CN108810473A - A kind of method and system for realizing GPS mapping camera views coordinates on a mobile platform - Google Patents
A kind of method and system for realizing GPS mapping camera views coordinates on a mobile platform Download PDFInfo
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- CN108810473A CN108810473A CN201810620397.2A CN201810620397A CN108810473A CN 108810473 A CN108810473 A CN 108810473A CN 201810620397 A CN201810620397 A CN 201810620397A CN 108810473 A CN108810473 A CN 108810473A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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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
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
Realizing that GPS maps the method and system of camera views coordinate on a mobile platform the present invention provides a kind of, method includes the GPS latitude and longitude coordinates for obtaining mobile platform picture pick-up device, direction, height above sea level；Obtain the position relationship of the mobile platform video camera and target GPS；Real-time update target GPS is mapped in the coordinate G of real-time pictures（X, Y）And target GPS mapping points described in real-time display.It can realize real-time presentation of the target GPS information position in mobile platform video pictures, and when mobile platform position changes, target GPS information position follows in real time, the technical issues of accurate positioning, the mobile platform for solving carrying photographic device in the prior art cannot achieve actual scene and location information.
Description
Technical field
The present invention relates to the real-time mapping fields of GPS coordinate, more particularly to a kind of GPS of realization on a mobile platform mapping camera shootings
The method and system of machine picture coordinate.
Background technology
With the development and progress of science and technology, picture pick-up device can be carried at mobile platform, such as unmanned plane, vehicle-mounted movement are set
Mobile real time monitoring and video recording are carried out to various places on standby, mobile platform enters each row with the advantage of its flexibility, aspect
Each industry is handled a case in personnel's management and control, traffic monitoring, investigation, environment measuring etc. plays an important role.
At this stage, mobile device, which carries video camera, can provide real-time video, can play the effect of real time monitoring.But
It is that at the same time, more background informations cannot be provided to road, the building etc. in video, video monitoring personnel need to institute
The scene information of shooting is very familiar with, and corresponding judgement and decision could be made according to reality scene.When monitoring personnel is to monitored
When scene is stranger, the next step processing for taking further step to meet to mobile video is needed.
In view of the above technical problems, the prior art is mainly in the following ways：1, the video for taking mobile device is recorded
As being paid a return visit, cooperation electronic map does ex-post analysis, and this mode is easy to miss an opportunity because of a delay, and influences decision；2, it is taken the photograph fixed
As information labeling is carried out in equipment in advance so that background information more family is abundant, and more scene informations are obtained convenient for monitoring personnel,
This mode is placed picture pick-up device on a mobile platform and moves at any time, and pre-added markup information will become to misplace,
It can not match with actual scene；3, in such a way that unmanned plane pinpoints camera shooting or laser radar scanning, the later stage is known by image
Other technology is combined with GPS positioning technology, using a variety of arithmetic elements, prolonged operation is carried out, to reality scene surrounding enviroment
3D rebuild, this mode real-time same as the mode of front is poor, and even if the little scene of area shot after
3D modeling, it is also desirable to take a long time.
To sum up it can be found that the prior art cannot achieve the mobile platform for carrying photographic device in the direction of actual scene
Information and location information.
Invention content
The present invention is proposed to be realized GPS mapping camera views seat calibration methods in mobile one kind and is on a mobile platform
The technical issues of system, the mobile platform for solving carrying photographic device cannot achieve actual scene and location information.
It is provided by the invention to realize that GPS mapping camera views sit calibration method on a mobile platform, including：
The GPS latitude and longitude coordinates of acquisition mobile platform picture pick-up device, direction, height above sea level；
Obtain the position relationship of the mobile platform video camera and target GPS；
Real-time update target GPS is mapped in target GPS mappings described in the coordinate G (X, Y) of real-time pictures and real-time display and sits
Mark.
Further, GPS coordinate, direction, the height above sea level for obtaining mobile platform video camera, passes through sensor and RTK skills
Art is accurately positioned, and for the GPS device precision of the mobile platform within 3 meters, positioning accuracy any direction is less than 0.5 degree.
Further, the mobile platform picture pick-up device be rotatable monopod video camera, and the PTZ level and hang down
Straight directional precision is less than 0.1 degree.
