CN105387856A - Multi-light-spot tracking device and method - Google Patents
Multi-light-spot tracking device and method Download PDFInfo
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- CN105387856A CN105387856A CN201510818979.8A CN201510818979A CN105387856A CN 105387856 A CN105387856 A CN 105387856A CN 201510818979 A CN201510818979 A CN 201510818979A CN 105387856 A CN105387856 A CN 105387856A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/22—Plotting boards
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Abstract
The invention provides a multi-light-spot tracking method. The multi-light-spot tracking method comprises the following steps: step 1: acquiring geographic position information corresponding to different moments of two or more than two target warships and converting the geographic position information into projection pixel point coordinate data corresponding to light spots on a drawing, wherein one projection pixel point coordinate data corresponds to geographic position information of one warship at the present moment; and step 2: projecting the light spots on the drawing according to the projection pixel point coordinate data corresponding to each light spot. According to the multi-light-spot tracking device and method provided by the invention, the geographic position information of the plurality of target warships is converted into the projection pixel point coordinate data corresponding to the light spots on the drawing through a data processing unit, so that a projection unit can realize a tracking aim of simultaneously tracing at least two target positions in a target position tracing process, and furthermore, the problem that a position indicating device in the prior art cannot simultaneously trace at least two dynamic target positions is solved.
Description
Technical field
The present invention relates to traffic to mark on a map field of operation, particularly relate to a kind of many optical trackings device and method.
Background technology
At present, when usually using the communication chart operations such as map, sea chart, aerochart, need by the coordinate data of known location (as: rectangular coordinate X, Y of target location or geographic coordinate longitude, latitude etc.) at paper chart display out.Coordinate data according to above-mentioned known location utilizes survey instrument, target range (the distance of the distance Y-direction of target rectangular coordinate X-direction is obtained by measurements and calculations, or geographic coordinate longitude distance latitude distance), on paper figure, mark target location according to target range.If current measurement target is moving target, then need ceaselessly to carry out above-mentioned work.There is a kind of position indicator at present, the position of target can be indicated on paper figure the position of target continuously with the form of luminous point, specifically paper figure cloth is placed on transparent glass, there is a projection light pen below, light pen by luminous point from bottom to top project on paper figure, light pen is driven by mechanical transmission mechanism, thus the continuous position of indicating target on paper figure.This device brings facility to navigation plotting work, but, existing described device can only indicate the position of a target, and when multiple target followed the tracks of by needs, the method that must be switched by timesharing is followed the tracks of different target, therefore, tracking target can only be switched at every turn, thus when following the tracks of multiple target in tracing process, result in the discontinuous problem of tracking target, cause when marking and drawing navigation to target further, ineffective result.
Summary of the invention
The object of the invention is to the defect solving the existence of above-mentioned prior art, a kind of many optical trackings device and method simultaneously can following the tracks of two or more dynamic objects is provided.
A kind of many optical trackings method, comprises the following steps:
Step 1: obtain the geographical location information that two or more target ships are not corresponding in the same time, and be translated into the projected pixel point coordinate data corresponding to the luminous point on drawing; Wherein, the geographical location information of a corresponding target ship current time of projected pixel point coordinate data;
Described geographical location information comprises: the geographical location information of this warship and calculate the geographical location information in the corresponding moment of other target ships of acquisition with the geographical location information of this warship for benchmark;
Step 2: the projected pixel point coordinate data corresponding to each luminous point by spot projection on drawing.
Further, many optical trackings method as above, described step 1 comprises the following steps:
Step 1., the coordinate data corresponding according to the luminous point on different drawing calculate this as the corresponding projected pixel point coordinate data of time on spot projection to drawing, and convert the coordinate data of luminous point any on this drawing to projected pixel point coordinate data; Wherein, described different drawing comprises the drawing of the different drawing adopting different projecting methods to draw and the different scale adopting identical projecting method to draw;
Step 2., the coordinate data corresponding to the luminous point geographical location information in a certain moment corresponding to described target ship is converted on drawing;
3., by the coordinate data of described luminous point step mates with the projected pixel point coordinate data corresponding to this luminous point;
4., by the projected pixel point coordinate data that the match is successful step sends to projecting cell;
Step 5., projecting cell according to projected pixel point coordinate data by need instruction position project on drawing with spot form.
