CN103033181A - Optical target positioner for determining third target - Google Patents
Optical target positioner for determining third target Download PDFInfo
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- CN103033181A CN103033181A CN2012105417411A CN201210541741A CN103033181A CN 103033181 A CN103033181 A CN 103033181A CN 2012105417411 A CN2012105417411 A CN 2012105417411A CN 201210541741 A CN201210541741 A CN 201210541741A CN 103033181 A CN103033181 A CN 103033181A
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Abstract
The invention relates to a fast three-dimensional positioning method of a target, in particular to an optical target positioner for determining the third target. The optical target positioner comprises a base body which is provided with a large semi-circular cavity; a ball body is positioned by the large semi-circular cavity and rotates inside three-dimensionally; the ball body is connected with a rotary body through a connecting rod; and the rotary body is internally provided with an electronic compass and a gyroscope. When the rotary body rotates, the electronic compass and the gyroscope give direction information in real time. The invention provides the optical target positioner for determining the third target, wherein the target distance cannot be measured.
Description
Technical field
The present invention relates to a kind of quick three-dimensional localization method of target, determine the optical target steady arm of the 3rd 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 purpose of this invention is to provide the optical target steady arm of determining the 3rd target that a kind of target range can't be measured.
The object of the present invention is achieved like this, determine the optical target steady arm of the 3rd target, it is characterized in that: the optical target steady arm comprises pedestal, pedestal has a more than half cylindrical cavity, spheroid is located also Three dimensional rotation within it by more than half cylindrical cavity, and spheroid has electronic compass and gyroscope by connecting link connection of rotating body in the rotor, when rotor rotated, electronic compass and gyroscope provided azimuth information in real time.
Parallel telescope is arranged in the rotor, seek objective body by parallel telescope, objective body or waterborne target or aerial target, parallel telescope is determined the reference point in the objective body.
Parallel telescope is presented at display by a digital imaging system with the image in the eyepiece.
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 (3)
1. determine the optical target steady arm of the 3rd target, it is characterized in that: the optical target steady arm comprises pedestal, pedestal has a more than half cylindrical cavity, spheroid is located also Three dimensional rotation within it by more than half cylindrical cavity, spheroid is by connecting link connection of rotating body, electronic compass and gyroscope are arranged in the rotor, and when rotor rotated, electronic compass and gyroscope provided azimuth information in real time.
2. the optical target steady arm of determining the 3rd target according to claim 1, it is characterized in that: parallel telescope is arranged in the described rotor, seek objective body by parallel telescope, objective body or waterborne target or aerial target, parallel telescope is determined the reference point in the objective body.
3. the optical target steady arm of determining the 3rd target according to claim 2, it is characterized in that: described parallel telescope is presented at display by a digital imaging system with the image in the eyepiece.
Priority Applications (1)
| 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 |
Applications Claiming Priority (2)
| 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 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201210530997.2A Division CN102967308B (en) | 2012-12-11 | 2012-12-11 | A kind of 3-D positioning method of remote arbitrary target |
Publications (2)
| Publication Number | Publication Date |
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| CN103033181A true CN103033181A (en) | 2013-04-10 |
| CN103033181B CN103033181B (en) | 2016-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
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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 |
| CN201210530997.2A Active CN102967308B (en) | 2012-12-11 | 2012-12-11 | A kind of 3-D positioning method of remote arbitrary target |
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Cited By (1)
| 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 |
Families Citing this family (3)
| 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 |
| 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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| US5502450A (en) * | 1994-07-19 | 1996-03-26 | E-Systems, Inc. | Single antenna direction-finding system |
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| CN201569783U (en) * | 2009-06-24 | 2010-09-01 | 广州博冠企业有限公司 | Binocular telescope |
| 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 |
| JP5676151B2 (en) * | 2010-06-15 | 2015-02-25 | 株式会社横須賀テレコムリサーチパーク | Positioning device and positioning method |
| 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 |
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2012
- 2012-12-11 CN CN201210542002.4A patent/CN103033182B/en active Active
- 2012-12-11 CN CN201210530997.2A patent/CN102967308B/en active Active
- 2012-12-11 CN CN201210541741.1A patent/CN103033181B/en active Active
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| CN101201260A (en) * | 2007-11-23 | 2008-06-18 | 郝孟罡 | Multifunctional universal compass |
| CN201138451Y (en) * | 2007-12-10 | 2008-10-22 | 华中科技大学 | Robot self-positioning system |
| JP2009284864A (en) * | 2008-05-30 | 2009-12-10 | Globeride Inc | Fishing tackle-holder |
| CN101672913A (en) * | 2009-10-27 | 2010-03-17 | 湖南农业大学 | Laser three-point dynamic positioning method and system thereof |
| CN203177861U (en) * | 2012-12-11 | 2013-09-04 | 西安东风仪表厂 | Optical positioning device for determining third target |
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| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102967308B (en) | 2016-01-13 |
| CN103033182A (en) | 2013-04-10 |
| CN103033181B (en) | 2016-02-17 |
| CN102967308A (en) | 2013-03-13 |
| CN103033182B (en) | 2015-09-23 |
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Address after: 710065 East Road, Shaanxi, Xi'an No. 3 Applicant after: CSIC XI'AN DONG YI SCIENCE TECHNOLOGY & INDUSTRY GROUP CO., LTD. Address before: 710065 East Road, Shaanxi, Xi'an No. 3 Applicant before: Xi'an Dongfeng Meters Factory |
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