CN108508406A - A kind of 3-D positioning method and system - Google Patents
A kind of 3-D positioning method and system Download PDFInfo
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- CN108508406A CN108508406A CN201810312905.0A CN201810312905A CN108508406A CN 108508406 A CN108508406 A CN 108508406A CN 201810312905 A CN201810312905 A CN 201810312905A CN 108508406 A CN108508406 A CN 108508406A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
The present invention relates to a kind of 3-D positioning method and system, wherein this method includes：Step 1, signal wave is received by sphere receiver device, the sphere signal wave formed as the center of circle using target signal source is made to be crossed to form unique circle with the sphere receiver device；Step 2,3 d space coordinate system is established by origin of the center of circle of sphere receiver device, by intersecting circular coordinate, determines the coordinate of target signal source.The present invention obtains wave source three-dimensional coordinate position by passively receiving unicast source signal after mathematical model calculates.Present invention can apply to the three-dimensional localizations of aerospace field, artificial intelligence field, earthquake monitoring field.
Description
Technical field
The invention belongs to wave source signal field of locating technology more particularly to a kind of 3-D positioning method and systems.
Background technology
The application of sonar very extensively, but its be almost active two-dimensional positioning application, it is difficult to meet aerospace,
The demand in the fields such as artificial intelligence, seismic monitoring.
Invention content
The object of the present invention is to provide a kind of 3-D positioning method and systems, by passively receiving unicast source signal, through number
It learns after model calculates and obtains wave source three-dimensional coordinate position.
The present invention provides a kind of 3-D positioning methods, including：
Step 1, signal wave is received by sphere receiver device, makes the sphere signal wave and ball that are formed as the center of circle using target signal source
Body reception device is crossed to form unique circle；
Step 2,3 d space coordinate system is established by origin of the center of circle of sphere receiver device, by intersecting circular coordinate, really
The coordinate for the signal source that sets the goal.
Further, step 2 specifically includes：
When wave source signal passes to the center of circle of sphere receiver device, signal collection is latched, by signaling point coordinates feedback；Take a signal
Point is sought distance with other signaling points and is compared, and obtains apart from maximum another point, which is to intersect on circle a bit；Similarly into
Row obtains upper three points of intersection circle；It takes seek its perpendicular bisector function at wherein 2 points, two points is similarly taken to obtain perpendicular bisector function again；
Two perpendicular bisector function intersection points are sought, this point is to intersect the circular center of circle；The maximum distance of centre point and signaling point point is sought, A is set as
The symmetric points of point, the opposite center of circle are set as B points；Above calculate repeats, and is subject to A, B apart from maximum result；
2 points of central point of A, B is determined as to the direction vector of target signal source；
If the center of circle of sphere receiver device is coordinate origin O, makees the perpendicular bisector of line segment AB, AO respectively, two are vertically divided equally
The intersection point C of line is determined as echo signal source position, and seeks the distance of line segment CO；
The rectangular co-ordinate of target signal source is obtained according to the conversion of the distance of the direction vector of target signal source and line segment CO.
The present invention also provides a kind of 3 D positioning systems, including：
Sphere receiver device makes the sphere signal wave formed using target signal source as the center of circle and the ball for receiving signal wave
Body reception device is crossed to form unique circle；3 D locating device, for being established by origin of the center of circle of sphere receiver device
3 d space coordinate system determines the coordinate of target signal source by intersecting circular coordinate.
Further, which is specifically used for：
When wave source signal passes to the center of circle of sphere receiver device, signal collection is latched, by signaling point coordinates feedback；Take a signal
Point is sought distance with other signaling points and is compared, and obtains apart from maximum another point, which is to intersect on circle a bit；Similarly into
Row obtains upper three points of intersection circle；It takes seek its perpendicular bisector function at wherein 2 points, two points is similarly taken to obtain perpendicular bisector function again；
Two perpendicular bisector function intersection points are sought, this point is to intersect the circular center of circle；The maximum distance of centre point and signaling point point is sought, A is set as
The symmetric points of point, the opposite center of circle are set as B points；Above calculate repeats, and is subject to A, B apart from maximum result；
2 points of central point of A, B is determined as to the direction vector of target signal source；
If the center of circle of sphere receiver device is coordinate origin O, makees the perpendicular bisector of line segment AB, AO respectively, two are vertically divided equally
The intersection point C of line is determined as echo signal source position, and seeks the distance of line segment CO；
The rectangular co-ordinate of target signal source is obtained according to the conversion of the distance of the direction vector of target signal source and line segment CO.
