CN107064973A - A kind of angle of pitch compensating approach method of GNSS under Varifocal zoom lens - Google Patents
A kind of angle of pitch compensating approach method of GNSS under Varifocal zoom lens Download PDFInfo
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- CN107064973A CN107064973A CN201710308835.7A CN201710308835A CN107064973A CN 107064973 A CN107064973 A CN 107064973A CN 201710308835 A CN201710308835 A CN 201710308835A CN 107064973 A CN107064973 A CN 107064973A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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Abstract
The present invention relates to a kind of angle of pitch compensating approach method of GNSS under Varifocal zoom lens.Including：Obtain the GNSS of the corresponding ball machine of Varifocal zoom lens；Measure and obtain the GNSS of multiple points on each compensating approach direction and calculate angle of pitch ψ and horizontal angle θ of multiple points relative to ball machine；The center of video pictures is moved sequentially to obtain at the GNSS of multiple points to the horizontal angle θ ' and angle of pitch ψ ' of point in each direction；Remove | θ θ ' |>1 ° of the angle of pitch, obtains offset the ψ "=ψ ψ ' of the multiple angles of pitch in each direction；" it is dependent variable, ψ is that independent variable carries out the compensating approach function that linear fit obtains all directions with ψ；The point of amendment is needed to be compensated and corrected using the compensating approach function of respective direction.This mode of the invention need to only measure GNSS, and makeover process is simple and convenient, be compensated and corrected without using the derivometer device of specialty, save cost.
Description
Technical field
The present invention relates to positioning field, mended more particularly, to a kind of angle of pitch of GNSS under Varifocal zoom lens
Repay modification method.
Background technology
GNSS (Global Navigation Satellite System GPSs) is one kind with satellite
Based on radio-positioning navigation system.What GNSS measurements were obtained is the three-dimensional coordinate of certain point, i.e. longitude and latitude and height above sea level, GNSS
Coordinate determines certain point positioned at the position of the earth, and 2 points of relative position can be determined using GNSS.If 2 points same
In plane, general use level deflection and 2 points of distance represent relative position, if 2 points not at grade, use water
Flat deflection and the angle of pitch represent relative position.
In the prior art, monitoring field often uses zoomable head class video camera, and zoomable head class video camera is general
Mounted in higher position, the object photographed in institute's visual range can be determined with use level deflection and the angle of pitch its with
The relative position of video camera.
To obtain horizontal direction angle and the angle of pitch, it is possible to use GNSS carries out solution relative position.But utilize
When GNSS solves 2 points of horizontal direction angle and the angle of pitch, the sphere feature on earth of GNSS is can take into account,
Cause computational methods complicated, it is computationally intensive, and for mobile object, calculate relative position real-time poor.
And askew problem is filled because the ball machine of head class is present, cause head class video camera not level, so as to cause the earth
Coordinate system and ball machine local Coordinate System are misaligned, cause the angle of pitch and theoretical value to there is deviation, it is necessary to be compensated to the angle of pitch
Amendment.In the prior art, it is general using sensors such as accelerometer or gyroscopes, angle of inclination is detected, and to sensor
Installation requirement is strict.For being fitted without the ball machine of sensors with auxiliary electrode, it is necessary to change structural member, hardware is redesigned, is compiled again
Software program is write, increases manpower and materials cost.
The content of the invention
There is provided a kind of letter of modification method to overcome at least one defect (deficiency) described in above-mentioned prior art by the present invention
The single, angle of pitch compensating approach method of GNSS with low cost under Varifocal zoom lens.
In order to solve the above technical problems, technical scheme is as follows：
A kind of angle of pitch compensating approach method of GNSS under Varifocal zoom lens, including：
Obtain the GNSS of the corresponding ball machine of Varifocal zoom lens；
Measure and obtain the GNSS of multiple points on each compensating approach direction；
On each compensating approach direction, the angle of pitch of multiple points relative to ball machine is calculated according to the GNSS of multiple points respectively
ψ and horizontal angle θ；
On each compensating approach direction, at the GNSS that the center of video pictures is moved sequentially to multiple points respectively,
Obtain the horizontal angle θ ' and angle of pitch ψ ' of each point；
Remove | θ-θ ' |>1 ° of the corresponding angle of pitch, on each compensating approach direction, obtains the multiple angles of pitch respectively
Offset ψ "=ψ-ψ '；
" it is dependent variable, ψ is independent variable, carries out the compensating approach function that linear fit obtains all directions with ψ；
The point for needing amendment in a certain direction, then carries out the benefit of the angle of pitch using the compensating approach function in respective direction
Repay amendment.
