CN110007275A - A kind of Multi objective Planar position coordinates localization method and system - Google Patents
A kind of Multi objective Planar position coordinates localization method and system Download PDFInfo
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- CN110007275A CN110007275A CN201910073890.1A CN201910073890A CN110007275A CN 110007275 A CN110007275 A CN 110007275A CN 201910073890 A CN201910073890 A CN 201910073890A CN 110007275 A CN110007275 A CN 110007275A
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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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of Multi objective Planar position coordinates localization method and systems, including two base stations, multiple object to be measured and main website, one main website is installed in each object to be measured, laser beam emitting device is equipped on first base station and the second base station, laser inductor, communication module are equipped in first base station, the second base station and main website, laser beam emitting device issues the laser wall in planar of rotation, further includes angle acquisition module and data processing module.This Multi objective Planar position coordinates localization method and system, first base station and the second base station issue laser wall, laser wall rotary scanning, acquisition angles αkAnd βk, the position coordinates (x of object to be measured is calculated further according to the position coordinates of first base station and the second base stationk, yk), rotary scanning is carried out using laser wall, can detect multiple targets in different height plane, laser wall constantly rotates to refresh the position of target, dynamic monitoring target, and the invention is used for automatic positioning technology field.
Description
Technical field
The present invention relates to automatic positioning technology field, more particularly to a kind of Multi objective Planar position coordinates localization method and
System.
Background technique
It is existing have using wide location technology or positioning system have global positioning system (GPS), ultrasonic wave positioning skill
Art, infrared confirming orientation technology, radio-location technology etc., still, above-mentioned location technology or positioning system can not be to moving objects
Be accurately positioned, positioning accuracy is not high, be generally accurate to rice or centimetre, and be easy dry by other signals such as electromagnetic signal
It disturbs.
In order to overcome the above technical problems, patent CN200910308901.6 discloses a kind of 3 dynamic positioning sides of laser
Method and system install 2 base stations in fixed bit, main website are arranged on moving target, Base Transmitter laser to main website, base station is adopted
Collect the angle between laser and baseline, the position of main website is determined by angle and baseline length, the localization method and system exist
Following problems: it needs through acceleration transducer and gyroscope real-time detection and the direction of motion of tracking main website to adjust base in real time
The Laser emission angle stood, thus multiple targets can not also be positioned.
Patent CN200810028287.3 discloses a kind of light source scanning positioning system and its localization method, including at least two
A light source emitter and at least one light source receiving device characterize the position of each light source emitter by extracting in electric signal
Parameter calculates in conjunction with the angle information of the deviation angle of light source emitter and/or two beams detection light source and determines that light source receives dress
The position set, the positioning system and method have the following problems: light emitting being gone out by lens and passes through stepper motor
The deviation angle of light source emitter is detected, detection accuracy is low, and cannot detect the target of different height.
And patent application 201611200841.2 discloses a kind of object localization method and device using laser scanning,
It include: any one laser rotary scanning device in N number of laser rotary scanning device for laser beam emitting device, described
In each scan period of laser rotary scanning device, the first reference time and the second reference time are determined；The laser connects
Receiving apparatus is according to first reference time and the second reference time and preset angle corresponding with first reference time
The first angle of synchronization signal and the second angle of preset angle synchronization signal corresponding with second reference time are spent, really
Make the first motor angular velocity of rotation of the laser rotary scanning device corresponding with the first time；It is calculated described
The rotation angle of laser rotary scanning device；The laser receiver is according to the rotation angle of N number of laser rotary scanning device
With the coordinate of N number of laser rotary scanning device, the position where itself is determined.The three-dimensional of this method measurement laser receiver
Coordinate position emits lasing area by each laser rotary scanning device, and laser receiver detects laser, then coordinates computed position
It sets.The each laser rotary scanning device of this method issues a lasing area, and synchronization can only have a laser rotary to sweep
Imaging apparatus carries out laser scanning to monitoring region, and refreshing frequency and detection efficiency are low, and a position of target is obtained in a cycle
Coordinate is set, the detection of static object is mainly used for, there can be preferable detection accuracy, still, is unfavorable for detecting dynamic mobile
Target, the motion profile precision for detecting dynamic object is not high, and the tracing point of generation is more scattered.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of Multi objective Planar position coordinates localization method and system, inspections
It is high to survey precision, and is able to detect multiple targets of different height.
