CN109743535A - A kind of method, apparatus and storage medium for realizing that monitoring device follows automatically based on real time GPS position - Google Patents
A kind of method, apparatus and storage medium for realizing that monitoring device follows automatically based on real time GPS position Download PDFInfo
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- CN109743535A CN109743535A CN201811418627.3A CN201811418627A CN109743535A CN 109743535 A CN109743535 A CN 109743535A CN 201811418627 A CN201811418627 A CN 201811418627A CN 109743535 A CN109743535 A CN 109743535A
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Abstract
The present invention gives a kind of method, apparatus followed automatically based on real time GPS position realization monitoring device and storage medium, the location information including obtaining target object；According to the location information for obtaining target object, movement speed and the direction of target object are calculated；According to the movement speed of target object and direction, the estimated location information reached of target object is calculated, and monitoring device is selected from monitoring device information bank according to the response time of the estimated location information reached of target object and monitoring device；According to the relevant parameter of target object pre- in-position information and monitoring device, adjust the viewing position of monitoring device, pass through programmed algorithm, auto-returned can observe the monitoring device information of target object, and adjust monitoring device visible angle, the video relay function of realizing target object real-time tracking has preferable application prospect in the service application field of related objective task tracking, can reduce the investment of people's force-summing device.
Description
Technical field
The present invention relates to safety and protection monitoring fields, especially a kind of to realize that monitoring device follows automatically based on real time GPS position
Method, apparatus and storage medium.
Background technique
With the development of national economy, the international key activities that China is accepted are more and more, and relevant departments accept each
Kind security work task is also more and more heavier, and the most important link of security work is exactly the target objects row such as various fleets
Into in the process by calling monitor video camera to monitor fleet's travel condition.Realize by monitor video camera in real time with
The target objects such as track vehicle realize that the most common way of video relay function is exactly the work people by being familiar with monitor video point
Member, each road camera video of manual switching realize video tracking function.This way is more demanding to relevant work personnel's,
Need to concentrate one's energy in fleet's traveling process, just can guarantee video can accurately be switched to corresponding camera (depending on
Frequently), the case where maloperation or target object tracking loss are easy to appear in subjective operation, is unfavorable for the progress of security work.
Summary of the invention
For targets such as traditional real-time tracking vehicles by being familiar with the staff of monitor video point, manual switching is each
Road camera video realizes video tracking function.This way is more demanding to relevant work personnel's, in fleet's traveling process
Middle needs are concentrated one's energy, and just can guarantee that video can be accurately switched to corresponding camera (video), in subjectivity operation
The case where being easy to appear maloperation or target object tracking loss, the running fix equipment that the present invention is carried according to target object
The GPS latitude and longitude information returned in real time, has access to locating for delay time, monitoring device further according to target object direction, speed, video
Position GPS longitude and latitude, monitoring device can the attributes such as apparent azimuth, monitoring device visible angle, monitoring device visual range, pass through
Programmed algorithm, auto-returned can observe the monitoring device information of target object, and adjust the parameters such as monitoring device visible angle
Associated video information is had access to, realizes the video relay function to target object real-time tracking.
To achieve the above object, according to an aspect of the invention, it is proposed that a kind of realize that monitoring is set based on real time GPS position
The standby method followed automatically, comprising the following steps:
S1: the location information of target object is obtained；
S2: according to the location information of the target object of acquisition, movement speed and the direction of target object are calculated；
S3: according to the movement speed of target object and direction, the estimated location information reached of calculating target object, and according to
The response time of the estimated location information reached of target object and monitoring device selects monitoring device from monitoring device information bank.
In an alternative embodiment, this method is further comprising the steps of:
S4: according to the relevant parameter of the target object estimated location information reached and monitoring device, monitoring device is adjusted
Viewing position.
In an alternative embodiment, monitoring device includes ball machine, half ball machine, all-in-one machine and/or gunlock, is set by various monitoring
Standby individual features targetedly can be monitored comprehensively.
In an alternative embodiment, the location information in step S1 specifically includes: when the ID of target object positioning device, positioning
Between and target object latitude and longitude information, target pair can be directly acquired by the running fix equipment carried on target object
The corresponding information of elephant ensure that the accuracy of related data.
