 or moving target or fixed target.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 positioner 9, in addition input keyboard circuit 12 is also connected with in order to easy to operate, Output Display Unit 11, the memory 10 needed when the information gathered 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 positioner 9 are electrically connected, simultaneously by expansion interface electrical connection keyboard circuit 12, Output Display Unit 11 and memory 10.
During work, first reference target positioning unit 1 finds objective body by the first optical target positioner 9, first optical target positioner 9 is the parallel telescopical Three dimensional rotation platforms of a cuff, being rotated by Three dimensional rotation platform drives parallel telescope to find objective body, parallel telescopical cross curve is made to drop in the reference point of objective body, the reference point of objective body provides a coded message, then objective body 3 is located, location preprocessor 4 reads the information of electronic compass 7 and gyroscope 8 by interface, the angle a of the first reference target positioning unit 1 and the second reference target positioning unit 2 and objective body 3 is determined by electronic compass 7 and gyroscope 8.Meanwhile, second reference target positioning unit 2 also finds objective body 3 by optical target positioner 9, being rotated by Three dimensional rotation platform drives parallel telescope to find objective body, parallel telescopical cross curve is made to drop in the same reference point of objective body, the reference point of objective body provides identical coded message, objective body 3 is located, location preprocessor 4 reads the information of electronic compass 7 and gyroscope 8 by interface, the angle b of the second reference target positioning unit 2 and the first reference target positioning unit 1 and objective body 3 is determined by electronic compass 7 and gyroscope 8, complementary information is exchanged by wireless communication machine communication between the processor of the second reference target positioning unit 2 processor and the first reference target positioning unit 1, finally calculated the spatial orientation information of objective body according to Triangle Formula by processor 4.
As shown in Figure 3, provide the example structure figure of optical target positioner 9, comprise pedestal 13, pedestal 13 has a more than half cylindrical cavity 14, spheroid 15 is located by more than half cylindrical cavity 14 and within it Three dimensional rotation, and spheroid 15, by connecting link connection of rotating body 19, has electronic compass 7 and gyroscope 8 in rotor 19, when rotor rotates, electronic compass 7 and gyroscope 8 provide azimuth information in real time.Have parallel telescope 16 in rotor 19, find objective body 3 by parallel telescope 16, objective body 3 or the water surface 17 target or aerial target, the reference point 18 in an objective body 3 determined by parallel telescope 16.
Obtaining picture to make parallel telescope 16 easily allows human eye conveniently watch, and the image in eyepiece is presented at display 11 by a digital imaging system by parallel telescope 16, large area can coordinate searching objective body 3 by human eye like this.
Electronic compass is three-dimensional electronic compass, and it applies three axle magnetoresistive transducer measurement plane terrestrial magnetic field, and double-shaft tilt angle compensates, and GPS cooperation can do blind area navigation, and three-dimensional localization is done in gyro cooperation.
Gyroscope can change by tracing positional, is obtaining current position sometime, as long as then gyroscope is running 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 precision navigation can be continued by gyrostatic effect.
The parts that the present embodiment does not describe in detail and structure belong to the well-known components of the industry and common structure or conventional means, do not describe one by one here.
Claims (1)
1. the 3-D positioning method of a remote arbitrary target, it is characterized in that: at least comprise the first reference target positioning unit, second reference target positioning unit, the Distance geometry dimensional orientation between the first reference target positioning unit and the second reference target positioning unit is determined by the space orientation unit of the first reference target positioning unit and the second reference target positioning unit, the angle of the first reference target positioning unit and the second reference target positioning unit and objective body is optically obtained by the first reference target positioning unit, the angle of the second reference target positioning unit and the first reference target positioning unit and objective body is optically obtained by the second reference target positioning unit, first reference target positioning unit and the second reference target positioning unit carry out the gps locating information that radio communication obtains 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 angle calcu-lation go out the extraterrestrial target of objective body, the first described reference target positioning unit and the second reference target positioning unit have identical structure, the first described 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 positioner, first reference target positioning unit finds objective body by the first optical target positioner, behind objective body location, determined 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, second reference target positioning unit finds objective body by the second optical target positioner, behind objective body location, the angle b of the second reference target positioning unit and the first reference target positioning unit and objective body is determined 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, the first described reference target positioning unit or the second reference target positioning unit or moving target or fixed target,
During work, first reference target positioning unit finds objective body by the first optical target positioner, first optical target positioner is the parallel telescopical Three dimensional rotation platform of a cuff, being rotated by Three dimensional rotation platform drives parallel telescope to find objective body, parallel telescopical cross curve is made to drop in the reference point of objective body, the reference point of objective body provides a coded message, then objective body is located, location preprocessor reads electronic compass and gyrostatic information by interface, the angle a of the first reference target positioning unit and the second reference target positioning unit and objective body is determined by electronic compass and gyroscope, meanwhile, second reference target positioning unit also finds objective body by optical target positioner, being rotated by Three dimensional rotation platform drives parallel telescope to find objective body, parallel telescopical cross curve is made to drop in the same reference point of objective body, the reference point of objective body provides identical coded message, objective body is located, location preprocessor reads electronic compass and gyrostatic information by interface, the angle of the second reference target positioning unit and the first reference target positioning unit and objective body is determined by electronic compass and gyroscope, complementary information is exchanged by wireless communication machine communication between the processor of the second reference target positioning unit processor and the first reference target positioning unit, finally calculated the spatial orientation information of objective body according to Triangle Formula by processor.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210542002.4A CN103033182B (en) | 2012-12-11 | 2012-12-11 | Determine the detent mechanism of the 3rd target |
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210530997.2A CN102967308B (en) | 2012-12-11 | 2012-12-11 | A kind of 3-D positioning method of remote arbitrary target |
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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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| CN102967308A CN102967308A (en) | 2013-03-13 |
| CN102967308B true CN102967308B (en) | 2016-01-13 |
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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
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| CN101726294A (en) * | 2008-10-22 | 2010-06-09 | 北京中诚业昌科贸有限公司 | Method and system for positioning |
| CN101561493A (en) * | 2009-05-26 | 2009-10-21 | 上海大学 | Double flying robot-based method and double flying robot-based system for positioning active target |
| CN101672913A (en) * | 2009-10-27 | 2010-03-17 | 湖南农业大学 | Laser three-point dynamic positioning method and system thereof |
| CN101776746A (en) * | 2010-01-05 | 2010-07-14 | 天津大学 | Device and method for positioning angle of signal arrival and measuring wave-path difference of signal |
| CN102466804A (en) * | 2010-11-12 | 2012-05-23 | 北京林业大学 | Positioning system of fire point of forest fire and using method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103033181A (en) | 2013-04-10 |
| CN103033182A (en) | 2013-04-10 |
| CN103033181B (en) | 2016-02-17 |
| CN102967308A (en) | 2013-03-13 |
| CN103033182B (en) | 2015-09-23 |
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