CN108152838B - Device and method for measuring target position based on sighting - Google Patents
Device and method for measuring target position based on sighting Download PDFInfo
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- CN108152838B CN108152838B CN201711354441.1A CN201711354441A CN108152838B CN 108152838 B CN108152838 B CN 108152838B CN 201711354441 A CN201711354441 A CN 201711354441A CN 108152838 B CN108152838 B CN 108152838B
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- 238000004364 calculation method Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 8
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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 invention provides a device and a method for determining a target position based on sighting, comprising a first satellite navigation differential receiver, a second satellite navigation differential receiver which is positioned at a set position from the first satellite navigation differential receiver, a sighting device and a laser range finder, the axis of the first satellite navigation differential receiver and the axis of the second satellite navigation differential receiver are connected with each other and are parallel to the optical axis of the sighting device and the optical axis of the laser range finder; the system also comprises a controller which is in communication connection with the first satellite navigation differential receiver and the laser range finder. Wherein the sight is used for realizing the observation of a target, the laser range finder is used for measuring the distance from an observation point to the target, the satellite navigation differential receiver is used for measuring the three-dimensional position of the satellite navigation differential receiver, the method can easily obtain the accurate position of the observed target, improves the efficiency of target position measurement, facilitates the analysis and research of the target, and lays a foundation for military reconnaissance and field target detection.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a device and a method for measuring a target position based on sighting.
Background
The difficult target needs to be positioned in field geodetic work and the like, in actual observation of a target which is not easily accessible, observation instruments such as a laser range finder and a thermal infrared imager are often used. Wherein the laser range finder is an instrument for measuring the distance of a target by utilizing a certain parameter of laser, the laser range finder ranges from about 3.5 meters to 5000 meters, the distance is detected by calculating the time difference (phase difference) between a transmitted light beam and a received light beam reflected by the target, the laser range finder can generally reach meter level in measurement precision, some professional measurement-grade products can reach sub-meter grade and millimeter grade, but the method can only obtain the distance from the observation platform to the target, and can not obtain the accurate position of the target, if the accurate position of the target needs to be obtained, the realization is troublesome and difficult by means of multipoint measurement; in addition, some people additionally integrate geomagnetic equipment, gyroscopes and other equipment to obtain longitude and latitude auxiliary information on the basis of the scheme, so that the target position is calculated, the target is measured, the high-precision gyroscopes are high in price, good in dynamic performance and heavy, and the gyroscope is not easy to carry.
Disclosure of Invention
The invention aims to provide a device and a method for measuring a target position based on sighting, which are used for solving the problem of inaccurate measurement of the target position in the prior art.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the invention also provides a device for measuring the target position based on the observation, which comprises the following technical proposal:
according to the first device scheme, the device for determining the target position based on the sighting comprises a first satellite navigation differential receiver, a second satellite navigation differential receiver, a sighting device and a laser range finder, wherein the axis of the first satellite navigation differential receiver connected with the second satellite navigation differential receiver is parallel to the optical axis of the sighting device and the optical axis of the laser range finder; the system also comprises a controller, wherein the controller is in communication connection with the first satellite navigation differential receiver and the laser range finder.
The second device scheme is characterized by further comprising a display screen on the basis of the first device scheme, wherein the display screen is connected with the controller.
And the controller is a CPU based on the device scheme I or the device scheme II respectively.
And the display screen is a digital screen based on the device scheme III or the device scheme IV respectively.
The display screen is a liquid crystal screen based on the device scheme III or the device scheme IV respectively.
The invention also provides a method for measuring the target position based on the observation, which comprises the following technical proposal:
in a first method scheme, the method for determining the target position based on the sighting comprises the following steps:
1) Respectively acquiring the position information of the first satellite navigation differential receiver and the second satellite navigation differential receiver, and acquiring the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, the distance between the laser range finder and the target and the distance between the first satellite navigation differential receiver and the laser range finder;
2) Calculating an included angle between a connecting line of the reference point and the moving point and a three-dimensional coordinate system by taking the position of the first satellite navigation differential receiver as a reference point and the position of the second satellite navigation differential receiver as a moving point according to the acquired position information of the first satellite navigation differential receiver and the second satellite navigation differential receiver and the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver;
3) And calculating the position of the target under the three-dimensional coordinate system according to the distance between the laser range finder and the target, the distance between the first satellite navigation differential receiver and the laser range finder and the angle between the connecting line of the datum point and the moving point and the three-dimensional coordinate system.