In an alternative embodiment, step S2 is specifically included: according to the device id of target object obtain target object last
Secondary GPS position information P1With time T1, pass through the GPS position information P current with target object2With time T2Comparison, calculate
Position P1With position P2The distance between S, the mobile azimuth A of target object, and calculate using the time difference movement of target object
Speed V can calculate the movement speed of target object and the direction of movement using the location information of acquisition and time, more in advance
The accurately route situation of reflection target object, can provide corresponding Informational support for follow-up work.
In an alternative embodiment, position P1With position P2The distance between, the meter at the azimuth of target object and movement speed
It is as follows to calculate formula:
Position P1With position P2The distance between
The mobile azimuth of target object
The movement speed of target object
Wherein, rLat1=Lat1 × π ÷ 180, rLat2=Lat2 × π ÷ 180, rLon1=Lon1 × π ÷ 180,
RLon2=Lon2 × π ÷ 180, a=rLat1-rLat2, b=rLon1-rLon2, Lon1 P1Longitude, Lon2 P2Warp
Degree, Lat1 P1Latitude, Lat2 P2Latitude.
In an alternative embodiment, the response time of monitoring device includes: that the video of monitoring device has access to response in step S3
The instruction response time t2 of time t1 and monitoring device.
In an alternative embodiment, step S3 specifically includes the following steps:
The instruction response time t2 and target object of response time t1 and monitoring device are had access to using the video of monitoring device
Movement speed and azimuth, calculate the pre- in-position P of target object3Latitude and longitude information, when by the response of monitoring device
Between calculating, can prejudge in advance target object arrival location information, provide accurate number for the calling of subsequent monitoring device
It is believed that breath；
Utilize the pre- in-position P of target object3Latitude and longitude information, from monitoring device information bank obtain visible area in
Include the pre- in-position P of target object3All monitoring device information list set, monitoring abundant in monitoring device information bank
Facility information provides selectivity more abundant for monitoring；
Pass through the pre- in-position P of target object3Longitude and latitude and monitoring device information list set in all monitoring devices
Installation site longitude and latitude, calculate the pre- in-position P of target object3At a distance from monitoring device, takes and arrived in advance with target object
Up to position P3Nearest monitoring device is the required monitoring device having access to, by the prison for transferring immediate monitoring device after calculating
Control information, the tracing and monitoring of more accurate implementation goal object.
In an alternative embodiment, the pre- in-position P of target object3Latitude and longitude information calculation formula it is as follows:
The pre- in-position P of target object3Longitude:
The pre- in-position P of target object3Latitude:
Wherein,Ed=ec × cos (la),
S=V × (t1+t2),
Known constant: semimajor axis of ellipsoid rc=6378137m, semi-minor axis rj=6356752m.
In an alternative embodiment, step S4 is specifically included: pre- using static parameter information and the target object of monitoring device
In-position P3Calculation of longitude & latitude monitoring device setting parameter, and according to the setting parameter of monitoring device adjust monitoring device
Viewing position, adjusted by parameter to monitoring device, make monitoring device is clearer to track target object, ensure tracking
The accuracy and validity of monitoring.
In an alternative embodiment, the static parameter information of monitoring device includes the longitude and latitude letter of the installation site of monitoring device
Breath, mounting height H and enlargement ratio parameter z, the setting parameter of monitoring device include the azimuth A1 of monitoring device, depression angle
A2, focal length F and enlargement ratio Z, the Parameter adjustable of monitoring device be monitoring work carry out provide more perfect hardware
It supports.
In an alternative embodiment, the setting parameter calculation formula of monitoring device is as follows:
AzimuthDepression angle
Focal lengthEnlargement ratio Z=F × z.
According to another aspect of the invention, it is proposed that a kind of computer readable storage medium, is stored thereon with one or more
Computer program, which is characterized in that one or more computer programs are subsequently can by computer above method when device executes.