Further, many optical trackings method as above, the geographical location information obtaining two or more target ships described in step 1 not corresponding in the same time comprises:
The geographical location information obtaining this warship current time and other target ship azran information known for benchmark foundation with the geographical location information of this warship current time, and the geographical location information in other target ships known corresponding moment is calculated with other target ship azran information.
Further, many optical trackings method as above, described geographical location information is the actual longitude and latitude of this warship or target ship.
Further, many optical trackings method as above, in step 2, describedly to comprise spot projection on drawing: adjustment projected position and projection angle, make luminous point accurate projection on drawing, and obtain uniform pointing accuracy in whole view field.
A kind of many optical trackings device, comprising:
Data processing unit, for respectively the geographical location information that multiple target ship is not corresponding being in the same time converted into the projected pixel point coordinate data corresponding to the luminous point on drawing, wherein, the geographical location information of a corresponding target ship current time of projected pixel point coordinate data;
Described geographical location information comprises: the geographical location information of this warship and calculate the geographical location information in the corresponding moment of other target ships of acquisition with the geographical location information of this warship for benchmark;
Projecting cell, for the projected pixel point coordinate data corresponding to each luminous point by spot projection at drawing.
Further, as above many optical trackings device, described data processing unit comprises:
Data processing subelement, projected pixel point coordinate data corresponding when the coordinate data corresponding according to the luminous point on different drawing calculates on this spot projection to drawing, and convert the coordinate data of luminous point any on this drawing to projected pixel point coordinate data; Wherein, described different drawing comprises the drawing of the different drawing adopting different projecting methods to draw and the different scale adopting identical projecting method to draw;
Date Conversion Unit, for being converted to the coordinate data corresponding to the luminous point on drawing by the geographical location information in a certain moment corresponding to described target ship;
Data matching unit, for mating the coordinate data of described luminous point with the projected pixel point coordinate data corresponding to this luminous point;
Data transmission unit, for the projected pixel point coordinate data that the match is successful is sent to projecting cell, projects needing the position of instruction on drawing with spot form for projecting cell.
Further, as above many optical trackings device, comprise: location compute unit, for resolve this warship current time geographical location information and with the geographical location information of this warship current time for benchmark is according to other target ship azran information of knowing, and calculate the geographical location information in other target ships known corresponding moment with other target ship azran information.
Further, as above many optical trackings device, described location compute unit comprises position acquisition module and calculation of longitude & latitude module;
Described position acquisition module is for obtaining the geographical location information of this warship current time;
Described calculation of longitude & latitude module is used for the azran information calculating other target ships corresponding moment according to the geographical location information of this warship current time, and calculates the longitude and latitude in other warships corresponding moment according to this azran information.
Further, as above many optical trackings device, comprises and aims at adjustment equipment, for adjusting projected position and the projection angle of projecting cell, making luminous point accurate projection on projecting cell on drawing, and obtain uniform pointing accuracy in whole view field.