It should be noted that make target GPS mapping points that can precisely be presented in picture, it is desirable that on mobile platform
The positioning accuracy of GPS device and Camera Positioning equipment passes through RTK technologies, positioning accuracy request any direction within 3 meters
Less than 0.5 degree, if the rotatable monopod video camera of mobile platform band, it is required that PTZ level and vertical direction precision are less than 0.1
Degree.
Further, the position relationship acquisition of the mobile platform video camera and the target GPS specifically includes,
The angle that mobile platform video camera-the earth's core O- targets GPS is arranged is c；
The longitude and latitude and elevation data of the mobile platform video camera and the target GPS are obtained respectively, specifically,
The latitude and longitude coordinates A (j, w) of the mobile platform video camera,
The latitude value A of the mobile platform video cameraw,
The longitude A of the mobile platform video cameraj,
The height above sea level H of the mobile platform video cameraA,
The latitude and longitude coordinates B (j, w) of the target GPS,
The height above sea level H of the target GPSB,
The target GPS latitude values Bw,
The target GPS longitudes Bj；
According to the spherical trigonometry cosine law, the cosine function of c is obtained：
Cos (c)=cos (90-Bw)xcos(90-Aw)+sin(90-Bw)xsin(90-Aw)xcos(Bj-Aj)
The angle for obtaining the current direct north-mobile platform video camera-target GPS is P, the mobile platform
The vertical angle T that video camera is 0 degree based on sea level, the mobile platform video camera and the target GPS distances SAB；
According to GPS-PT coordinate formulas, the three-dimensional coordinate (P, T) of the target GPS is obtained, wherein：
Further, described to obtain and real-time update target GPS is mapped in the coordinate G (X, Y) of real-time pictures and specifically includes；
The dimensional parameter of the mobile platform video camera is obtained, wherein
P is the level angle that the mobile platform video camera changes real-time camera lens behind position,
T is the vertical angle that the mobile platform video camera changes real-time camera lens behind position,
V is that Real-time Water looks squarely rink corner after the mobile platform video camera changes position；
Δ x, Δ y are respectively that the mobile platform video camera changes behind position the horizontal-shift of target GPS coordinate and vertical
Offset, Δ P residual quantity indicate that R is spherical radius, and two-dimensional video screen resolution is the plane of W*H；
Using 3D-2D formula,
Δ x=tan Δs P* (R*cost- Δ y*sint),
Wherein, Δ P=P-p；
Realizing that GPS maps the system of camera views coordinate on a mobile platform the present invention also provides a kind of, feature exists
In, including,
Acquiring unit, for obtaining the GPS latitude and longitude coordinates of mobile platform picture pick-up device, direction, height above sea level；
Computing unit, the position relationship for obtaining and calculating the mobile platform video camera and target GPS；
Display unit is mapped in for real-time update target GPS described in coordinate G (X, Y) and the real-time display of real-time pictures
Target GPS mapping points.
Further, the computing unit specifically includes,
Data acquisition module, longitude and latitude and height above sea level number for obtaining the mobile platform video camera and the target GPS
According to；
First computing module, the angle for calculating the mobile platform video camera-the earth's core O- targets GPS is c；
Second computing module, the three-dimensional coordinate (P, T) for calculating the target GPS；
Third computing module, the mobile deviator for calculating the target GPS coordinate.
Realizing that GPS maps the device of camera views coordinate, including processing on a mobile platform the present invention also provides a kind of
Device and memory,
Said program code is transferred to the processor by the memory for storing program code；
The processor is used for according to the instruction execution claim 1-5 any one in said program code mobile flat
Realize that GPS mapping camera views sit calibration method on platform.
The present invention also provides a kind of computer program product including instruction, institute is it is characterized in that, work as the computer journey
When sequence product is run on computers so that the computer perform claim requires 1-5 any one to realize on a mobile platform
GPS maps camera views and sits calibration method.
According to above technical scheme, it can realize that target GPS information position is in real time in mobile platform video pictures
It is existing, and when mobile platform position changes, target GPS information position follows in real time, and accurate positioning solves the prior art
The technical issues of middle mobile platform for carrying photographic device cannot achieve actual scene and location information.
Description of the drawings
Fig. 1 is the flow diagram of the embodiment of the present invention 1；
Fig. 2 to Fig. 3 is that the GPS mapping algorithms of the embodiment of the present invention 1 acquire the illustraton of model of P, T；
Fig. 4 to fig. 6 is the effect diagram that 1 practical application scene of the embodiment of the present invention realizes that GPS maps in real time；
Fig. 7 is the structural schematic diagram of the embodiment of the present invention 2.