According to the third aspect of the invention we, propose it is a kind of based on real time GPS position realize monitoring device follow automatically be
System, comprising:
Information receiving unit, for obtaining the target object GPS position information of target object positioning unit passback, including mesh
ID, positioning time and the latitude and longitude information for marking object positioning device guarantee that the positioning of target object is believed by real-time back information
Cease the timeliness and accuracy of passback.
Nucleus module unit, nucleus module unit is interior to be configured with computing module, for passing through target object last time GPS
Location information P1With time T1The GPS position information P current with target object2With time T2Comparison, calculating position P1With position
Set P2The distance between and azimuth, and using the time difference calculate target object movement speed；It is also used to pass through monitoring device
Video have access to response time t1 and monitoring device instruction response time t2 and target object movement speed and azimuth, meter
Calculate the pre- in-position P of target object3Latitude and longitude information；It is reached in advance using the static parameter information of monitoring device with target object
Position P3The viewing position of calculation of longitude & latitude monitoring device can be efficient by the computing module on nucleus module unit
The parameters such as the movement speed of target object are calculated, while calculating related adjusting parameter needed for monitoring device accordingly, it can be with
It effectively avoids artificially manipulating the corresponding problem of bring, greatly reduces the investment of human resources.
Nucleus module unit is also configured with monitoring device calling module, for calling phase according to the calculated result of computing module
The monitoring device answered, while it being monitored the automatic switchover between equipment and adjustment, to realize following in real time to target object；
Monitoring device unit is monitored target object for the setting adjustment visible angle by relevant parameter,
According to the adjustment of calculating parameter, monitoring device unit is adjusted with optimal visible angle, is realized to target object
Monitoring, while can cooperate, switch between each monitoring device unit, it is completed by the linking of each monitoring device unit to mesh
The real-time tracking monitoring for marking object, may be implemented the continuity of monitoring.
The GPS latitude and longitude information that the running fix equipment that the present invention is carried according to target object returns in real time, further according to mesh
Mark object orientation, speed, video have access to delay time, monitoring device present position GPS longitude and latitude, monitoring device can aspect
The attributes such as angle, monitoring device visible angle, monitoring device visual range, by programmed algorithm, auto-returned can observe target
The monitoring device information of object, and adjust the parameters such as monitoring device visible angle and have access to associated video information, it realizes to target pair
As the video relay function of real-time tracking, have preferable application prospect in the service application field of related objective task tracking,
The investment of people's force-summing device can be greatly reduced.
Detailed description of the invention
Including attached drawing to provide a further understanding of embodiments and attached drawing is incorporated into this specification and is constituted this
Part of specification.Drawing illustration embodiment and together with the description principle for explaining the present invention.It will readily recognize that
To many expected advantages of other embodiments and embodiment, because described in detail below by quoting, they become by preferably
Understand.By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, other spies of the application
Sign, objects and advantages will become more apparent upon:
Fig. 1 is the process of the method that monitoring device selection is realized based on real time GPS position of one embodiment of the present of invention
Figure；
Fig. 2 is being followed automatically based on real time GPS position realization monitoring device for a specific embodiment of the invention
The flow chart of method；
Fig. 3 is the system knot followed automatically based on real time GPS position realization monitoring device of one embodiment of the present of invention
Composition.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
It is understood that specific embodiment described herein is used only for explaining related invention, rather than to the invention
Restriction.It also should be noted that illustrating only part relevant to related invention for ease of description, in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows a kind of realization monitoring device selection based on real time GPS position of one embodiment of the present of invention
Method, method includes the following steps:
S100: obtaining the location information of target object, is returned in real time according to the running fix equipment that target object carries
Location information, the location information include device id, positioning time and the latitude and longitude information of target object, guarantee target object
The timeliness and accuracy of location information passback.
S200: movement speed and the direction of target object are calculated, according to the position of the target object obtained in step S100
Information, latitude and longitude information and positioning time using the target object, obtain target object initial position and current location away from
The azimuth A mobile from S and target object, can be obtained the movement speed V of target object further according to the time difference of two positions.