In such scheme, each compensating approach direction is divided by foundation of the direction of observation of ball machine.
In such scheme, concretely comprising the following steps for the horizontal angle relative to ball machine is put：
If A points are the corresponding ball machine of Varifocal zoom lens, B points are calculative point, and the longitude and latitude of A points is (Aj,Aw), B points
Longitude and latitude be (Bj,Bw), wherein east longitude is just, west longitude is negative；North latitude is just, south latitude is negative；The relative altitude that 2 points of A, B is
H, the mean radius of the earth is R, and D directions represent the real north of A points；
The direct north of Varifocal zoom lens is set to real north, horizontal direction angle is using real north as zero degree, up time
Pin is incremented by, and the angle of pitch is incremented by upwards using the vertical line perpendicular to horizontal plane where the point as zero degree；
The distance of B points to A point warps isDistance of the A points to the latitude of B points
ForHorizontal angle ∠ DAB tangent values can be obtained, aligns and cuts into row antitrigonometric function, you can obtain water
Straight angle ∠ DAB are：
B points are determined using A points as the quadrant residing for origin, i.e., with the difference of B points and the longitude and latitude of A points, determine residing for B points as
Limit is modified to horizontal angle, and coordinate system is using A points as origin, using warp as X-axis, and parallel is Y-axis；If B points are located at first quartile
And Y-axis positive axis, then horizontal angle correction value θ=δ；If B points are located at the second quadrant, horizontal angle correction value θ=360+ δ；If B points
Semiaxis is born positioned at third and fourth quadrant and Y-axis, then horizontal angle correction value θ=180+ δ.
In such scheme, concretely comprising the following steps for the angle of pitch relative to ball machine is put：
Because B points are in the visual range of A points, the projection A' of B points and A points can be considered as on same plane；Obtain B points
With respect to A points angle of pitch ∠ A'AB, it is necessary to obtain the distance between B points and A spot projections point A', then need 2 points of A, B warp
Latitude coordinate is converted into rectangular coordinate system in space, obtain point-to-point transmission apart from L：
Coordinate value of the A points on rectangular coordinate system in space be respectively：
Coordinate value of the B points on rectangular coordinate system in space be respectively：
The distance between 2 points of A, B be：
The difference h of 2 relative altitudes of A, B, then B points be with respect to the angle of pitch of A points：
In such scheme, the center of video pictures is moved sequentially to the GNSS of multiple spot respectively, the water of each point is obtained
Straight angle θ's ' and angle of pitch ψ ' concretely comprises the following steps：
If geographical north is 0 ° of direction, it is incremented by clockwise, video pictures center is moved into each GNSS point, after movement directly
Obtain the horizontal angle θ ' and angle of pitch ψ ' of each point.
Compared with prior art, the beneficial effect of technical solution of the present invention is：
The present invention is precisely located relative position using GNSS, and can be by multiple GNSS of multiple directions
The angle of pitch that coordinate points are come between adjusting point, this mode need to only measure GNSS, and makeover process is simple and convenient, without using special
The instrument of industry is compensated and corrected, and saves cost.
Brief description of the drawings
Fig. 1 is a kind of angle of pitch compensating approach method specific embodiment of the GNSS of the invention under Varifocal zoom lens
Flow chart.
Fig. 2 is the present invention ideally ball machine coordinate system schematic diagram.
Fig. 3 is the contrast schematic diagram after angle of pitch amendment and before amendment in the present invention.
Embodiment
Accompanying drawing being given for example only property explanation, it is impossible to be interpreted as the limitation to this patent；
In order to more preferably illustrate the present embodiment, some parts of accompanying drawing have omission, zoomed in or out, and do not represent actual product
Size；
To those skilled in the art, it is to be appreciated that some known features and its explanation, which may be omitted, in accompanying drawing
's.