According to the above aspect of the present invention, by 3-D positioning method and system, it is passive to receive unicast source signal, it is calculated through mathematical model
After obtain wave source three-dimensional coordinate position.This method can be applied to aerospace field, artificial intelligence field, earthquake monitoring field
Three-dimensional localization.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.
Description of the drawings
Fig. 1 is the principle of the present invention schematic diagram；
Fig. 2 is in the present invention by the sectional view of 3 points of determinations of ABC.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
A kind of 3-D positioning method is present embodiments provided, principle is as shown in Figure 1, sphere 1 is reception device, sphere 2
It is signal wave.Two sphere intersections, intersection point form a circle 3.If third reference point is arranged in space, such as the circle of sphere 1
The heart makes sphere 2 cross the center of circle of sphere 1, then the circle of intersection point composition is unique.In other words, it is established by origin of the center of circle of sphere 1
3 d space coordinate system can uniquely determine out the center of circle of sphere 2, i.e. target signal source only it is to be understood that intersecting circular coordinate
Coordinate.
The 3-D positioning method show that wave source three-dimensional is sat by passively receiving unicast source signal after mathematical model calculates
Cursor position.Computational methods are as follows：
Join shown in Fig. 2, Fig. 2 is the sectional view of 3 points of determinations of ABC.
When wave source signal passes to the center of circle of sphere 1, signal collection is latched, by signaling point coordinates feedback.Take a signaling point with
Other signaling points are sought distance and are compared, and obtain apart from maximum another point, which is to intersect on circle a bit；It similarly carries out, obtains
To upper three points of intersection circle.It takes seek its perpendicular bisector function at wherein 2 points, similarly takes two to obtain perpendicular bisector function again.It hangs down in asking two
Line function intersection point, this point are the circular center of circle of intersection.The maximum distance of centre point and signaling point point is sought, A points are set as, it is relatively round
The symmetric points of the heart are set as B points.Above calculate may be repeated, and be subject to A, B apart from maximum result.
Determine A, after 2 points of B, their central point is the direction vector of signal source, then, as long as finding out signal source
Distance, the rectangular co-ordinate of signal source can be conversed.
As shown in Fig. 2, A, B are to determine that coordinate, O are coordinate origin, CD, CO are respectively AO, the perpendicular bisector of AB, and C is
For signal source, therefore line segment CO is required.
In triangle OAE and triangle OCD, angle AOE=angle COD, angle ODC=angle OEA=90 degree, therefore CO=AO*DO/EO
(Similar Principle of Triangle).Know the direction vector and distance of signal source, just can converse its coordinate in rectangular coordinate system
Position.
The present embodiment additionally provides a kind of 3 D positioning system, including：
Sphere receiver device makes the sphere signal wave formed using target signal source as the center of circle and the ball for receiving signal wave
Body reception device is crossed to form unique circle；3 D locating device, for being established by origin of the center of circle of sphere receiver device
3 d space coordinate system determines the coordinate of target signal source by intersecting circular coordinate.
The 3 D locating device is specifically used for：
When wave source signal passes to the center of circle of sphere receiver device, signal collection is latched, by signaling point coordinates feedback.Take a signal
Point is sought distance with other signaling points and is compared, and obtains apart from maximum another point, which is to intersect on circle a bit；Similarly into
Row obtains upper three points of intersection circle.It takes seek its perpendicular bisector function at wherein 2 points, similarly takes two to obtain perpendicular bisector function again.It asks
Two perpendicular bisector function intersection points, this point are the circular center of circle of intersection.The maximum distance of centre point and signaling point point is sought, A points are set as,
The symmetric points in the opposite center of circle are set as B points.Above calculate may be repeated, and be subject to A, B apart from maximum result.
2 points of central point of A, B is determined as to the direction vector of target signal source；
If the center of circle of sphere receiver device is coordinate origin O, makees the perpendicular bisector of line segment AB, AO respectively, two are vertically divided equally
The intersection point C of line is determined as echo signal source position, and seeks the distance of line segment CO；
The rectangular co-ordinate of target signal source is obtained according to the conversion of the distance of the direction vector of target signal source and line segment CO.