Specific calculation is as follows:
Wherein:
P1For the position of target object last time, P2For target object current location,
Point P1Latitude radian: rLat1=Lat1 × π ÷ 180,
Point P2Latitude radian rLat2=Lat2 × π ÷ 180,
Point P1Longitude radian rLon1=Lon1 × π ÷ 180,
Point P2Longitude radian rLon2=Lon2 × π ÷ 180,
Point P1With point P2Latitude radian difference a=rLat1-rLat2,
Point P1With point P2Longitude radian difference b=rLon1-rLon2,
Lon1 is P1Longitude, Lon2 P2Longitude, Lat1 P1Latitude, Lat2 P2Latitude.
S300: calculating the pre- in-position information of target object and select monitoring device from monitoring device information bank, according to
The movement speed of the target object and direction calculate the estimated location information reached of the target object.More specific location information
Calculation is as follows:
The pre- in-position P of target object3Longitude
The pre- in-position P of target object3Latitude
Wherein, P3For the pre- in-position of target object,
Point P3Corresponding point P2Abscissa direction moving distance:
Point P3Corresponding point P2Ordinate direction moving distance:
Point P2The abscissa distance of the opposite centre of sphere: ed=ec × cos (la),
Point P2The radius of the opposite centre of sphere:
P3Opposite P2Distance S=V × (t1+t2),
Point P2Latitude radian:Known constant: semimajor axis of ellipsoid rc=6378137m, semi-minor axis rj=
6356752m。
According to the response time of the estimated location information reached of the target object and monitoring device from monitoring device information
Monitoring device is selected in library, by comparing the location information and monitoring range of all monitoring devices in monitoring device information bank,
Being screened out from it monitoring range includes the pre- in-position P3All monitoring devices list collection, select according to the actual situation
Suitable monitoring device is monitored work, improves the specific aim and validity of monitoring.
Fig. 2 shows a kind of methods followed automatically based on real time GPS position realization monitoring device, and this method includes following
Step:
S1: obtaining target object GPS position information, the position returned in real time according to the running fix equipment that target object carries
Confidence breath, which includes device id, positioning time and the latitude and longitude information of target object, and running fix equipment is arranged
Position return frequency, by practical rehearsal test, effect is best when frequency was less than 3 seconds, while determining running fix equipment position
The delay time for setting information back guarantees the timeliness and accuracy of the location information passback of target object.
In the particular embodiment, the step S1 specifically includes step S11: obtaining the equipment last time GPS longitude and latitude
Degree caching, the running fix equipment carried by target object obtain the last time GPS longitude and latitude record letter of equipment passback
Breath, while the time parameter of GPS longitude and latitude caching is recorded, for providing data basis for calculating involved in subsequent step.
S2: calculating target object moving direction and speed, according to the location information of the target object obtained in step S1, benefit
The movement speed and moving direction of the target object is calculated in latitude and longitude information and positioning time with the target object, tool
Body includes the GPS position information P that the target object last time is obtained according to the device id of the target object1With time T1, pass through
The GPS position information P current with target object2With time T2Comparison, calculating position P1With position P2The distance between S and should
The mobile azimuth A of target object, and utilize position P1With position P2Between time difference (T2-T1) calculate the target object
Movement speed V.Specific calculation is as follows:
Wherein:
Point P1Latitude radian: rLat1=Lat1 × π ÷ 180,
Point P2Latitude radian rLat2=Lat2 × π ÷ 180,
Point P1Longitude radian rLon1=Lon1 × π ÷ 180,
Point P2Longitude radian rLon2=Lon2 × π ÷ 180,
Point P1With point P2Latitude radian difference a=rLat1-rLat2,
Point P1With point P2Longitude radian difference b=rLon1-rLon2,
Lon1 is P1Longitude, Lon2 P2Longitude, Lat1 P1Latitude, Lat2 P2Latitude.
In the particular embodiment, step S2 further includes having judgment step S21: judge target object moving condition, according to
The movement speed for the target object being calculated in step S2 determines the moving condition of target object, if the shifting of the target object
Dynamic speed is less than or equal to valve constant speed angle value, then determines halted state subject to target object, be directly entered step S31；If the mesh
The movement speed for marking object is greater than valve constant speed angle value, then enters step S3；Wherein, valve constant speed angle value need to be according to real-time condition system
It is fixed.