In the description of the invention, it is to be understood that in addition, term " first ", " second " are only used for describing purpose, and
It is not intended that indicating or implying relative importance or imply the quantity of indicated technical characteristic.Thus, " first " of restriction,
One or more this feature can be expressed or be implicitly included to the feature of " second ".In the description of the invention, unless separately
It is described, " multiple " are meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " company
Connect " it should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or it is integrally connected；It can be machine
Tool is connected or electrically connected；It can be joined directly together or be indirectly connected with by intermediary, it may be said that two
The connection of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood in the present invention
Concrete meaning.
Technical scheme is described further with reference to the accompanying drawings and examples.
Embodiment 1
As shown in figure 1, the angle of pitch compensating approach method for being a kind of GNSS of the invention under Varifocal zoom lens is specific
The flow chart of embodiment.Referring to Fig. 1, a kind of angle of pitch compensating approach of the GNSS of this specific embodiment under Varifocal zoom lens
The specific steps of method include：
S101. the GNSS of the corresponding ball machine of Varifocal zoom lens is obtained；
S102. measure and obtain the GNSS of multiple points on each compensating approach direction；Each compensating approach direction with
The rotation direction of ball machine is that foundation is divided.Because ball machine can be with 360 ° of rotations, ball machine cradling piece fixed prescription is to will not make
For direction of observation, it is not necessary to compensate.The division in direction, for example the horizontal 0-180 ° direction for ball machine observation, then can divide many
Individual direction, is for example subdivision stepping with 30 °, then a total of 6 directions, and there is angle of pitch compensating approach function in each direction.Carefully
Substep enters smaller, and it is more accurate to compensate.On each direction the datum mark for obtaining compensating approach function is used as at least with 4-5 points.
S103. on each compensating approach direction, multiple points are calculated relative to ball machine according to the GNSS of multiple points respectively
Angle of pitch ψ and horizontal angle θ；
S104. on each compensating approach direction, the GNSS that the center of video pictures is moved sequentially into multiple points respectively is sat
At mark, the horizontal angle θ ' and angle of pitch ψ ' of each point are obtained；The horizontal angle and the angle of pitch that each point is located at video pictures center are can
With what is directly obtained, horizontal angle and the angle of pitch now are that the subdivision step number rotated according to ball machine motor is calculated.
S105. remove | θ-θ ' |>1 ° of the corresponding angle of pitch, on each compensating approach direction, obtains multiple points respectively
The offset ψ "=ψ-ψ ' of the angle of pitch；
S106. " it is dependent variable, ψ is independent variable, carries out the compensating approach function that linear fit obtains all directions with ψ；
S107. the point for needing amendment in a certain direction, then carries out pitching using the compensating approach function in respective direction
The compensating approach at angle.Compensating approach not be directed to some point, for some direction institute a little.Carry out linear fit and obtain each side
To compensating approach function, tested point carries out the benefit of the angle of pitch using compensating approach function on corresponding direction in a certain direction
Repay amendment.
In specific implementation process, tested point concretely comprising the following steps relative to the horizontal angle of ball machine is calculated in step S103：
The first step, if A points are the corresponding ball machine of Varifocal zoom lens, B points are calculative point, and the longitude and latitude of A points is
(Aj,Aw), the longitude and latitude of B points is (Bj,Bw), wherein east longitude is just, west longitude is negative；North latitude is just, south latitude is negative；2 points of A, B's
Relative altitude is h, and the mean radius of the earth is R；
Second step, is set to geographical north (arctic point) direction, horizontal direction angle is with geographical north by the direct north of Varifocal zoom lens
Direction is zero degree, is incremented by clockwise, and the angle of pitch is incremented by upwards using the vertical line perpendicular to horizontal plane where the point as zero degree, such as Fig. 2
Shown, wherein ψ represents the angle of pitch of the B points relative to A points, and Ω represents B points relative to A points and the angle in geographical north, and A' represents A points
Projection, D directions represent the real north of A points；
3rd step, the distance of B points to A point warps isLatitude of the A points to B points
The distance of degree isHorizontal angle ∠ DAB tangent values can be obtained, aligns and cuts into row antitrigonometric function, i.e.,
Horizontal angle ∠ DAB, which can be obtained, is：
4th step, determines B points using A points as the quadrant residing for origin, i.e., with the difference of B points and the longitude and latitude of A points, determine B points
Residing quadrant is modified to horizontal angle, and coordinate system is using A points as origin, using warp as X-axis, and parallel is Y-axis；If B points are located at
First quartile and Y-axis positive axis, then horizontal angle correction value θ=δ；If B points are located at the second quadrant, horizontal angle correction value θ=360
+δ；If B points are located at third and fourth quadrant and Y-axis bears semiaxis, horizontal angle correction value θ=180+ δ.