In a second method scheme, on the basis of the first method scheme, an expression of an included angle between a connecting line of the datum point and the moving point and the three-dimensional coordinate system is as follows:
wherein alpha is the included angle between the connecting line of the datum point and the moving point and the X axis, beta is the included angle between the connecting line of the datum point and the moving point and the Y axis, gamma is the included angle between the connecting line of the datum point and the moving point and the Z axis, L is the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, and X A 、Y A 、Z A The positions of the datum points on the X axis, the Y axis and the Z axis are respectively, X B 、Y B 、Z B The positions of the corresponding points of the second satellite navigation differential receiver on the X axis, the Y axis and the Z axis are respectively.
In a third method aspect, on the basis of the second method aspect, the expression of the position of the target in the three-dimensional coordinate system is:
X 0 ＝(SL+d)sinα
Y 0 ＝(SL+d)sinβ
Z 0 ＝(SL+d)sinγ
wherein X is 0 To the position of the target on the X-axis, Y 0 Z is the position of the target on the Y-axis 0 For the position of the target on the Z-axis, SL is the distance between the laser rangefinder and the target, and d is the distance between the first satellite navigation differential receiver and the laser rangefinder.
And displaying the target position after the calculation of the target position is completed on the basis of the first method, the second method or the third method respectively.
The beneficial effects of the invention are as follows:
the method can easily obtain the accurate position of the observed target, improves the efficiency of target position measurement, facilitates the analysis and research of the target, and lays a foundation for the detection of field targets.
Drawings
FIG. 1 is a block diagram of an apparatus for determining the precise position of an object by observing and aiming;
FIG. 2 is a schematic view of the installation of the main components of the sighting target device;
FIG. 3 is a schematic diagram of the key measurement values from the sighting device to the target.
Detailed Description
The following describes the embodiments of the present invention further with reference to the accompanying drawings:
the device for measuring the target position based on the sighting comprises a sighting device, a laser range finder, a first satellite navigation differential receiver (corresponding to the differential receiver A in fig. 1), a second satellite navigation differential receiver (corresponding to the differential receiver B in fig. 1), a controller and a display screen integrated in the controller, wherein the controller is connected with the first satellite navigation differential receiver and the laser range finder through communication interfaces. The collimator in this embodiment includes an optical collimator, an optoelectronic collimator, or a laser collimator; the satellite navigation differential receiver is an instrument for receiving satellite signals of a global positioning system (GPS or Beidou satellite positioning system) and determining the ground space position, the global positioning navigation positioning signals are information resources which can be shared by countless users, the satellite navigation differential receiver adopts a differential technology, the differential technology is a technology for improving the positioning precision of a radio navigation system, the positioning error of a known position is determined, and then the error or correction factor is sent to users using the same radio navigation system signal source in the same geographic area, and the differential technology comprises position differential technology, pseudo-range differential technology and carrier corresponding differential technology, so that the relative positioning precision of meter level, sub-meter level and centimeter level can be respectively obtained, and the satellite navigation differential receiver can be applied to a high-precision positioning system.
The installation structure diagram shown in fig. 2 comprises a first satellite navigation differential receiver 1 (differential receiver a in the corresponding diagram) and a second satellite navigation differential receiver 2 (differential receiver B in the corresponding diagram) arranged at a set position away from the first satellite navigation differential receiver, wherein an axis formed by connecting the first satellite navigation differential receiver with the second satellite navigation differential receiver is parallel to an optical axis of the sight and an optical axis of the laser range finder; in order to ensure the accuracy of the relative measurement, the distance L between the first satellite navigation differential receiver and the second satellite navigation differential receiver is kept at 1 meter or more, but the distance between the two can also be less than 1 meter, which is determined according to the performance requirements of the satellite navigation differential receiver specifically selected. The length of the sighting device can be short, the sighting line is not influenced by the satellite navigation differential receiver mounting bracket, the distance d from the first satellite navigation differential receiver to the laser range finder is assumed to be d, the distance d from the first satellite navigation differential receiver to the laser range finder can be equal to the distance L between the two satellite navigation differential receivers or be 0, namely the sighting device is directly placed under the first satellite navigation differential receiver, the sizes of L and d can be directly measured after the sighting device is completed, and the L and d are fixed physical size values.
