CN108152838A - It is a kind of that the device and method for measuring target location are taken aim at based on sight - Google Patents
It is a kind of that the device and method for measuring target location are taken aim at based on sight Download PDFInfo
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- CN108152838A CN108152838A CN201711354441.1A CN201711354441A CN108152838A CN 108152838 A CN108152838 A CN 108152838A CN 201711354441 A CN201711354441 A CN 201711354441A CN 108152838 A CN108152838 A CN 108152838A
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- 238000004891 communication Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims 1
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- 238000011160 research Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
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Classifications
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of device and method taken aim at based on sight and measure target location, the second satellite navigation differential receivers, sighting device and laser range finder including the first satellite navigation differential receivers, distance the first satellite navigation differential receivers setting position, the axis that first satellite navigation differential receivers and the second satellite navigation differential receivers are connected, the optical axis of optical axis, laser range finder with sighting device are mutually parallel；Controller is further included, controller and the first satellite navigation differential receivers, laser range finder communicate to connect.Wherein, sighting device, which is used for realizing, takes aim at the sight of target, laser range finder completes observation point to the measure of target range, satellite navigation differential receivers complete the measure of itself three-dimensional position, the method of the present invention can easily obtain the exact position of target being observed, the efficiency of target location is improved, convenient analysis and research to target is laid a good foundation for military surveillance, the detection of field object.
Description
Technical field
It is more particularly to a kind of that the device and method for measuring target location are taken aim at based on sight the invention belongs to field of measuring technique.
Background technology
Work of geodesic survey in the wild etc. needs to position unapproachable target, to unapproachable target
In actual observation, mostly using observation instruments such as laser range finder, thermal infrared imagers.Wherein, laser range finder utilizes laser
Some parameter realizes the instrument to target distance measurement, and laser ranging range is about 3.5~5000m, emits light beam by calculating
With time difference (phase difference) of reception light beam for being reflected by target come detecting distance, in measurement accuracy, laser range finder is universal
Meter level is can reach, the measurement grade product of some professions can reach sub-meter grade, grade, but this mode is only capable of obtaining observing and put down
Platform range-to-go, can not obtain the exact position of target, obtain the exact position of target if necessary, need by multiple spot
The means of measurement implement and are more troublesome and are not easy；In addition, some people on the basis of said program, additionally integrate earth magnetism
Longitude and latitude auxiliary information is obtained with equipment such as gyroscopes, so as to calculate target location, realizes the measure to target, and it is high-precision
Gyroscope is expensive, dynamic property it is good again it is heavier, be not easy to carry.
Invention content
It is existing for solving the purpose of the present invention is to provide a kind of device and method taken aim at based on sight and measure target location
The problem of inaccurate to the measurement of target location in technology.
To achieve the above object, the technical scheme is that：
The present invention also provides a kind of device that measure target location is taken aim at based on sight, including following technical scheme：
Device scheme one, it is a kind of based on see take aim at measure target location device, including the first satellite navigation differential receivers,
Second satellite navigation differential receivers, sighting device and laser range finder, the first satellite navigation differential receivers and second are defended
The axis that star navigation differential receivers are connected, the optical axis of optical axis, laser range finder with sighting device are mutually parallel；It has further included
Controller, the controller are communicated to connect with the first satellite navigation differential receivers, the laser range finder.
Device scheme two on the basis of device scheme one, further includes display screen, and the display screen connects with the controller
It connects.
Device scheme three, device scheme four, respectively on the basis of device scheme one or device scheme two, the controller
For CPU.
Device scheme five, device scheme six, respectively on the basis of device scheme three or device scheme four, the display screen
For digital screen.
Device scheme seven, device scheme eight, respectively on the basis of device scheme three or device scheme four, the display screen
For liquid crystal display.