Used technical solution is to solve above-mentioned technical problem:
First base station and the second base station is fixedly mounted, each to be measured in a kind of Multi objective Planar position coordinates localization method
Main website k is installed, the vertical laser wall in planar of first base station and the rotation of the second Base Transmitter acquires first base station in target
The laser wall rotary scanning of sending is from main website k location to the angle [alpha] of the second base station locationk, the laser of the second base station of acquisition sending
Wall rotary scanning is from main website k location to the angle beta of first base station positionk, according to angle [alpha]k, angle betakAnd first base station and
The position coordinates of two base stations calculate the position coordinates (x of main website kk, yk)。
Preferably, angle [alpha]kAnd βkPass through acquisition time and be calculated, the laser wall rotation that acquisition first base station issues is swept
Retouch the time Δ T from main website k location to the second base station location1k, the laser wall rotary scanning that the second base station of acquisition issues is from main website k
Time Δ T of the position to first base station position2k, the angular speed of laser wall is ω, then αk=ω Δ T1k, βk=ω Δ T2k。
Preferably, first base station and the second base station issue radial N number of laser wall of rotation, what first base station issued
N number of laser wall respectively corresponds N number of angle [alpha]k, the second base station issue N number of laser wall respectively correspond N number of angle betak, rotated at one
In period, according to N number of angle [alpha]kAnd angle betakCalculate N number of position coordinates of main website k.
It preferably, is H to each laser wall number issued on same base stationi, the angle γ of each adjacent laser walli(i+1)
Known and different, detection adjacent laser wall successively passes through the time interval Δ T of main website or base stationH, the angular speed of laser wall
For ω, find out and angle ω Δ THEqual γi(i+1), resolution laser wall number.
Preferably, detecting the angle issued on a wherein base station is γi(i+1)Two adjacent laser wall HiAnd Hi+1Successively
By the time interval Δ T of another base stationHi(i+1), laser wall Hi+1Angular speed be
With angular velocity omegai+1' as the laser wall H for calculating main website k location coordinatei+1Angular speed.
Preferably, third base station is added, first base station, the second base station and third base station are flat in coordinate with the position of main website k
It is moved on face, and first base station, the second base station, third base station are maintained at main website k at a distance from main website k and are able to detect that laser
In the distance range of wall signal.
Preferably, first base station, the second base station and third base station move only one base station every time and exist in moving process
Mobile and other two base station is fixed, and two fixed base stations detect the movement base station it is mobile after position coordinates.
Preferably, two laser inductors, the line of two laser inductors and the direction of object to be measured are added on main website k
Identical, the position coordinates of two laser inductors of first base station and the detection of the second base station know the direction of object to be measured.
A kind of Multi objective Planar position coordinates positioning system, including two base stations, multiple object to be measured and main website, two bases
Standing is respectively first base station and the second base station, installs a main website in each object to be measured, in first base station and the second base station
It is equipped with laser beam emitting device, laser inductor, communication module, laser hair are equipped in first base station, the second base station and main website
Injection device issues the laser wall in planar of rotation, further includes angle acquisition module and data processing module, angle acquisition module
Laser wall rotary scanning that base station issues is acquired from main website position to the angle of another base station location, data processing module calculates
The position coordinates of main website and corresponding object to be measured out.
Preferably, angle acquisition module includes timer, and first base station, the second base station are equipped with timer in main website, also
Clock sync signal source including clock sync signal can be emitted.
Preferably, the laser beam emitting device of first base station and the laser beam emitting device of the second base station issue two kinds of different wave lengths
Laser wall, the laser inductor in main website includes the photoelectric sensor for being able to detect the laser wall of two kinds of different wave lengths.
Preferably, further include third base station, first base station, the second base station and third base station not on the same line, first
Base station, the second base station and third base station be equipped with mobile device, first base station, the second base station and third base station with main website position
It is mobile.