S3: target object is calculated according to each time attribute and reaches GPS latitude and longitude information in advance, passes through the movement of the target object
The response time of speed and moving direction and monitoring device calculates the target object and reaches GPS latitude and longitude information, monitoring device in advance
Response time include that the video of monitoring device has access to the instruction response time t2 of response time t1 and monitoring device, it is specific to count
Calculation mode is as follows:
The pre- in-position P of target object3Longitude
The pre- in-position P of target object3Latitude
Wherein, point P3Corresponding point P2Abscissa direction moving distance:
Point P3Corresponding point P2Ordinate direction moving distance:
Point P2The abscissa distance of the opposite centre of sphere: ed=ec × cos (la),
Point P2The radius of the opposite centre of sphere:
P3Opposite P2Distance S=V × (t1+t2),
Point P2Latitude radian:Known constant: semimajor axis of ellipsoid rc=6378137m, semi-minor axis rj=
6356752m。
By above-mentioned formula it is known that can determine that the target object reaches in advance if the movement speed V=0 of target object
Position P3The as current location P of the target object2, without separately calculating, if movement speed V ≠ 0 of target object, needs root
It is calculated according to above-mentioned formula, obtains the latitude and longitude information P of the pre- in-position of the target object3。
In the particular embodiment, step S3 specifically further include the following three steps:
S31: monitoring device information aggregate is obtained according to GPS latitude and longitude information, pre- is arrived using what above-mentioned steps were calculated
Up to position, can be in region from being obtained in monitoring device information bank comprising the pre- in-position P of the target object3All monitoring set
Standby information list set, the latitude and longitude information of the pre- in-position of the target object is calculated by step S3, is utilized simultaneously
The latitude and longitude information of the position searches the information of all monitoring devices in the longitude and latitude position, by comparing monitoring device letter
The location information and monitoring range for ceasing all monitoring devices in library, being screened out from it monitoring range includes the pre- in-position P3
All monitoring devices list collection, need to select suitable monitoring device according to the actual situation for subsequent monitoring work
It is monitored work, improves the comprehensive and alternative of monitoring.
S32: having access to corresponding monitoring device according to the switching of the priority policy of monitoring device, pre- by the target object
In-position P3Longitude and latitude and monitoring device information list set in all monitoring devices installation site latitude and longitude information,
Calculate the pre- in-position P of target object3At a distance from monitoring device, take and the pre- in-position P of target object3Nearest monitoring is set
The standby monitoring device having access to for needed for, can be arranged priority by manually in each monitoring device, for the phase of monitoring device
Answer the parameter designings priority such as characteristic or monitoring range, when encounter the monitoring device priority that can be chosen it is similar when, it is excellent
The monitoring device for first selecting the mobile target object of distance nearest, choose on maximum magnitude can monitoring objective object monitoring device,
Utmostly guarantee greatly improve the accurate journey of monitored picture to the accuracy and integrality of mobile target object monitoring
It spends and maximizes the monitoring range of monitoring objective object, providing for the acquisition of subsequent evidence or the tracking of information more has
Effect, accurate data information.
S33: judging whether current monitor equipment is new monitoring device, according to the facility information of monitoring device and monitoring picture
Face judges whether current monitoring device is the monitoring device newly accessed or is previous monitoring device, if current monitor equipment
For new equipment, then step S41 and step S42 are carried out simultaneously；It, only need to be into if current monitor equipment is not new monitoring device
Row step S42 is configured to the parameter of current monitor equipment to complete to continue tracing and monitoring, while monitoring device switches both
It can be realized the monitoring effect followed automatically, while also can guarantee that the return of previous monitoring device continues the prison before it
Work is controlled, in order to avoid cause entire monitoring system because monitoring loophole caused by monitoring device adjustment.
In the particular embodiment, step S33 specifically further includes step S331: the video cache having access to for the last time is sentenced
When disconnected monitoring device is new equipment, the video cache for needing the last time to a upper monitoring device to have access to guarantees upper one
The last time of monitoring device has access to video and is uncovered or accidentally deletes, it is ensured that the integrality of monitored picture.