Many optical trackings device and method provided by the invention, the projected pixel point coordinate data that the pixel coordinate data status positional information of multiple target ship be converted on drawing by data processing unit is corresponding, thus make projecting cell can realize following the trail of the tracking object of at least two target locations in the process of position following the trail of the objective simultaneously, thus solve position indicator in prior art and cannot follow the tracks of the problem of at least two dynamic target positions simultaneously.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention optical tracking more than 1 method flow diagram;
Fig. 2 is embodiment of the present invention optical tracking more than 1 structure drawing of device;
Fig. 3 is embodiment of the present invention optical tracking more than 2 method flow diagram;
Fig. 4 is embodiment of the present invention optical tracking more than 2 structure drawing of device;
Fig. 5 is embodiment of the present invention optical tracking more than 3 apparatus structure;
Fig. 6 is embodiment of the present invention optical tracking more than 4 structure drawing of device;
Fig. 7 is embodiment of the present invention optical tracking more than 5 structure drawing of device;
Fig. 8 is the arrangement space structural drawing of the present invention's many optical trackings device and drawing.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below technical scheme in the present invention be clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is embodiment of the present invention optical tracking more than 1 method flow diagram, and as shown in Figure 1, the method comprises the following steps:
Step 1: obtain the geographical location information that two or more target ships are not corresponding in the same time, and be translated into the projected pixel point coordinate data corresponding to the luminous point on drawing; Wherein, the geographical location information of a corresponding target ship current time of projected pixel point coordinate data; Described geographical location information comprises: the geographical location information of this warship and calculate the geographical location information in the corresponding moment of other target ships of acquisition with the geographical location information of this warship for benchmark;
Particularly, in order to realize track and localization while multiple target ship, need the geographical location information obtaining each target ship one by one, then the geographic position of each target ship is changed into one by one the projected pixel point coordinate data corresponding to luminous point (the coordinate data one_to_one corresponding corresponding to the pixel residing for luminous point on this projected pixel point coordinate data and drawing) that can be projected on drawing; The position of luminous point is time changing with the motion of target ship, each luminous point represents a target ship, the color of luminous point can set, can with the attribute of different shapes or textual representation target ship around luminous point, during target ship motion, geographic orientation range information corresponding to the target ship of input system changes thereupon, and the projected pixel point coordinate data meanwhile corresponding to luminous point also changes, and then can demonstrate the movement locus of each target ship on drawing.
Step 2: the projected pixel point coordinate data corresponding to each luminous point by spot projection on drawing.
Fig. 2 is embodiment of the present invention optical tracking more than 1 structure drawing of device, and as shown in Figure 1, this device comprises: data processing unit and projecting cell.
Described data processing unit is for being converted into the projected pixel point coordinate data corresponding to the luminous point on drawing respectively by the geographical location information that multiple target ship is not corresponding in the same time, wherein, the geographical location information of a corresponding target ship current time of projected pixel point coordinate data; Described geographical location information comprises: the geographical location information of this warship and calculate the geographical location information in the corresponding moment of other target ships of acquisition with the geographical location information of this warship for benchmark.
Described projecting cell for the projected pixel point coordinate data corresponding to each luminous point by spot projection at drawing.
Fig. 3 is embodiment of the present invention optical tracking more than 2 method flow diagram, and as shown in Figure 2, the method comprises the following steps:
Step 1., the coordinate data corresponding according to the luminous point on different drawing calculate this as the corresponding projected pixel point coordinate data of time on spot projection to drawing, and convert the coordinate data of luminous point any on this drawing to projected pixel point coordinate data; Wherein, described different drawing comprises the drawing of the different drawing adopting different projecting methods to draw and the different scale adopting identical projecting method to draw;
Particularly, when spot projection is on drawing, each luminous point at drawing uniquely to there being a pixel coordinate data, and in order to ensure that projecting cell can exactly by the corresponding pixel points coordinate position of each spot projection on drawing, need this pixel coordinate data to be converted into the projected pixel point coordinate data that projecting cell can identify.Wherein, described different drawing comprises the different drawings adopting different projecting methods to draw, and the drawing of the different scale adopting identical projecting method to draw, occupy this, when after the sea chart changing different projections and proportional sizes, still on corresponding drawing, the position (being also the position of luminous point) of target ship can be indicated accurately, because luminous point is from overhead projection to paper, therefore require drawing to pave to put whole, personnel figure can complete various plotting operation again, although the display of some operation meeting shield portions luminous point, but can think to the luminous point that user pays close attention to and avoid, use can not be affected completely, the spot resolution projected on drawing at least can reach 1024 × 768, the effective picture size of full width drawing is generally less than 1000mm × 700mm, therefore, the index error of luminous point can reach 1-2mm, thus meet the requirement of display plotting usually, if use half range drawing, or reduce the breadth that effectively projects, luminous point pointing accuracy improves further.