The present invention also provides a kind of method taken aim at based on sight and measure target location, including following technical scheme：
Method scheme one, it is a kind of that the method for measuring target location is taken aim at based on sight, include the following steps：
1) location information of the first satellite navigation differential receivers and the second satellite navigation differential receivers is obtained respectively, and
Obtain the first satellite navigation differential receivers and the second satellite navigation differential receivers the distance between, laser range finder and mesh
The distance between mark and the distance between the first satellite navigation differential receivers and laser range finder；
2) according to the first satellite navigation differential receivers of acquisition and the location information of the second satellite navigation differential receivers
And first satellite navigation differential receivers and the second satellite navigation differential receivers the distance between, it is poor with the first satellite navigation
Point on the basis of position where slave receiver using the position where the second satellite navigation differential receivers as transfer point, calculates institute
State the angle between datum mark and the line and three-dimensional system of coordinate of transfer point；
3) according to the distance between laser range finder and target, the first satellite navigation differential receivers and laser range finder it
Between distance and datum mark and the line and three-dimensional system of coordinate of standard point between angle, calculate target under three-dimensional system of coordinate
Position.
Method scheme two, on the basis of method scheme one, the line and three-dimensional system of coordinate of the datum mark and transfer point
Between the expression formula of angle be：
Wherein, point and the angle between the line and X-axis of transfer point on the basis of α, on the basis of β the line of point and transfer point and
Angle between Y-axis, point and the angle between the line and Z axis of transfer point on the basis of γ, L are the first satellite navigation differential received
The distance between machine and the second satellite navigation differential receivers, XA、YA、ZAIt is position of the datum mark on X-axis, Y-axis, Z axis respectively
It puts, XB、YB、ZBIt is position of the corresponding point of the second satellite navigation differential receivers on X-axis, Y-axis, Z axis respectively.
Method scheme three, on the basis of method scheme two, the expression formula of position of the target under three-dimensional system of coordinate
For：
X0=(SL+d) sin α
Y0=(SL+d) sin β
Z0=(SL+d) sin γ
Wherein, X0The position for being target in X-axis, Y0The position for being target in Y-axis, Z0The position for being target on Z axis
It puts, SL is the distance between laser range finder and target, and d is between the first satellite navigation differential receivers and laser range finder
Distance.
Method scheme four, method scheme five and method scheme six, respectively in method scheme one, method scheme two or method side
On the basis of case three, after the completion of target location calculates, target location is shown.
The beneficial effects of the invention are as follows：
The present invention is used for real using integrated sighting device, two satellite navigation differential receivers and laser range finder, sighting device
Now the sight of target is taken aim at, laser range finder completes observation point to the measure of target range, and satellite navigation differential receivers are completed certainly
The measure of body three-dimensional position, the position of target is calculated according to above-mentioned data, and method of the invention can easily obtain quilt
The exact position of observed object, improves the efficiency of target location, and convenient analysis and research to target is field target
The detection of object is laid a good foundation.
Description of the drawings
Fig. 1 measures target exact position device composition frame chart to see to take aim at；
Fig. 2 measures the main building block scheme of installation of destination apparatus to see to take aim at；
Fig. 3 is to see the schematic diagram that collimation device measures magnitude to target critical.
Specific embodiment
The specific embodiment of the present invention is further described below in conjunction with the accompanying drawings：
It is a kind of that the device for measuring target location is taken aim at based on sight, as shown in Figure 1, being defended including sighting device, laser range finder, first
Star navigation differential receivers (the differential receivers A in corresponding diagram 1), the second satellite navigation differential receivers (difference in corresponding diagram 1
Slave receiver B), controller and the display screen being integrated in inside controller are further included, controller and the first satellite navigation are poor
Slave receiver, laser range finder are connected by communication interface.Sighting device in the present embodiment includes optical foresight, photoelectronic collimating
Device or laser sight；Satellite navigation differential receivers are to receive global positioning system (global position systems such as GPS or the Big Dipper)
Satellite-signal and the instrument for determining ground space position, global positioning navigation positioning signal are that one kind is shared for hundreds of thousands of subscribers
Information resources, satellite navigation differential receivers employ differential technique, and differential technique is a kind of improvement radio navigation system
The error or correction factor by determining the position error of known location, are then sent in the same manner by the technology of positioning accuracy
Manage in region has differential position, pseudo range difference and load using the user of same radio navigation system signal source, differential technique
The corresponding differential technique of wave, can obtain respectively meter level, sub-meter grade, Centimeter Level positioning precision, can be applied to high accuracy positioning
In system.