In step S103, concretely comprising the following steps for the angle of pitch relative to ball machine is put：
The projection A' of B points and A points, because B points are in the visual range of A points, can be considered as on same plane by the first step；
B points are obtained with respect to the angle of pitch ∠ A'AB of A points, it is necessary to obtain the distance between B points and A spot projections point A', then are needed A, B two
Point latitude and longitude coordinates be converted into rectangular coordinate system in space, obtain point-to-point transmission apart from L：
Coordinate value of the A points on rectangular coordinate system in space be respectively：
Coordinate value of the B points on rectangular coordinate system in space be respectively：
The distance between 2 points of A, B be：
The difference h of 2 relative altitudes of A, B, then B points be with respect to the angle of pitch of A points：
In step S101-S103 calculate point relative to ball machine the angle of pitch, due to relative position utilize be the earth sit
There is not level, cause the coordinate system of ball machine and earth coordinates misaligned, institute in mark system, ball machine when installing
To need to the angle of pitch compensating approach on varying level direction.GNSS of the present invention to the multiple spot in multiple horizontal directions
Measure, GNSS input computer calculates the angle of pitch relative to ball machine, is regarded using being located at for certain relative ball machine of point
The principle at frequency picture center, can get certain point positioned at the angle of pitch at video pictures center, obtain the angle of pitch and reality of calculating
The difference of the angle of pitch on border, then carries out the fitting of curve, does the compensation of the angle of pitch.It is specific as follows：
Horizontal angle θ of multiple points relative to ball machine on each compensating approach direction is obtained using above-mentioned formula (1) and (9)1,
θ2, θ3..., θmWith angle of pitch ψ1, ψ2, ψ3..., ψm, i.e. set ψ={ ψ1, ψ2, ψ3..., ψm}；
Then in step S104, it is 0 ° of direction to set geographical north, is incremented by clockwise, and video pictures center is moved into GNSS sits
Punctuate, obtains the horizontal angle θ ' and angle of pitch ψ ' of each point.
Removed followed by step S105 | θ-θ ' |>1 ° of the corresponding angle of pitch, on each compensating approach direction, respectively
Obtain the offset ψ "=ψ-ψ ' of the multiple angles of pitch, i.e. set ψ "=ψ "1, ψ "2, ψ "3..., ψ "m}
In step s 106, with set ψ " for dependent variable, set ψ is independent variable, does linear fit, obtains each side finally
To compensating approach function；
The point for needing amendment in a certain direction, then carries out the benefit of the angle of pitch using the compensating approach function in respective direction
Repay amendment.Compensating approach not be directed to some point, for some direction institute a little.Carry out the benefit that linear fit obtains all directions
Correction function is repaid, the compensation that tested point carries out the angle of pitch using compensating approach function on corresponding direction in a certain direction is repaiied
Just.As shown in figure 3, angle ε represents B points relative to the angle of pitch after the compensation of A points.
The same or analogous part of same or analogous label correspondence；
Position relationship is used for being given for example only property explanation described in accompanying drawing, it is impossible to be interpreted as the limitation to this patent；
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Any modifications, equivalent substitutions and improvements made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (5)
1. a kind of angle of pitch compensating approach method of GNSS under Varifocal zoom lens, it is characterised in that including：
Obtain the GNSS of the corresponding ball machine of Varifocal zoom lens；
Measure and obtain the GNSS of multiple points on each compensating approach direction；
On each compensating approach direction, according to the GNSS of multiple points calculate respectively multiple points relative to ball machine angle of pitch ψ and
Horizontal angle θ；
On each compensating approach direction, at the GNSS that the center of video pictures is moved sequentially to multiple points respectively, obtain
The horizontal angle θ ' and angle of pitch ψ ' of each point；
Remove | θ-θ ' |>1 ° of the corresponding angle of pitch, on each compensating approach direction, obtains the benefit of the multiple angles of pitch respectively
Repay value ψ "=ψ-ψ '；
" it is dependent variable, ψ is independent variable, carries out the compensating approach function that linear fit obtains all directions with ψ；
The point for needing amendment in a certain direction, is then repaiied using the compensation of the compensating approach function progress angle of pitch in respective direction
Just.