Preferably, laser beam emitting device issues radial multiple laser walls of rotation, the angle of each adjacent laser wall
It is known and different.
Preferably, laser beam emitting device includes laser emitter, is equipped with taper launch mirror at the emission port of laser emitter,
It further include the turntable with the coaxial arrangement of taper launch mirror, turntable is equipped with several radial lumens, and the outside of lumen, which is equipped with, to be made to swash
The optical mirror slip of light beam formation laser wall.
Beneficial effects of the present invention: this Multi objective Planar position coordinates localization method and system, first base station and the second base
It stands and issues laser wall, laser wall rotary scanning, acquisition angles αkAnd βk, further according to the position coordinates of first base station and the second base station
Calculate the position coordinates (x of object to be measuredk, yk), rotary scanning is carried out using laser wall, can detect in different height plane
Multiple targets, laser wall constantly rotate to refresh the position of target, dynamic monitoring target.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the system structure diagram of the embodiment of the present invention；
Fig. 2 is angle [alpha] of the embodiment of the present inventionkInstrumentation plan；
Fig. 3 is angle beta of the embodiment of the present inventionkInstrumentation plan；
Fig. 4 is the structural schematic diagram that first base station of the embodiment of the present invention, the second base station and main website form triangle；
Fig. 5 is main website of embodiment of the present invention k and first base station, the structural schematic diagram of the second base station on the same line；
Fig. 6 is the structural schematic diagram when embodiment of the present invention has barrier；
Fig. 7 is the top view of the multiple laser walls of the embodiment of the present invention；
Fig. 8 is the front view of laser beam emitting device of the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of detection main website direction of the embodiment of the present invention.
Specific embodiment
Referring to Fig.1~Fig. 8, the present invention provide a kind of Multi objective Planar position coordinates localization method, and the first base is fixedly mounted
It stands and the second base station, main website k (k is main website number), first base station and the rotation of the second Base Transmitter is installed in each object to be measured
The vertical laser wall in planar turned, the laser wall rotary scanning that acquisition first base station issues is from main website k location to the second base station
The angle [alpha] of positionk, the laser wall rotary scanning that the second base station of acquisition issues is from main website k location to the angle of first base station position
βk, as shown in Figures 2 and 3, according to angle [alpha]k, angle betakAnd the position coordinates of first base station and the second base station calculate main website k
Position coordinates (the x of i.e. corresponding object to be measuredk, yk).It is equipped with laser inductor on first base station, the second base station and main website k, it can
Detect laser wall.
This Multi objective Planar position coordinates localization method, first base station and the second base station issue laser wall, laser wall rotation
Scanning, acquisition angles αkAnd βk, the position coordinates of object to be measured are calculated further according to the position coordinates of first base station and the second base station
(xk, yk).Plane where first base station and the second base station is coordinate plane, and it is coordinate plane that this, which sentences horizontal plane, and laser wall is vertical
It is rotated in coordinate plane, if the coordinate of first base station is (X1, Y1), the coordinate of the second base station is (X2, Y2), first base station, second
Base station and a main website k form a triangle, as shown in figure 4, first base station, the second base station and wherein a main website k forms △
P1P2P3, it can be obtained according to sine:
Then:
xk=X1+|P1P3|cosαk(1-3)；
yk=Y1+|P1P3|sinαk(1-4)；
To obtain the coordinate (x of main website 1k, yk).In order to facilitate calculating, the coordinate of first base station can be set as (0,0), the
The coordinate of two base stations is set as (L, 0), and the line of first base station and the second base station is x-axis.
Rotary scanning is carried out using laser wall, can detect multiple targets in different height, such as land and aerial object
Body, also, laser wall rotation turns around and can acquire the corresponding angle [alpha] of all main websiteskAnd βk, to obtain the position of all targets.
Laser wall constantly rotates to refresh target position, carries out dynamic monitoring positioning to target.