Step 2., the coordinate data corresponding to the luminous point geographical location information in a certain moment corresponding to described target ship is converted on drawing;
Particularly, when target ship moves, geographical location information corresponding to it will can change thereupon, therefore, pixel coordinate data after conversion also will change thereupon, the pixel coordinate data that these change thereupon just constitutes the movement locus of target ship, and when there being two or more target ship, the pixel coordinate data of the change that will follow forms two or more movement locus.
3., by the coordinate data of described luminous point step mates with the projected pixel point coordinate data corresponding to this luminous point;
Shown on drawing by the position of luminous point by target ship exactly to enable projecting cell, need pixel coordinate data to be transformed the projected pixel point coordinate data of mating for projecting cell can identify, for projecting cell, luminous point is projected on drawing exactly.
4., by the projected pixel point coordinate data that the match is successful step sends to projecting cell;
Step 5., projecting cell according to projected pixel point coordinate data by need instruction position project on drawing with spot form.
Fig. 4 is embodiment of the present invention optical tracking more than 2 structure drawing of device, and as shown in Figure 4, described data processing unit comprises data processing subelement, Date Conversion Unit, data matching unit, data transmission unit;
Described data processing subelement calculates this as the corresponding projected pixel point coordinate data of time on spot projection to drawing for the coordinate data corresponding according to the luminous point on different drawing, and converts the coordinate data of luminous point any on this drawing to projected pixel point coordinate data; Wherein, described different drawing comprises the drawing of the different drawing adopting different projecting methods to draw and the different scale adopting identical projecting method to draw;
Described Date Conversion Unit is for being converted to the coordinate data corresponding to the luminous point on drawing by the geographical location information in a certain moment corresponding to described target ship;
Described data matching unit is used for the coordinate data of described luminous point to mate with the projected pixel point coordinate data corresponding to this luminous point;
Described data transmission unit is used for the projected pixel point coordinate data that the match is successful to send to projecting cell, projects needing the position of instruction on drawing for projecting cell with spot form.
Fig. 5 is embodiment of the present invention optical tracking more than 3 structure drawing of device, as shown in Figure 5, the present embodiment adds a location compute unit on the basis of embodiment 1, described location compute unit for resolve this warship current time geographical location information and with the geographical location information of this warship current time for benchmark is according to the azran information of other target ships known, and calculate the geographical location information in other target ships known corresponding moment with the azran information of other target ships.
Particularly, before embodiment 1 step 1, also comprise location compute step, namely the geographical location information first resolving this warship current time and other target ship azran information known for benchmark foundation with the geographical location information of this warship current time, and the geographical location information in other target ships known corresponding moment is calculated with other target ship azran information, accordingly, obtain the geographical location information that each target ship is not corresponding in the same time, this geographical location information can present expression in different ways, the present invention adopts longitude and latitude to represent the geographical location information of target ship herein.
Fig. 6 is embodiment of the present invention optical tracking more than 4 structure drawing of device, as shown in Figure 6, described in this device, location compute unit comprises: position acquisition module and calculation of longitude & latitude module, described position acquisition module is for obtaining the geographical location information of this warship current time, and described geographical location information is the actual longitude and latitude of this warship or target ship; Described calculation of longitude & latitude module is used for the azran information calculating other target ships corresponding moment according to the geographical location information of this warship current time, and calculates the longitude and latitude in other warships corresponding moment according to this azran information.