The sight is used for realizing the observation of a target, has no electric interface with other functional modules, the laser range finder is used for measuring the distance from an observation point to the target, and the two satellite navigation differential receivers are used for measuring the three-dimensional position under the own coordinates, wherein the coordinates are a geodetic coordinate system or other coordinate systems. After an observer aims at a target by using a sighting device, the distance from the observation point to the target is measured by using a laser detector, the first satellite navigation differential receiver and the second satellite navigation differential receiver respectively measure the position information of the observer, and finally, when the position of the target is calculated, the calculated position of the target is required to be displayed on a display screen. The controller of this embodiment is any one of a CPU, a single-chip microcomputer, a DSP, and an ARM, and the display screen of this embodiment is a digital screen or a liquid crystal screen, and as other embodiments, the display screen may also select other devices with display functions.
As shown in fig. 3, the position of the first satellite navigation differential receiver is taken as a point coordinate, and the position of the second satellite navigation differential receiver is taken as a point coordinate; s is the distance from the target to the point B on the extension line of the point A and the point B, and the distance from the laser range finder to the target is SL at the moment, and S=SL+d-L; the alpha, beta and gamma are respectively included angles between the connecting line of the two points A, B and the Y axis, the X axis and the Z axis under the coordinate system.
The method for determining the target position based on the sight in the embodiment comprises the following steps:
1) The first satellite navigation differential receiver is in communication connection with the second satellite navigation differential receiver, and corresponds to differential receiver A and differential receiver B in FIG. 1 respectively, wherein differential receiver A is regarded as a reference station, differential receiver B is regarded as a mobile station, and differential receiver A measures differential observed quantity information X of three-axis positions of the differential receiver A by using satellite positioning A 、Y A 、Z A And the measured differential observed quantity information is sent to the differential receiver B in real time, the differential receiver B receives the differential measured information and carries out differential according to the differential measured information to obtain position information with extremely high precision compared with the differential receiver A, and the position information can reach cm level.
2) After real-time processing, the three-axis position information X of the self is obtained B 、Y B 、Z B And transmitting the triaxial position information to the differential receiver A, so that the differential receiver A not only acquires the own position information through positioning, but also acquires the position information of the differential receiver B from the differential receiver B in real time, and then the differential receiver A transmits the position information of the two differential receivers to the CPU processing module in real time to measure the sizes of L and d, and also writes the sizes of the L and d which are directly measured, and the CPU module calculates the position of the target after acquiring the information.
3) According to the acquired position information X of the first satellite navigation differential receiver A 、Y A 、Z A And a position of a second satellite navigation differential receiverInformation X B 、Y B 、Z B And calculating an included angle between a connecting line of the reference point A and the moving point B and a three-dimensional coordinate system by a CPU control module by taking the position of the first satellite navigation differential receiver as a reference point A and the position of the second satellite navigation differential receiver as a moving point B, wherein the included angle between the connecting line of the reference point A and the moving point B and the three-dimensional coordinate system is expressed as an expression of the included angle between the connecting line of the reference point and the moving point and the three-dimensional coordinate system, namely the included angle between the connecting line of the point A and the point B and the three-dimensional coordinate system is expressed as:
wherein alpha is the included angle between the connecting line of the point A and the point B and the X axis, beta is the included angle between the connecting line of the point A and the point B and the Y axis, gamma is the included angle between the connecting line of the point A and the point B and the Z axis, L is the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, and X A 、Y A 、Z A The positions of the datum points on the X axis, the Y axis and the Z axis are respectively, X B 、Y B 、Z B The positions of the corresponding points of the second satellite navigation differential receiver on the X axis, the Y axis and the Z axis are respectively.
4) According to the distance SL between the laser range finder and the target, the distance d between the first satellite navigation differential receiver and the laser range finder, and the angle between the connecting line of the datum point and the moving point and the three-dimensional coordinate system, the CPU control module calculates the position X of the target under the three-dimensional coordinate system 0 、Y 0 、Z 0 Thereby obtaining the accurate position of the target, and the expression of the position of the target under the three-dimensional coordinate system is as follows:
X 0 ＝(SL+d)sinα
Y 0 ＝(SL+d)sinβ
Z 0 ＝(SL+d)sinγ
wherein X is 0 To the position of the target on the X-axis, Y 0 Z is the position of the target on the Y-axis 0 For the position of the target on the Z-axis, SL is the distance between the laser rangefinder and the target, and d is the distance between the first satellite navigation differential receiver and the laser rangefinder.