Preferably, angle [alpha]kAnd βkPass through acquisition time and calculate and obtains indirectly, as shown in Figures 2 and 3, acquisition the
Time Δ T of the laser wall rotary scanning that one base station issues from main website k location to the second base station location1k, the second base station of acquisition hair
Time Δ T of the laser wall rotary scanning out from main website k location to first base station position2k, it is known that laser wall angular speed is ω, then
αk=ω Δ T1k, βk=ω Δ T2k.High accurate calculagraph can be used in detection time, such as ns grades of timer, improves to greatest extent
The survey calculation precision of angle.With two patent documents in background technique using stepper motor or the method for encoder measurement angle
It compares, common stepper motor and encoder accuracy are lower, and high-precision stepper motor and encoder are expensive, using measurement
The method of time, structure is simple, while having high-precision.
As shown in fig. 7, first base station and the second base station issue radial N number of (N is greater than 1) laser wall of rotation, the
N number of laser wall that one base station issues respectively corresponds N number of angle [alpha]k, the second base station issue N number of laser wall respectively correspond N number of angle
βk, in a swing circle, according to N number of angle [alpha]kAnd angle betakCalculate N number of position coordinates of main website k.In this way, can increase
Refresh Data frequency shortens positioning time, increases the motion profile points of object to be measured, thus to the motion profile of object to be measured
Make more accurate measurement.Laser wall quantity is more, and Refresh Data frequency is faster.It should be noted that using multiple laser walls
When, it needs to differentiate each laser wall, to identify its corresponding angle [alpha]kAnd angle betak, wherein following methods can be used:
Emit and the multiple laser inductors for incuding the different wave length accordingly are set in the laser wall of multiple and different wavelength and main website, but
This method needs multiple laser emitters and laser inductor, and will lead to laser beam emitting device, structure is complicated, preferably, only making
In the case where a kind of laser wall with wavelength, different laser walls is differentiated using following methods: each to issuing on same base station
A laser wall number is Hi, the angle γ of each adjacent laser walli(i+1)Known and different, detection adjacent laser wall is first
Afterwards by main website or the time interval Δ T of base stationH, it is known that the angular speed of laser wall is ω, is found out and angle ω Δ THIt is equal or most
Similar γi(i+1), resolution laser wall number.For example, as shown in fig. 7, main website k successively detect two adjacent laser walls when
Between between be divided into Δ TH, then the rotational angle of laser wall is ω Δ T during this period of timeH, by ω Δ THWith each γi(i+1)Compare, really
It is set to γ12, so that telling two laser walls successively passed through is respectively H1And H2.Each laser wall is differentiated using the above method,
The structure of laser beam emitting device can be simplified to the maximum extent.
The rotation of laser wall, which rotates to drive by motor, realizes control, and the angular speed of motor is the angular speed of laser wall
ω.But in the actual process, control can there is a certain error for the angular speed of motor or revolving speed, even if using high-precision
Servo motor, the revolving speed at Difference angles can still have fluctuation in one cycle, if thus directlying adopt motor
Rotational angular velocity of the angular speed as laser wall is calculating angle [alpha]kAnd βkThere is a certain error for meeting, causes to reduce main website k
Position coordinates detection accuracy.In order to improve the position coordinates detection accuracy of main website k, should be made with the actual angular speed of laser wall
For the parameter of calculating, preferably, the angle that detection wherein issues on a base station is γi(i+1)Two adjacent laser wall HiWith
Hi+1It is successively Δ T by the time interval of another base stationHi(i+1), to calculate laser wall Hi+1Actual angular speed are as follows:
With angular velocity omegai+1' as the laser wall H for calculating main website k location coordinatei+1Angular speed, i.e. αk=ωi+1′Δ
T1k, βk=ωi+1′ΔT2k, then formula (1-1)~(1-4) is substituted into, the laser wall of other numbers and so on.In this way, with direct
Use the angular speed of motor as main website k location seat calibration method is calculated to compare, the position that can improve main website k to the maximum extent is sat
Mark detection accuracy.