Installation diagram as shown in Figure 2, including the 1 (differential received in corresponding diagram of the first satellite navigation differential receivers
Machine A), that the setting positions of distance the first satellite navigation differential receivers is provided with the second satellite navigation differential receivers 2 is (corresponding
Differential receivers B in figure), sighting device 3, laser range finder 4, the first satellite navigation differential receivers and the second satellite navigation are poor
Slave receiver is connected the axis to be formed and the optical axis of sighting device, the optical axis of laser range finder are mutually parallel；It is opposite in order to ensure
The distance L of the precision of measurement, the first satellite navigation differential receivers and the second satellite navigation differential receivers is maintained at 1 meter or 1
Meter or more, but distance between the two might be less that 1 meter, according to the performance of satellite navigation differential receivers specifically selected
It is required that determine.The length of sighting device can be shorter, is taken aim at as long as ensureing that satellite navigation differential receivers mounting bracket does not influence to see
Line, it is assumed that the distance of the first satellite navigation differential receivers to laser range finder be d, the first satellite navigation differential receivers
Distance d to laser range finder can be isometric with the distance L of above-mentioned two satellite navigation differential receivers, or and 0, i.e., directly
The underface for being placed on the first satellite navigation differential receivers is connect, after the completion of seeing collimation device, can directly measure the size of L and d,
L and d is fixed physical size value.
Wherein, sighting device is used for realizing and the sight of target is taken aim at that, with other function modules without electrical interface, laser range finder is used for
Observation point range-to-go is measured, two satellite navigation differential receivers are used for measuring the three-dimensional position under the coordinate of itself,
The coordinate is earth coordinates or other coordinate systems.After observer uses sighting device run-home, laser detector measures
Observation point range-to-go, the first satellite navigation differential receivers and the second satellite navigation differential receivers measure itself respectively
Location information, finally at the position for calculating target, the position for the target that will be calculated is needed to carry out on a display screen
It has been shown that, the display screen of the present embodiment is connect with controller, and display screen is integrated in inside controller, as other embodiment
It can be arranged on outside controller, as long as ensureing to connect with controller.The controller of the present embodiment for CPU, microcontroller,
Any one of DSP, ARM, the display screen of the present embodiment is digital screen or liquid crystal display, and as other embodiment, display screen is also
It can select other equipment with display function.
As shown in figure 3, using the position where the first satellite navigation differential receivers as A point coordinates, with the second satellite navigation
Position where differential receivers is B point coordinates；After S is run-home, target on A point B point extended lines to B points away from
From, if at this time in laser range finder range-to-go for SL, then S=SL+d-L；α, β, γ are respectively 2 lines of A, B and institute
Under coordinate system with Y-axis, X-axis, Z axis angle.
The present embodiment takes aim at the method for measuring target location based on sight, includes the following steps：
1) the first satellite navigation differential receivers and the second satellite navigation differential receivers communicate to connect, respectively corresponding diagram 1
In differential receivers A and differential receivers B, differential receivers A regard base station as herein, differential receivers B regards shifting as herein
Dynamic station, differential receivers A measure the difference observed quantity information X of itself three shaft position using satellite positioningA、YA、ZA, and will measure
Difference observed quantity information be sent to differential receivers B in real time, differential receivers B receives the difference measurement information, and according to this
Difference measurement information carries out difference, obtains the location information high compared to differential receivers A precision, can reach cm grades.