Specific implementation mode
To enable the goal of the invention, feature, advantage of the embodiment of the present application more apparent and understandable, below in conjunction with
Attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that below
Described embodiment is only the embodiment of the present application a part of the embodiment, and not all embodiment.Implemented based on the application
Embodiment in example, all other implementation obtained by those of ordinary skill in the art without making creative efforts
Example belongs to the range of the embodiment of the present application protection.
Embodiment 1：
Fig. 1 is the present embodiment flow diagram, a kind of side realizing GPS mapping camera views coordinates on a mobile platform
Method, including,
Step 101, the GPS latitude and longitude coordinates of acquisition mobile platform picture pick-up device, direction, height above sea level；
It should be noted that make target GPS mapping points that can precisely be presented in picture, it is desirable that on mobile platform
GPS device, the i.e. positioning accuracy of Camera Positioning equipment pass through RTK technologies, positioning accuracy request any direction within 3 meters
Less than 0.5 degree, if the rotatable monopod video camera of mobile platform band, it is required that PTZ level and vertical direction precision are less than 0.1
Degree.
Specifically, acquisition process is as follows：
Obtain the primary data of mobile platform video camera and target GPS respectively using sensor and RTK technologies：
Target GPS is mapped in the coordinate G (X, Y) of real-time pictures,
The latitude and longitude coordinates A (j, w) of mobile platform video camera,
The latitude value A of mobile platform video cameraw,
The longitude A of mobile platform video cameraj,
The height above sea level H of mobile platform video cameraA,
The latitude and longitude coordinates B (j, w) of target GPS,
The height above sea level H of target GPSB,
Target GPS latitude values Bw,
Target GPS longitudes Bj,
The angle of the direct north-mobile platform video camera-target GPS is P,
The vertical angle T that mobile platform video camera is 0 degree based on sea level,
Mobile platform video camera and target GPS distances SAB；
The angle that mobile platform video camera-the earth's core O- targets GPS is arranged is c,
The earth centre of sphere is O；
It should be noted that can specifically utilize band RTK (Real- using sensor and the above-mentioned data of RTK technical limit spacings
Time kinematic, real time differential) technology GPS module, such as close it is many think strong GPS modules, by serial communication, according to
The communications protocol that module provides, you can the GPS positioning inside read module and directional data.
Step 102, the position relationship of mobile platform video camera and target GPS is obtained；
By the data acquired in step 101, the cosine letter of c is obtained according to the spherical trigonometry cosine law by Fig. 2 illustratons of model
Number：
Cos (C)=cos (90-Bw)x cos(90-Aw)+sin(90-Bw)x sin(90-Aw)xcos(Bj-Aj)
Then：
C=arccos(Cos(90-BW)xCos(90-AW)+sin(90-BW)xsin(90-AW)xcos(BjAj))
By Fig. 2 illustratons of model, according to spherical surface sine formula：
In above-mentioned formula, P=NAB, ANB=Bj-Aj,
Deformation can obtain：
Then：
It can be obtained by Fig. 3 illustratons of model
After the three-dimensional coordinate (P, T) for obtaining target GPS, mesh is calculated after the position of mobile platform video camera changes
The variation of GPS is marked, specifically, obtaining the dimensional parameter after mobile platform camera position changes：
P is the level angle that the mobile platform video camera changes real-time camera lens behind position,
T is the vertical angle that the mobile platform video camera changes real-time camera lens behind position,
V is that Real-time Water looks squarely rink corner after the mobile platform video camera changes position；
Be arranged Δ x, Δ y, Δ P be respectively mobile platform video camera change position after target GPS coordinate horizontal-shift, hang down
Straight offset and angle offset, R are spherical radius, and two-dimensional video screen resolution is the plane of W*H；
According to 3D-2D formula,
Δ x=tan Δs P* (R*cost- Δ y*sint),
Wherein, Δ P=P-p；
It should be noted that 3D-2D formula quotings invent a kind of " augmented reality camera virtual marks of CN104504685B-
Sign real-time high-precision locating method ", it is specific to derive and calculate the figure and correlation formula that need to refer to the invention.