3-D positioning method provided in this embodiment and system technique effect specific as follows：
1）Three-dimensional localization can more meet the needs of fields such as aerospace, artificial intelligence, seismic monitoring compared with two-dimensional localization.
2）The present invention receives for passive type, more active more to save energy, also can avoid that sound wave is caused to pollute.
The above is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is several improvement and
Modification, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of 3-D positioning method, which is characterized in that including：
Step 1, signal wave is received by sphere receiver device, makes the sphere signal wave formed using target signal source as the center of circle and institute
It states sphere receiver device and is crossed to form unique circle；
Step 2,3 d space coordinate system is established by origin of the center of circle of sphere receiver device, by intersecting circular coordinate, really
The coordinate for the signal source that sets the goal.
2. a kind of 3-D positioning method according to claim 1, which is characterized in that the step 2 specifically includes：
When wave source signal passes to the center of circle of sphere receiver device, signal collection is latched, by signaling point coordinates feedback；Take a signal
Point is sought distance with other signaling points and is compared, and obtains apart from maximum another point, which is to intersect on circle a bit；Similarly into
Row obtains upper three points of intersection circle；It takes seek its perpendicular bisector function at wherein 2 points, two points is similarly taken to obtain perpendicular bisector function again；
Two perpendicular bisector function intersection points are sought, this point is to intersect the circular center of circle；The maximum distance of centre point and signaling point point is sought, A is set as
The symmetric points of point, the opposite center of circle are set as B points；Above calculate repeats, and is subject to A, B apart from maximum result；
2 points of central point of A, B is determined as to the direction vector of target signal source；
If the center of circle of sphere receiver device is coordinate origin O, makees the perpendicular bisector of line segment AB, AO respectively, two are vertically divided equally
The intersection point C of line is determined as echo signal source position, and seeks the distance of line segment CO；
The rectangular co-ordinate of target signal source is obtained according to the conversion of the distance of the direction vector of target signal source and line segment CO.
3. a kind of 3 D positioning system, which is characterized in that including：
Sphere receiver device makes the sphere signal wave formed using target signal source as the center of circle and the ball for receiving signal wave
Body reception device is crossed to form unique circle；3 D locating device, for being established by origin of the center of circle of sphere receiver device
3 d space coordinate system determines the coordinate of target signal source by intersecting circular coordinate.
4. a kind of 3 D positioning system according to claim 3, which is characterized in that the 3 D locating device is specifically used
In：
When wave source signal passes to the center of circle of sphere receiver device, signal collection is latched, by signaling point coordinates feedback；Take a signal
Point is sought distance with other signaling points and is compared, and obtains apart from maximum another point, which is to intersect on circle a bit；Similarly into
Row obtains upper three points of intersection circle；It takes seek its perpendicular bisector function at wherein 2 points, two points is similarly taken to obtain perpendicular bisector function again；
Two perpendicular bisector function intersection points are sought, this point is to intersect the circular center of circle；The maximum distance of centre point and signaling point point is sought, A is set as
The symmetric points of point, the opposite center of circle are set as B points；Above calculate repeats, and is subject to A, B apart from maximum result；
If the center of circle of sphere receiver device is coordinate origin O, makees the perpendicular bisector of line segment AB, AO respectively, two are vertically divided equally
The intersection point C of line is determined as echo signal source position, and seeks the distance of line segment CO；
The rectangular co-ordinate of target signal source is obtained according to the conversion of the distance of the direction vector of target signal source and line segment CO.
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| CN201810312905.0A CN108508406A (en) | 2018-04-09 | 2018-04-09 | A kind of 3-D positioning method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112821917A (en) * | 2020-12-31 | 2021-05-18 | 广州捷宝电子科技股份有限公司 | Ultra-wideband wireless carrier communication method and positioning technology based on same |
| CN113791385A (en) * | 2021-09-15 | 2021-12-14 | 张维翔 | Three-dimensional positioning method and system |
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2018
- 2018-04-09 CN CN201810312905.0A patent/CN108508406A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112821917A (en) * | 2020-12-31 | 2021-05-18 | 广州捷宝电子科技股份有限公司 | Ultra-wideband wireless carrier communication method and positioning technology based on same |
| CN113791385A (en) * | 2021-09-15 | 2021-12-14 | 张维翔 | Three-dimensional positioning method and system |
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Application publication date: 20180907 |