Its resolve the computing method of longitude and latitude and formula as follows:
It is the longitude and latitude first target data of input being converted to target that drawing realizes the mode that multiple luminous point shows multiple target location simultaneously, the target data of usual input is target azimuth and the distance of this warship mensuration, then target azimuth and distance are converted to longitude and latitude, described longitude and latitude can use following formulae discovery:
λ=λ
0+ f
λ(orientation, distance)
(orientation, distance)
Wherein, λ is target longitude,
for target latitude, λ
0for this warship longitude,
for this warship latitude, f
λfor target ship longitude is with the function of orientation, distance change,
for target ship latitude with orientation, distance change function.
Fig. 7 is embodiment of the present invention optical tracking more than 5 structure drawing of device, as shown in Figure 7, this device also add one and aims at adjustment equipment on the basis of embodiment 4, described aligning adjustment equipment is for adjusting projected position and the projection angle of projecting cell, make luminous point accurate projection on projecting cell on drawing, and obtain uniform pointing accuracy in whole view field.
Fig. 8 is the arrangement space structural drawing of the present invention's many optical trackings device and drawing, as shown in Figure 8, spot projection equipment 4 is placed in drawing and lays directly over location-plate 1, described spot projection equipment 4 for by spot projection to drawing (sea chart), require that spot resolution is greater than 1024 × 768 pixels, resolution height determines the height of luminous point pointing accuracy, the higher pointing accuracy of resolution is higher, drawing 2 is fixed on drawing and lays on location-plate 1, according to drop shadow spread, determine the drawing contour area 3 on drawing.
Bearing calibration:
According to drop shadow spread's size, drawing 2 being placed in drawing lays on location-plate 1, drawing center is placed on the center line of projector equipment 4, maximal projection scope can cover maximum drawing contour area 3, adjust the angle of drawing position, correction parameter, aligning adjustment equipment respectively, four cross calibration points are accurately indicated on correspondence position, and precision meet the requirements.Four reference points selected by drawing, with drawing lower left corner coordinate for initial baseline point, can according to chart projection formula, sea chart Parameter Calculation is utilized to go out the map range of the relative initial baseline point of all target ships (with X, Y-coordinate is in units of millimeter), also can calculate the map range of other three reference point relative lower left corner initial baseline points (with X simultaneously, Y-coordinate is in units of millimeter), pass through projector equipment, all reference points and target ship are projected on sea chart with spot form, first the projected light of lower left corner initial baseline point is aimed at initial baseline point position coordinates on sea chart, a luminous point can be represented as required by N × N number of pixel (N=1-5), then the length parameter (in units of millimeter) of each pixel representative is adjusted, also the parameters such as projection focal length can be adjusted, make the projected light of other three reference points consistent with the position coordinates of three reference points on its corresponding sea chart, at this moment all impact points projected out by this scale parameter can the accurate physical location of indicating target on drawing, the sea chart of different projection form or map adopt the projection formula corresponding with it to complete the calculating of coordinate, the course of target and the speed of a ship or plane can represent with projection vector line, the length representative speed of line of vector, the direction of line of vector represents course.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. the method for optical tracking more than, is characterized in that, comprise the following steps:
Step 1: obtain the geographical location information that two or more target ships are not corresponding in the same time, and be translated into the projected pixel point coordinate data corresponding to the luminous point on drawing; Wherein, the geographical location information of a corresponding target ship current time of projected pixel point coordinate data;
Described geographical location information comprises: the geographical location information of this warship and calculate the geographical location information in the corresponding moment of other target ships of acquisition with the geographical location information of this warship for benchmark;
Step 2: the projected pixel point coordinate data corresponding to each luminous point by spot projection on drawing.