Step 103, real-time update target GPS is mapped in the coordinate G (X, Y) and real-time display target GPS of real-time pictures and reflects
Penetrate coordinate.
Δ ys of the target GPS in real-time video picture is calculated according to step 102, Δ x position is moving to realize
Real-time mappings and update of the target GPS in camera views coordinate on moving platform.
In order to describe the concrete application scene of the present embodiment, Fig. 4, Fig. 5, Fig. 6 are mobile platform (nobody of the present embodiment
Machine) realize the effect diagram that GPS maps in real time, Fig. 4 circles label " happy ocean theme shop ", at mobile platform (unmanned plane)
During continuous Forward, the label in " happy ocean theme shop " is close to indicated practical building always, please refers to figure
5, Fig. 6, achieve the effect that GPS maps in real time.In addition to circle irises out the building come, other objects based on GPS positioning label
All mappings in real time in video.
The present embodiment technical solution, by sensor obtain the GPS latitude and longitude coordinates of mobile platform picture pick-up device, direction,
Height above sea level establishes the position relationship that model obtains mobile platform video camera and target GPS, after calculating mobile platform change orientation
Residual quantity is simultaneously updated to target GPS coordinate, realizes real-time presentation of the target GPS information position in mobile platform video pictures,
And when mobile platform position changes, target GPS information position follows in real time, and accurate positioning solves in the prior art
The technical issues of mobile platform of carrying photographic device cannot achieve actual scene and location information.
Embodiment 2：
Fig. 6 is a kind of knot of system for realizing GPS mapping camera views coordinates on a mobile platform provided by the invention
Structure schematic diagram, including,
Acquiring unit 201, for obtaining the GPS latitude and longitude coordinates of mobile platform picture pick-up device, direction, height above sea level；
It should be noted that in the present embodiment, the GPS longitudes and latitudes in acquiring unit for obtaining mobile platform picture pick-up device
The equipment for spending the data such as coordinate, direction, height above sea level is sensor, and the precision of sensor here can calculate target GPS to the present invention
Coordinate have an impact, so the higher the better for the precision of sensor, in the present embodiment, the GPS device on mobile platform images
The positioning accuracy of machine positioning device is within 3 meters, and by RTK technologies, positioning accuracy request any direction is less than 0.5 degree, if moving
The rotatable monopod video camera of moving platform band then requires PTZ level and vertical direction precision to be less than 0.1 degree.
Acquiring unit 201 obtains mobile platform video camera and the primary data of target GPS respectively in the present embodiment：
Target GPS is mapped in the coordinate G (X, Y) of real-time pictures,
The latitude and longitude coordinates A (j, w) of mobile platform video camera,
The latitude value A of mobile platform video cameraw,
The longitude A of mobile platform video cameraj,
The height above sea level H of mobile platform video cameraA,
The latitude and longitude coordinates B (j, w) of target GPS,
The height above sea level H of target GPSB,
Target GPS latitude values Bw,
Target GPS longitudes Bj,
The angle of the direct north-mobile platform video camera-target GPS is P,
The vertical angle T that mobile platform video camera is 0 degree based on sea level,
Mobile platform video camera and target GPS distances SAB；
The angle that mobile platform video camera-the earth's core O- targets GPS is arranged is c,
The earth centre of sphere is O；
Computing unit 202, the position relationship for obtaining and calculating the mobile platform video camera and target GPS；
The present embodiment computing unit is the core procedure of this system, is specifically included,
Data acquisition module 2021, longitude and latitude and height above sea level number for obtaining mobile platform video camera and the target GPS
According to；
It should be noted that the step partially overlaps with step 201, acquired data can be from step in the step
It is directly extracted in 201.
First computing module 2022, the angle for calculating the mobile platform video camera-the earth's core O- targets GPS is c；
The cosine function of c is obtained according to the spherical trigonometry cosine law by Fig. 2 illustratons of model：
Cos (c)=cos (90-Bw)x cos(90-Aw)+sin(90-Bw)x sin(90-Aw)x cos(Bj-Aj)
Then：
C=arccos(cos(90-BW)x cos(90-AW)+sin(90-BW)x sin(90-AW)x cos(BjAj))
Second computing module 2023, the three-dimensional coordinate (P, T) for calculating the target GPS；
By Fig. 2 illustratons of model, according to spherical surface sine formula：
In above-mentioned formula, P=NAB, ANB=Bj-Aj,
Deformation can obtain：
Then：
It can be obtained by Fig. 3 illustratons of model
Third computing module 2024, the mobile deviator for calculating the target GPS coordinate.