2) the three shaft position information X of itself are obtained after processing in real timeB、YB、ZB, and three shaft position information are sent to difference
Receiver A, therefore, differential receivers A are obtained not only through positioning outside own location information, are also obtained in real time from differential receivers B
The location information of differential receivers B is obtained, then the location information of two differential receivers is sent to by differential receivers A in real time
CPU processing modules measure the size of L and d, and also write-in directly measures the size of L and d, after CPU module obtains information above, meter
Calculate the position of target.
3) according to the location information X of the first satellite navigation differential receivers of acquisitionA、YA、ZAWith the second satellite navigation difference
The location information X of receiverB、YB、ZBAnd first satellite navigation differential receivers and the second satellite navigation differential receivers it
Between distance L, the point A on the basis of the position where the first satellite navigation differential receivers, with the second satellite navigation differential received
Position where machine is transfer point B, between the line and three-dimensional system of coordinate by CPU control modules calculating benchmark point A and transfer point B
Angle, the expression formula of the angle between datum mark and the line and three-dimensional system of coordinate of transfer point, i.e. the line of A points and B points with
Angle between three-dimensional system of coordinate is expressed as：
Wherein, angles of the α between A points and the line and X-axis of B points, folders of the β between A points and the line and Y-axis of B points
Angle, angles of the γ between A points and the line and Z axis of B points, L are the first satellite navigation differential receivers and the second satellite navigation
The distance between differential receivers, XA、YA、ZAIt is position of the datum mark on X-axis, Y-axis, Z axis respectively, XB、YB、ZBIt is respectively
Position of the corresponding point of second satellite navigation differential receivers on X-axis, Y-axis, Z axis.
4) according to the distance between laser range finder and target SL, the first satellite navigation differential receivers and laser range finder
The distance between angle between the line and three-dimensional system of coordinate of d, datum mark and transfer point, target is calculated by CPU control modules
Position X under three-dimensional system of coordinate0、Y0、Z0, so as to obtain the exact position of target, position of the target under three-dimensional system of coordinate
Expression formula is：
X0=(SL+d) sin α
Y0=(SL+d) sin β
Z0=(SL+d) sin γ
Wherein, X0The position for being target in X-axis, Y0The position for being target in Y-axis, Z0The position for being target on Z axis
It puts, SL is the distance between laser range finder and target, and d is between the first satellite navigation differential receivers and laser range finder
Distance.
5) it after the completion of the three-dimensional coordinate position of target calculates, shows, is checked for related personnel on a display screen, it also can basis
Formula of Coordinate System Transformation, three shaft positions or the latitude and longitude coordinates being converted under arbitrary system.
Specific embodiment is presented above, but the present invention is not limited to embodiment described above.The present invention
Basic ideas be above-mentioned basic scheme, for those of ordinary skill in the art, introduction according to the present invention is designed each
The model of kind deformation, formula, parameter do not need to spend creative work.In the situation for not departing from the principle and spirit of the invention
Under to embodiment carry out change, modification, replacement and modification still fall in protection scope of the present invention.
Claims (9)
1. it is a kind of based on see take aim at measure target location device, which is characterized in that including the first satellite navigation differential receivers, away from
The second satellite navigation differential receivers, sighting device and Laser Measuring from the first satellite navigation differential receivers setting position
Distance meter, the axis that the first satellite navigation differential receivers are connected with the second satellite navigation differential receivers, with taking aim at
The optical axis of quasi- device, the optical axis of laser range finder are mutually parallel；Controller is further included, the controller is led with first satellite
Drift slave receiver, laser range finder communication connection.
2. according to claim 1 take aim at the device for measuring target location based on sight, which is characterized in that display screen is further included,
The display screen is connect with the controller.
3. according to claim 1 or 2 take aim at the device for measuring target location based on sight, which is characterized in that the controller
For CPU.
4. according to claim 3 take aim at the device for measuring target location based on sight, which is characterized in that the display screen is number
Word screen.
5. according to claim 3 take aim at the device for measuring target location based on sight, which is characterized in that the display screen is liquid
Crystalline substance screen.