2. many optical trackings method according to claim 1, is characterized in that, described step 1 comprises the following steps:
Step 1., the coordinate data corresponding according to the luminous point on different drawing calculate this as the corresponding projected pixel point coordinate data of time on spot projection to drawing, and convert the coordinate data of luminous point any on this drawing to projected pixel point coordinate data; Wherein, described different drawing comprises the drawing of the different drawing adopting different projecting methods to draw and the different scale adopting identical projecting method to draw;
Step 2., the coordinate data corresponding to the luminous point geographical location information in a certain moment corresponding to described target ship is converted on drawing;
3., by the coordinate data of described luminous point step mates with the projected pixel point coordinate data corresponding to this luminous point;
4., by the projected pixel point coordinate data that the match is successful step sends to projecting cell;
Step 5., projecting cell according to projected pixel point coordinate data by need instruction position project on drawing with spot form.
3. many optical trackings method according to claim 1, is characterized in that, the geographical location information obtaining two or more target ships described in step 1 not corresponding in the same time comprises:
The geographical location information obtaining this warship current time and other target ship azran information known for benchmark foundation with the geographical location information of this warship current time, and the geographical location information in other target ships known corresponding moment is calculated with other target ship azran information.
4. many optical trackings method according to claim 3, is characterized in that, described geographical location information is the actual longitude and latitude of this warship or target ship.
5. many optical trackings method according to claim 1, it is characterized in that, in step 2, described spot projection to be comprised on drawing: adjustment projected position and projection angle, make luminous point accurate projection on drawing, and obtain uniform pointing accuracy in whole view field.
6. the device of optical tracking more than, is characterized in that, comprising:
Data processing unit, for respectively the geographical location information that multiple target ship is not corresponding being in the same time converted into the projected pixel point coordinate data corresponding to the luminous point on drawing, wherein, the geographical location information of a corresponding target ship current time of projected pixel point coordinate data;
Described geographical location information comprises: the geographical location information of this warship and calculate the geographical location information in the corresponding moment of other target ships of acquisition with the geographical location information of this warship for benchmark;
Projecting cell, for the projected pixel point coordinate data corresponding to each luminous point by spot projection at drawing.
7. many optical trackings device according to claim 6, is characterized in that, described data processing unit comprises:
Data processing subelement, projected pixel point coordinate data corresponding when the coordinate data corresponding according to the luminous point on different drawing calculates on this spot projection to drawing, and convert the coordinate data of luminous point any on this drawing to projected pixel point coordinate data; Wherein, described different drawing comprises the drawing of the different drawing adopting different projecting methods to draw and the different scale adopting identical projecting method to draw;
Date Conversion Unit, for being converted to the coordinate data corresponding to the luminous point on drawing by the geographical location information in a certain moment corresponding to described target ship;
Data matching unit, for mating the coordinate data of described luminous point with the projected pixel point coordinate data corresponding to this luminous point;
Data transmission unit, for the projected pixel point coordinate data that the match is successful is sent to projecting cell, projects needing the position of instruction on drawing with spot form for projecting cell.
8. many optical trackings device according to claim 6, it is characterized in that, comprise: location compute unit, for resolve this warship current time geographical location information and with the geographical location information of this warship current time for benchmark is according to other target ship azran information of knowing, and calculate the geographical location information in other target ships known corresponding moment with other target ship azran information.
9. many optical trackings device according to claim 8, is characterized in that, described location compute unit comprises position acquisition module and calculation of longitude & latitude module;
Described position acquisition module is for obtaining the geographical location information of this warship current time;
Described calculation of longitude & latitude module is used for the azran information calculating other target ships corresponding moment according to the geographical location information of this warship current time, and calculates the longitude and latitude in other warships corresponding moment according to this azran information.
10. many optical trackings device according to claim 6, it is characterized in that, comprise and aim at adjustment equipment, for adjusting projected position and the projection angle of projecting cell, make luminous point accurate projection on projecting cell on drawing, and obtain uniform pointing accuracy in whole view field.
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| CN107131849A (en) * | 2017-06-20 | 2017-09-05 | 中国船舶重工集团公司第七0七研究所 | Paper chart point longitude and latitude read method based on the scalable mechanical arm of single grating scale |
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