After the three-dimensional coordinate (P, T) for obtaining target GPS, mesh is calculated after the position of mobile platform video camera changes
The variation of GPS is marked, specifically, obtaining the dimensional parameter after mobile platform camera position changes：
P is the level angle that the mobile platform video camera changes real-time camera lens behind position,
T is the vertical angle that the mobile platform video camera changes real-time camera lens behind position,
V is that Real-time Water looks squarely rink corner after the mobile platform video camera changes position；
Be arranged Δ x, Δ y, Δ P be respectively mobile platform video camera change position after target GPS coordinate horizontal-shift, hang down
Straight offset and angle offset, R are spherical radius, and two-dimensional video screen resolution is the plane of W*H；
According to 3D-2D formula,
Δ x=tan Δs P* (R*cost- Δ y*sint),
Wherein, Δ P=P-p；
It should be noted that 3D-2D formula quotings invent a kind of " augmented reality camera virtual marks of CN104504685B-
Sign real-time high-precision locating method ", it is specific to derive and calculate the figure and correlation formula that need to refer to the invention.
Display unit 203 is mapped in coordinate G (X, Y) and the real-time display institute of real-time pictures for real-time update target GPS
State target GPS mapping points.
The present embodiment system completes the acquisition to the GPS primary datas of mobile platform picture pick-up device, by counting by acquiring unit
The position relationship correspondence establishment that unit completes mobile platform video camera and target GPS is calculated, more fresh target GPS is completed by display unit
It is mapped in target GPS mapping points described in the coordinate G (X, Y) of real-time pictures and real-time display.Realize target GPS information position
Real-time presentation in mobile platform video pictures, and when mobile platform position changes, target GPS information position is real-time
It follows, accurate positioning, the mobile platform for solving carrying photographic device in the prior art cannot achieve actual scene and position letter
The technical issues of breath.
Embodiment 3：
A kind of device for realizing GPS mapping camera views coordinates on a mobile platform, including processor and memory, are deposited
Program code is transferred to the processor by reservoir for storing program code；Processor is used for according in program code
Instruction execution realizes that GPS mapping camera views sit any one embodiment of calibration method on a mobile platform.
Embodiment 4：
A kind of includes the computer program product of instruction, when computer program product is run on computers so that institute
It states computer and executes any one embodiment for realizing that GPS mapping camera views sit calibration method on a mobile platform.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
It with the specific work process of product, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In several embodiments provided herein, it should be understood that disclosed method, system, device and program
Product may be implemented in other ways.
In addition, each functional unit in each embodiment of the application can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
The above, above example are only to illustrate the technical solution of the application, rather than its limitations；Although with reference to before
Embodiment is stated the application is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
Modification or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of realizing that GPS mapping camera views sit calibration method on a mobile platform, which is characterized in that including,
The GPS latitude and longitude coordinates of acquisition mobile platform picture pick-up device, direction, height above sea level；
Obtain the position relationship of the mobile platform video camera and target GPS；
Real-time update target GPS is mapped in target GPS mapping points described in the coordinate G (X, Y) of real-time pictures and real-time display.
2. according to claim 1 realize that GPS mapping camera views sit calibration method on a mobile platform, feature exists
In, GPS coordinate, direction, the height above sea level for obtaining mobile platform video camera is accurately positioned by sensor and RTK technologies,
For the GPS device precision of the mobile platform within 3 meters, positioning accuracy any direction is less than 0.5 degree.
3. according to claim 2 realize that GPS mapping camera views sit calibration method on a mobile platform, feature exists
In the mobile platform picture pick-up device is rotatable monopod video camera, and the PTZ level and vertical direction precision are less than
0.1 degree.