6. a kind of take aim at the method for measuring target location based on sight, which is characterized in that includes the following steps：
1) location information of the first satellite navigation differential receivers and the second satellite navigation differential receivers is obtained respectively, and is obtained
First satellite navigation differential receivers and the second satellite navigation differential receivers the distance between, laser range finder and target it
Between distance and the distance between the first satellite navigation differential receivers and laser range finder；
2) according to the first satellite navigation differential receivers of acquisition and the location information and of the second satellite navigation differential receivers
The distance between one satellite navigation differential receivers and the second satellite navigation differential receivers, it is connect with the first satellite navigation difference
Point on the basis of position where receipts machine using the position where the second satellite navigation differential receivers as transfer point, calculates the base
Angle between the line and three-dimensional system of coordinate of transfer point on schedule；
3) according between the distance between laser range finder and target, the first satellite navigation differential receivers and laser range finder
Distance and the angle between datum mark and the line and three-dimensional system of coordinate of standard point calculate position of the target under three-dimensional system of coordinate
It puts.
7. according to claim 6 take aim at the method for measuring target location based on sight, which is characterized in that the datum mark and shifting
The expression formula of angle between the line and three-dimensional system of coordinate of dynamic point is：
Wherein, point and the angle between the line and X-axis of transfer point on the basis of α, the line and Y-axis of point and transfer point on the basis of β
Between angle, point and the angle between the line and Z axis of transfer point on the basis of γ, L is the first satellite navigation differential receivers
With the second satellite navigation differential receivers the distance between, XA、YA、ZAIt is position of the datum mark on X-axis, Y-axis, Z axis respectively
It puts, XB、YB、ZBIt is position of the corresponding point of the second satellite navigation differential receivers on X-axis, Y-axis, Z axis respectively.
8. according to claim 7 take aim at the method for measuring target location based on sight, which is characterized in that the target is in three-dimensional
The expression formula of position under coordinate system is：
X0=(SL+d) sin α
Y0=(SL+d) sin β
Z0=(SL+d) sin γ
Wherein, X0The position for being target in X-axis, Y0The position for being target in Y-axis, Z0The position for being target on Z axis, SL
For the distance between laser range finder and target, d is the distance between the first satellite navigation differential receivers and laser range finder.
9. the method for measuring target location is taken aim at based on sight according to claim 6-8 any one of them, which is characterized in that target position
After the completion of putting calculating, target location is shown.
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Cited By (4)
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| CN109474330A (en) * | 2018-12-25 | 2019-03-15 | 上海理工大学 | Laser communication and pointing system for unmanned plane |
| CN111678536A (en) * | 2020-05-08 | 2020-09-18 | 中国人民解放军空军工程大学 | Calibration method for calibrating magnetic declination of ground observation whistle and angle measurement system error of observation and aiming equipment |
| CN113050137A (en) * | 2021-03-09 | 2021-06-29 | 江西师范大学 | Multi-point cooperative measurement spatial information acquisition method |
| CN114322964A (en) * | 2022-01-29 | 2022-04-12 | 国科天成科技股份有限公司 | Observation and aiming system and method with laser communication function |
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| CN111678536A (en) * | 2020-05-08 | 2020-09-18 | 中国人民解放军空军工程大学 | Calibration method for calibrating magnetic declination of ground observation whistle and angle measurement system error of observation and aiming equipment |
| CN111678536B (en) * | 2020-05-08 | 2021-12-10 | 中国人民解放军空军工程大学 | Calibration method for calibrating magnetic declination of ground observation whistle and angle measurement system error of observation and aiming equipment |
| CN113050137A (en) * | 2021-03-09 | 2021-06-29 | 江西师范大学 | Multi-point cooperative measurement spatial information acquisition method |
| CN113050137B (en) * | 2021-03-09 | 2022-04-26 | 江西师范大学 | Multi-point cooperative measurement spatial information acquisition method |
| CN114322964A (en) * | 2022-01-29 | 2022-04-12 | 国科天成科技股份有限公司 | Observation and aiming system and method with laser communication function |
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