2. angle of pitch compensating approach method of the GNSS according to claim 1 under Varifocal zoom lens, its feature exists
In each compensating approach direction is divided by foundation of the direction of observation of ball machine.
3. angle of pitch compensating approach method of the GNSS according to claim 1 under Varifocal zoom lens, its feature exists
In point is concretely comprised the following steps relative to the horizontal angle of ball machine：
If A points are the corresponding ball machine of Varifocal zoom lens, B points are calculative point, and the longitude and latitude of A points is (Aj,Aw), the warp of B points
Latitude is (Bj,Bw), wherein east longitude is just, west longitude is negative；North latitude is just, south latitude is negative；The relative altitude that 2 points of A, B is h, ground
The mean radius of ball is R, and D directions represent the real north of A points；
The direct north of Varifocal zoom lens is set to real north, horizontal direction angle is passed clockwise using real north as zero degree
Increase, the angle of pitch is incremented by upwards using the vertical line perpendicular to horizontal plane where the point as zero degree；
The distance of B points to A point warps isThe distance of A points to the latitude of B points isHorizontal angle ∠ DAB tangent values can be obtained, aligns and cuts into row antitrigonometric function, you can obtain level
Angle ∠ DAB are：
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B points are determined using A points as the quadrant residing for origin, i.e., with the difference of B points and the longitude and latitude of A points, determine the quadrant pair residing for B points
Horizontal angle is modified, and coordinate system is using A points as origin, using warp as X-axis, and parallel is Y-axis；If B points are located at first quartile and Y-axis
Positive axis, then horizontal angle correction value θ=δ；If B points are located at the second quadrant, horizontal angle correction value θ=360+ δ；If B points are located at
Third and fourth quadrant and Y-axis bear semiaxis, then horizontal angle correction value θ=180+ δ.
4. angle of pitch compensating approach method of the GNSS according to claim 3 under Varifocal zoom lens, its feature exists
In point is concretely comprised the following steps relative to the angle of pitch of ball machine：
Because B points are in the visual range of A points, the projection A' of B points and A points can be considered as on same plane；Obtain B points relative
The angle of pitch ∠ A'AB of A points are then needed 2 points of A, B longitude and latitude, it is necessary to obtain the distance between B points and A spot projections point A'
Coordinate transformation is rectangular coordinate system in space, obtain point-to-point transmission apart from L：
Coordinate value of the A points on rectangular coordinate system in space be respectively：
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<mo>*</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>B</mi>
<mi>j</mi>
</msub>
<mo>*</mo>
<mfrac>
<mi>&pi;</mi>
<mn>180</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>Z</mi>
<mi>B</mi>
</msub>
<mo>=</mo>
<mi>R</mi>
<mo>*</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>B</mi>
<mi>w</mi>
</msub>
<mo>*</mo>
<mfrac>
<mi>&pi;</mi>
<mn>180</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
The distance between 2 points of A, B be：
<mrow>
<mi>L</mi>
<mo>=</mo>
<mroot>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>A</mi>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>B</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>A</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>B</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Z</mi>
<mi>A</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Z</mi>
<mi>B</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
<mn>2</mn>
</mroot>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
The difference h of 2 relative altitudes of A, B, then B points be with respect to the angle of pitch of A points：
<mrow>
<mi>&psi;</mi>
<mo>=</mo>
<mrow>
<mo>(</mo>
<msup>
<mi>tan</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>(</mo>
<mfrac>
<mi>L</mi>
<mi>h</mi>
</mfrac>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>*</mo>
<mfrac>
<mn>180</mn>
<mi>&pi;</mi>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>9</mn>
<mo>)</mo>
</mrow>
<mo>.</mo>
</mrow>
5. angle of pitch compensating approach method of the GNSS according to claim 4 under Varifocal zoom lens, its feature exists
In, the center of video pictures is moved sequentially to the GNSS of multiple spot respectively, obtain each point horizontal angle θ ' and angle of pitch ψ '
Concretely comprise the following steps：
If geographical north is 0 ° of direction, it is incremented by clockwise, video pictures center is moved into each GNSS point, directly obtained after I movements
Take the horizontal angle θ ' and angle of pitch ψ ' of each GNSS point.
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