4. according to claim 1 realize that GPS mapping camera views sit calibration method on a mobile platform, feature exists
In, the position relationship acquisition of the mobile platform video camera and the target GPS specifically includes,
The angle that mobile platform video camera-the earth's core O- targets GPS is arranged is c；
The longitude and latitude and elevation data of the mobile platform video camera and the target GPS are obtained respectively, specifically,
The latitude and longitude coordinates A (j, w) of the mobile platform video camera,
The latitude value A of the mobile platform video cameraw,
The longitude A of the mobile platform video cameraj,
The height above sea level H of the mobile platform video cameraA,
The latitude and longitude coordinates B (j, w) of the target GPS,
The height above sea level H of the target GPSB,
The target GPS latitude values Bw,
The target GPS longitudes Bj；
According to the spherical trigonometry cosine law, the cosine function of c is obtained：
Cos (c)=cos (90-Bw)x cos(90-Aw)+sin(90-Bw)x sin(90-Aw)x cos(Bj-Aj)
The angle for obtaining the current direct north-mobile platform video camera-target GPS is P, the mobile platform camera shooting
The vertical angle T that machine is 0 degree based on sea level, the mobile platform video camera and the target GPS distances SAE；
According to GPS-PT coordinate formulas, the three-dimensional coordinate (P, T) of the target GPS is obtained, wherein：
5. according to claim 4 realize that GPS mapping camera views sit calibration method on a mobile platform, feature exists
In described to obtain and real-time update target GPS is mapped in the coordinate G (X, Y) of real-time pictures and specifically includes；
The dimensional parameter of the mobile platform video camera is obtained, wherein：
P is the level angle that the mobile platform video camera changes real-time camera lens behind position,
T is the vertical angle that the mobile platform video camera changes real-time camera lens behind position,
V is that Real-time Water looks squarely rink corner after the mobile platform video camera changes position；
Δ x, Δ y are respectively the horizontal-shift and vertical shift that the mobile platform video camera changes target GPS coordinate behind position,
Δ P residual quantity indicates that R is spherical radius, and two-dimensional video screen resolution is the plane of W*H；
Using 3D-2D formula,
Δ x=tan Δs P* (R*cost- Δ y*sint),
Wherein, Δ P=P-p；
6. a kind of system for realizing GPS mapping camera views coordinates on a mobile platform, which is characterized in that including,
Acquiring unit, for obtaining the GPS latitude and longitude coordinates of mobile platform picture pick-up device, direction, height above sea level；
Computing unit, the position relationship for obtaining and calculating the mobile platform video camera and target GPS；
Display unit, for real-time update target GPS be mapped in real-time pictures coordinate G (X, Y) and real-time display described in target
GPS mapping points.
7. a kind of system for realizing GPS mapping camera views coordinates on a mobile platform according to claim 6, special
Sign is that the computing unit specifically includes,
Data acquisition module, longitude and latitude and elevation data for obtaining the mobile platform video camera and the target GPS；
First computing module, the angle for calculating the mobile platform video camera-the earth's core O- targets GPS is c；
Second computing module, the three-dimensional coordinate (P, T) for calculating the target GPS；
Third computing module, the mobile deviator for calculating the target GPS coordinate.
8. a kind of device for realizing GPS mapping camera views coordinates on a mobile platform, which is characterized in that described device includes
Processor and memory,
Said program code is transferred to the processor by the memory for storing program code；
The processor is used for according to the instruction execution claim 1-5 any one in said program code on a mobile platform
Realize that GPS mapping camera views sit calibration method.
9. it is a kind of include instruction computer program product, which is characterized in that when the computer program product on computers
When operation so that the computer perform claim requires 1-5 any one to realize that GPS maps camera views on a mobile platform
Sit calibration method.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109729316A (en) * | 2019-01-07 | 2019-05-07 | 高新兴科技集团股份有限公司 | A kind of method and computer storage medium of the linkage of 1+N platform video camera machine machine |
| CN110211177A (en) * | 2019-06-05 | 2019-09-06 | 视云融聚（广州）科技有限公司 | Camera picture linear goal refers to northern method, electronic equipment and storage medium |
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| CN113012047A (en) * | 2021-03-26 | 2021-06-22 | 广州市赋安电子科技有限公司 | Dynamic camera coordinate mapping establishing method and device and readable storage medium |
| CN113810606A (en) * | 2021-08-26 | 2021-12-17 | 云从科技集团股份有限公司 | Shooting target position determining method, shooting target position determining equipment and computer storage medium |
| CN113947714A (en) * | 2021-09-29 | 2022-01-18 | 广州市赋安电子科技有限公司 | Multi-mode collaborative optimization method and system for video monitoring and remote sensing |
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