In the particular embodiment, this method further includes following two steps:
S41: a upper monitoring device parameters return, while selecting new monitoring device to take over monitoring work, upper one
Monitoring device completes monitor task, and corresponding parameter such as azimuth, depression angle, focal length and enlargement ratio need return, returns former
Some working conditions, it is ensured that do not influence working on for original monitoring device, avoid the conjunction for therefore influencing entire monitoring system
Reason operation.
S42: adjustment monitoring device parameters utilize the static parameter of monitoring device and the warp of the pre- in-position of the target object
Latitude calculate monitoring device setting parameter, wherein static parameter include the installation site of monitoring device latitude and longitude information,
Mounting height H and enlargement ratio z, the setting parameter of monitoring device include azimuth, depression angle, focal length and enlargement ratio.Specifically
Calculation it is as follows:
Azimuth
Depression angle
Focal length
Enlargement ratio Z=F × z,
The related adjustable parameter of monitoring device is calculated by formula, can be monitored the adjustment of equipment in advance, according to
Calculated result carries out the azimuth of monitoring device, depression angle, focal length and enlargement ratio to fall into target object to adjust in advance
In the monitoring section of monitoring device, it is ensured that optimal monitored picture is provided, while keeping the last time with a upper monitoring device
Monitor video linking, be conducive to keep the continuity for entirely monitoring process.
In the particular embodiment, further include final determination step S5: judging whether task terminates, if current target object
It arrived target position, without carrying out tracing and monitoring, indicate that monitor task terminates, then the prison that entire monitoring device follows automatically
Flow control journey terminates；If current target object not yet reaches target position or the monitor task of the target object is thoroughly tied not yet
Beam needs to continue to carry out tracing and monitoring to the target object, then returns to S1 step cycle and carry out entire monitor task process,
Until monitor task thoroughly terminates.
In some optional implementations of the present embodiment, above-mentioned monitoring device includes ball machine, half ball machine, all-in-one machine
And/or gunlock, it can use the individual features of various monitoring devices, targetedly select suitable monitoring device, carry out high
The comprehensive monitoring of effect.
In the optional implementation of other of the present embodiment, the location information of mobile target object can also be removed
Other modes except GPS location, such as the Beidou satellite navigation system of China, the GLONASS system of Russia and European Union
Galileo system any of them one or a combination thereof, it is various to provide the technical support of positioning system, it is more accurate
Realization to the position tracking of mobile target object.
The embodiment of the present invention further relates to a kind of computer readable storage medium, is stored thereon with one or more computer journeys
Sequence, one or more computer programs are subsequently can by computer the method implemented when device executes above.The computer program includes
Program code for method shown in execution flow chart.It should be noted that the computer-readable medium of the application can be
Computer-readable signal media or computer-readable medium either the two any combination.
As shown in figure 3, the system followed automatically according to the application for real time GPS position realization monitoring device is shown,
The system includes:
Information receiving unit 1, the target object GPS position information returned for obtaining target object positioning unit, including
ID, positioning time and the latitude and longitude information of target object positioning device, the running fix equipment carried according to target object are real-time
The location information of passback, the location information include device id, positioning time and the latitude and longitude information of target object, setting movement
The position of positioning device returns frequency, and by practical rehearsal test, effect is best when frequency was less than 3 seconds, while determining mobile fixed
The delay time of position device location information passback guarantees the timeliness and accuracy of the location information passback of target object.
Nucleus module unit 2, nucleus module unit is interior to be configured with computing module 21, for passing through target object last time
The location information P of GPS1With time T1The GPS position information P current with target object2With time T2Comparison, calculating position P1With
Position P2The distance between and azimuth, and using the time difference calculate target object movement speed；It is also used to set by monitoring
Standby video has access to movement speed and the azimuth of instruction the response time t2 and target object of response time t1 and monitoring device,
Calculate the pre- in-position P of target object3Latitude and longitude information；It is arrived in advance using the static parameter information of monitoring device with target object
Up to position P3The viewing position of calculation of longitude & latitude monitoring device can basis by the computing module on nucleus module unit
The data parameters such as the related latitude and longitude information in system efficiently calculate the parameters such as the movement speed of target object, while evidence
This calculates related adjusting parameter needed for monitoring device, and the setting parameter for adjusting monitoring device, it is ensured that data calculate
Accuracy, can effectively avoid artificially manipulating the corresponding problem of bring, greatly reduce the investment of human resources.