5) After the three-dimensional coordinate position of the target is calculated, the three-dimensional coordinate position is displayed on a display screen for relevant personnel to check, and can be converted into a three-axis position or longitude and latitude coordinates under any coordinate system according to a coordinate conversion formula.
Specific embodiments are given above, but the present invention is not limited to the above-described embodiments. The basic idea of the invention is that the above basic scheme, it is not necessary for a person skilled in the art to design various modified models, formulas, parameters according to the teaching of the invention to take creative effort. Variations, modifications, substitutions and alterations are also possible in the embodiments without departing from the principles and spirit of the present invention.
Claims (7)
1. A method for determining a target position based on sighting, comprising the steps of:
1) Respectively acquiring the position information of the first satellite navigation differential receiver and the second satellite navigation differential receiver, and acquiring the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, the distance between the laser range finder and the target and the distance between the first satellite navigation differential receiver and the laser range finder;
2) According to the acquired position information of the first satellite navigation differential receiver and the second satellite navigation differential receiver and the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, the position of the first satellite navigation differential receiver is taken as a datum point, the position of the second satellite navigation differential receiver is taken as a moving point, the included angle between the connecting line of the datum point and the moving point and the three-dimensional coordinate system is calculated, and the expression of the included angle between the connecting line of the datum point and the moving point and the three-dimensional coordinate system is as follows:
wherein alpha is the included angle between the connecting line of the datum point and the moving point and the X axis, beta is the included angle between the connecting line of the datum point and the moving point and the Y axis, gamma is the included angle between the connecting line of the datum point and the moving point and the Z axis, L is the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, and X A 、Y A 、Z A The positions of the datum points on the X axis, the Y axis and the Z axis are respectively, X B 、Y B 、Z B The positions of the points corresponding to the second satellite navigation differential receiver on the X axis, the Y axis and the Z axis are respectively;
3) Calculating the position of the target in the three-dimensional coordinate system according to the distance between the laser range finder and the target, the distance between the first satellite navigation differential receiver and the laser range finder and the angle between the connecting line of the datum point and the moving point and the three-dimensional coordinate system, wherein the expression of the position of the target in the three-dimensional coordinate system is as follows:
X 0 ＝(SL+d)sinα
Y 0 ＝(SL+d)sinβ
Z 0 ＝(SL+d)sinγ
wherein X is 0 To the position of the target on the X-axis, Y 0 Z is the position of the target on the Y-axis 0 For the position of the target on the Z-axis, SL isAnd d is the distance between the first satellite navigation differential receiver and the laser range finder.
2. The method for determining a target position based on sighting according to claim 1, wherein the target position is displayed after the target position calculation is completed.
3. The device for measuring the target position based on the sighting is characterized by comprising a first satellite navigation differential receiver, a second satellite navigation differential receiver, a sighting device and a laser range finder, wherein the second satellite navigation differential receiver is positioned at a set position of the first satellite navigation differential receiver, and the axes of the first satellite navigation differential receiver and the second satellite navigation differential receiver are connected and are parallel to the optical axis of the sighting device and the optical axis of the laser range finder; the device is used for realizing the method for determining the target position based on the sight according to claim 1.
4. The apparatus for determining the position of a target based on sighting of claim 3, further comprising a display screen coupled to the controller.
5. The apparatus for determining the position of a target based on sighting according to claim 3 or 4, wherein the controller is a CPU.
6. The apparatus for determining the position of a target based on sighting of claim 4, wherein the display screen is a digital screen.
7. The apparatus for determining a position of a target based on sighting of claim 4, wherein the display screen is a liquid crystal screen.
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| 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 |
| CN113050137B (en) * | 2021-03-09 | 2022-04-26 | 江西师范大学 | Multi-point cooperative measurement spatial information acquisition method |
| CN114322964B (en) * | 2022-01-29 | 2022-05-31 | 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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