In addition, using above-mentioned formula (1-1)~(1-4) to calculate target position is with first base station, the second base station and main website k
Condition premised on formation triangle, if main website k and first base station, the second base station are on the same line, above-mentioned formula will fail.Make
Be it is preferred, add third base station, first base station, the second base station and third base station not on the same line, the position of third base station
Coordinate can be obtained by first base station and the detection of the second base station, as acquisition angles αkAnd βkWhen for 0 ° or 2 π, start third base station,
Acquisition angles θkWithAs shown in figure 5, being (x to calculate the position coordinates of targetk, 0).Wherein,
So, it is ensured that the target of all positions can be detected.Further, it is contemplated that by barrier in laser wall scanning process
The case where 1 blocking, as shown in fig. 6, starting third base station replaces when first base station or the second base station can not scan main website k
The base station operation being blocked.
Furthermore the transmitting and detection of laser wall are defined in certain working range, if object to be measured movement is detached from the model
It encloses, will be unable to position.Preferably, add third base station, first base station, the second base station and third base station with main website k position
It is moved on coordinate plane, and first base station, the second base station, third base station are maintained at main website k at a distance from main website k and can examine
In the distance range for measuring laser wall signal.Further, first base station, the second base station and third base station be in moving process,
It moves only one base station every time to fix in mobile and other two base station, and the movement is detected in two fixed base stations
Position coordinates after base station is mobile, then modification updates the coordinate data of the mobile base station.In this way, can infinitely expand object to be measured
The detection range of movement prevents object to be measured to be detached from the detection range of base station.Certainly, the 4th base in addition can be added as needed
It stands, the base station of the 5th base station or more.
Preferably, as shown in figure 9, adding two laser inductors, respectively first laser inductor 7 on main website k
With second laser inductor 8, the lines of two laser inductors and object to be measured towards identical, first base station and the inspection of the second base station
The position coordinates for surveying two laser inductors calculate the line of two laser inductors and the angle of x-axis by position coordinates, to obtain
The direction for knowing object to be measured predicts the direction of motion of object to be measured.
The present invention provides a kind of Multi objective Planar position coordinates positioning system, including two base stations, multiple object to be measured and
Main website, two base stations are respectively first base station and the second base station, install a main website in each object to be measured, first base station and
It is equipped with laser beam emitting device on second base station, laser inductor, communication mould are equipped in first base station, the second base station and main website
Block, laser beam emitting device issue the laser wall in planar of rotation, further include angle acquisition module and data processing module, angle
Acquisition module acquires the laser wall rotary scanning of base station sending from main website position to the angle of another base station location, data processing mould
The position coordinates of main website and corresponding object to be measured are calculated in block.Multiple object to be measured refer to more than one (comprising one) herein
Target to be positioned.Laser wall is rotated perpendicular to horizontal plane.
Optionally, communication module is using wireless communication, such as uses ZigBee, bluetooth, WiFi wireless communication technique, communication
Module is for the communication between first base station, the second base station and main website.CPU or integrated monolithic can be used in data processing module
Machine, PLC etc. summarize and handle calculating for data.
Preferably, angle acquisition module includes timer, first base station, the second base station are equipped with timer in main website,
It further include the clock sync signal source that can emit clock sync signal.Clock sync signal source emits clock sync signal, makes the
One base station, the second base station and timer synchronization or reset in main website.As shown in Figures 2 and 3, the laser wall that first base station issues
Rotary scanning, main website k record moment T after receiving laser wall signal1k, the second base station records the moment after receiving laser wall signal
T′1k, and main website k is dealt by communication module, then Δ T1k=T '1k-T1k；Similarly, the laser wall rotation that the second base station issues is swept
It retouches, main website k records moment T after receiving laser wall signal2k, first base station, which receives, records moment T ' after laser wall signal2k,
And main website k is dealt by communication module, then Δ T2k=T '2k-T2k.Data processing module on main website k is according to Δ T1k、ΔT2kWith
Laser wall angular velocity omega calculates angle [alpha]kAnd βk, then obtained using above-mentioned formula (1-1), formula (1-2) and formula (1-3)
The position coordinates of main website k.
Preferably, the laser beam emitting device of first base station and the laser beam emitting device of the second base station issue two kinds of different waves
Long laser wall, the laser inductor in main website includes the photoelectric sensor for being able to detect the laser wall of two kinds of different wave lengths,
In this way, the laser wall can be distinguished when main website detects laser wall from first base station or the second base station.