Nucleus module unit 2 is also configured with monitoring device calling module 22, for the calculated result tune according to computing module
With corresponding monitoring device, while it being monitored the automatic switchover between equipment and adjustment, to realize to the real-time of target object
It follows.
Monitoring device unit 3 is monitored target object for the setting adjustment visible angle by relevant parameter,
It is monitored the adjustment of unit using the calculated result on nucleus module, while recording all monitoring in nucleus module
The monitoring device unit list that unit is formed, can be monitored the calling of unit, while root according to calculated result
According to the adjustment of calculating parameter, monitoring device unit is adjusted with optimal visible angle, realizes the prison to target object
Control, while can cooperate, switch between each monitoring device unit, it is completed by the linking of each monitoring device unit to target
The real-time tracking of object monitors, and the continuity of monitoring may be implemented.
Each unit of the system can be implemented on specialized hardware, can also be real in general programmable logic device
It applies, or is implemented by combination thereof body.
It can be seen that the GPS latitude and longitude information that the running fix equipment that the present invention is carried according to target object returns in real time,
Have access to delay time further according to target object direction, speed, video, monitoring device present position GPS longitude and latitude, monitoring device can
The attributes such as apparent azimuth, monitoring device visible angle, monitoring device visual range pass through programmed algorithm, auto-returned Observable
To the monitoring device information of target object, and adjusts the parameters such as monitoring device visible angle and have access to associated video information, realization pair
The video relay function of target object real-time tracking has preferable application in the service application field of related objective task tracking
Prospect can greatly reduce the investment of people's force-summing device.
Obviously, those skilled in the art can make to the present invention without departing from the spirit and scope of the present invention
Embodiment various modifications and change.In this manner, if these modifications and changes be in claim of the invention and its
In the range of equivalent form, then the present invention, which also aims to, covers these modifications and changes.Word " comprising " is not excluded for not wanting in right
The presence for the other element or steps listed in asking.The simple thing that certain measures are recorded in mutually different dependent claims
It is real not show that the combination of these measures is consequently not used for making a profit.Any appended drawing reference in claim should not be regarded as limited to
Range.
Claims (14)
1. a kind of method for realizing that monitoring device follows automatically based on real time GPS position, which comprises the following steps:
S1: the location information of target object is obtained；
S2: according to the location information of the target object of acquisition, movement speed and the direction of the target object are calculated；
S3: according to the movement speed of the target object and direction, calculating the estimated location information reached of the target object, and
It is selected from monitoring device information bank according to the response time of the estimated location information reached of the target object and monitoring device
Monitoring device.
2. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 1, feature
It is, the method also includes following steps:
S4: according to the relevant parameter of the target object estimated location information reached and the monitoring device, the prison is adjusted
Control the viewing position of equipment.
3. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 1, feature
It is, the monitoring device includes ball machine, half ball machine, all-in-one machine and/or gunlock.
4. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 1, feature
It is, the location information in the step S1 specifically includes: ID, positioning time and the mesh of the target object positioning device
Mark the latitude and longitude information of object.
5. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 1, feature
It is, the step S2 is specifically included: obtains the GPS of the target object last time according to the device id of the target object
Location information P1With time T1, pass through the GPS position information P current with the target object2With time T2Comparison, calculate institute
Rheme sets P1With the position P2The distance between S, the mobile azimuth A of the target object, and described in being calculated using the time difference
The movement speed V of target object.
6. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 5, feature
It is, the position P1With the position P2The distance between, the calculation formula at the azimuth of the target object and movement speed
It is as follows:
The position P1With the position P2The distance between
The mobile azimuth of the target object
The movement speed of the target object
Wherein, rLat1=Lat1 × π ÷ 180, rLat2=Lat2 × π ÷ 180, rLon1=Lon1 × π ÷ 180, rLon2=
Lon2 × π ÷ 180, a=rLat1-rLat2, b=rLon1-rLon2, Lon1 P1Longitude, Lon2 P2Longitude, Lat1
For P1Latitude, Lat2 P2Latitude.
7. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 1, feature
It is, the response time of monitoring device described in the step S3 includes: that the video of the monitoring device has access to response time t1
With the instruction response time t2 of the monitoring device.
8. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 1 or claim 7,
Be characterized in that, the step S3 specifically includes the following steps:
Using the video of the monitoring device have access to the instruction response time t2 of response time t1 and the monitoring device with it is described
The movement speed of target object and azimuth calculate the pre- in-position P of the target object3Latitude and longitude information；
Utilize the pre- in-position P of the target object3Latitude and longitude information, obtain visible area from the monitoring device information bank
It include the pre- in-position P of the target object in domain3All monitoring device information list set；
Pass through the pre- in-position P of the target object3Longitude and latitude in the monitoring device information list set it is all monitoring set
The longitude and latitude of standby installation site calculates the pre- in-position P of the target object3At a distance from the monitoring device, take and institute
State the pre- in-position P of target object3Nearest monitoring device is the required monitoring device having access to.
9. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 8, feature
It is, the pre- in-position P of target object3Latitude and longitude information calculation formula it is as follows:
The pre- in-position P of target object3Longitude:
The pre- in-position P of target object3Latitude:
Wherein,Ed=ec × cos (la),
S=V × t1t2,
Known constant: semimajor axis of ellipsoid rc=6378137m, semi-minor axis rj=6356752m.
10. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 1, special
Sign is that the step S4 is specifically included: being reached in advance using the static parameter information and the target object of the monitoring device
Position P3Calculation of longitude & latitude described in monitoring device setting parameter, and according to the setting parameter of the monitoring device adjustment described in
The viewing position of monitoring device.
11. a kind of method for realizing that monitoring device follows automatically based on real time GPS position according to claim 10, special
Sign is that the static parameter information of the monitoring device includes the latitude and longitude information of the installation site of monitoring device, mounting height H
With enlargement ratio parameter z, the setting parameter of the monitoring device includes the azimuth A1 of the monitoring device, depression angle A2, coke
Away from F and enlargement ratio Z.
12. a kind of method for realizing that monitoring device follows automatically based on real time GPS position described in 0 or 11 according to claim 1,
It is characterized in that, the setting parameter calculation formula of the monitoring device is as follows:
AzimuthDepression angle
Focal lengthEnlargement ratio Z=F × z.
13. a kind of computer readable storage medium is stored thereon with one or more computer programs, which is characterized in that this one or
Multiple computer programs, which are subsequently can by computer when device executes, implements method described in any one of any one of claims 1 to 12 12.
14. a kind of system for realizing that monitoring device follows automatically based on real time GPS position, which is characterized in that the system comprises:
Information receiving unit, for obtaining the target object GPS position information of target object positioning unit passback, including institute
State ID, positioning time and the latitude and longitude information of target object positioning device；
Nucleus module unit is configured with computing module in the nucleus module unit, for by the target object last
The location information P of secondary GPS1With time T1The GPS position information P current with the target object2With time T2Comparison, calculate
The position P1With the position P2The distance between and azimuth, and calculate using the time difference the mobile speed of the target object
Degree；Be also used to have access to by the video of the monitoring device instruction response time t2 of response time t1 and the monitoring device with
The movement speed of the target object and azimuth calculate the pre- in-position P of the target object3Latitude and longitude information；It utilizes
The static parameter information and the pre- in-position P of the target object of the monitoring device3Calculation of longitude & latitude described in monitoring device
Viewing position；
The nucleus module unit is also configured with monitoring device calling module, for the calculated result tune according to the computing module
With corresponding monitoring device, while it being monitored the automatic switchover between equipment and adjustment, to realize to the target object
It follows in real time；
Monitoring device unit adjusts visible angle for the setting by relevant parameter to be monitored to the target object.
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