Preferably, further include third base station, first base station, the second base station and third base station not on the same line, can
Selection of land, is arranged two laser beam emitting devices in first base station, which is respectively seen as first base station and the
Three base stations, to can detect the position coordinates of the main website k in first base station and the second base station line.Further, the first base
Stand, the second base station and third base station be equipped with mobile device, first base station, the second base station and third base station with main website k position
It is moved on coordinate plane.
Preferably, laser beam emitting device issues radial multiple laser walls of rotation, to increase Refresh Data
Frequency shortens positioning time, increases the motion profile points of object to be measured.As shown in fig. 7, the angle of each adjacent laser wall is not
Together, each laser wall is differentiated with this.
Further, as shown in figure 8, laser beam emitting device includes laser emitter 2, at the emission port of laser emitter 2
It further include the cricoid turntable 4 being coaxially disposed with taper launch mirror 3 equipped with taper launch mirror 3, turntable 4 is equipped with several radial directions
Lumen 41, the outside of lumen 41 is equipped with the optical mirror slip 5 for making laser beam form laser wall.Laser emitter 2 emits laser beam,
Laser beam reflects to form the laser beam of multi beam level by taper launch mirror, and part of laser beam passes through lumen 41, then passes through
Optical mirror slip 5 forms laser wall.The angle of adjacent laser wall is determined that the angle of each adjacent lumen is not by the angle of adjacent lumen 41
Together, then each angle of the multiple laser walls formed is different, as shown in Figure 7.Laser emitter 2 is fixed, but since laser beam passes through
Lumen 41 on turntable 4 is launched, and turntable 4 rotates, to make laser wall have rotating effect, and the revolving speed of turntable 4 is
For the revolving speed of laser wall, turntable 4 is driven by motor to be rotated.Columned glass lens or an end face can be used in optical mirror slip 5
The glass lens being serrated.
The position coordinates of multiple targets are dealt into computer by wireless communication, and show on a display screen, so as to intuitive
Observe the dynamic change of multiple targets.
The present invention can be used for carrying out multiple moving objects under no marking environment real-time dynamic positioning, operating principle letter
Single, cost of implementation is low, and positioning accuracy is high, and fast response time is not influenced by electromagnetic interference and adverse circumstances, reliability
By force, cost performance is high.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Using the claimed range of the application should not be limited.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
Certainly, the invention is not limited to above embodiment, and those skilled in the art are without prejudice to originally
Equivalent modifications or replacement can be also made under the premise of spirit, these equivalent variation or replacement are all contained in the application right
It is required that in limited range.
Claims (14)
1. a kind of Multi objective Planar position coordinates localization method, it is characterised in that: first base station and the second base station is fixedly mounted,
Main website k, the vertical laser wall in planar of first base station and the rotation of the second Base Transmitter, acquisition are installed in each object to be measured
The laser wall rotary scanning that first base station issues is from main website k location to the angle [alpha] of the second base station locationk, the second base station of acquisition hair
Laser wall rotary scanning out is from main website k location to the angle beta of first base station positionk, according to angle [alpha]k, angle betakAnd first
The position coordinates of base station and the second base station calculate the position coordinates (x of main website kk, yk)。
2. Multi objective Planar position coordinates localization method according to claim 1, it is characterised in that: angle [alpha]kAnd βkPass through
Acquisition time is simultaneously calculated, and the laser wall rotary scanning that acquisition first base station issues is from main website k location to the second base station location
Time Δ T1k, time Δ of the laser wall rotary scanning that the second base station of acquisition issues from main website k location to first base station position
T2k, the angular speed of laser wall is ω, then αk=ω Δ T1k, βk=ω Δ T2k。
3. Multi objective Planar position coordinates localization method according to claim 1, it is characterised in that: the first base station and
Second base station issues radial N number of laser wall of rotation, and N number of laser wall that the first base station issues respectively corresponds N number of
Angle [alpha]k, N number of laser wall that second base station issues respectively corresponds N number of angle betak, in a swing circle, according to the N
A angle [alpha]kAnd angle betakCalculate N number of position coordinates of the main website k.
4. Multi objective Planar position coordinates localization method according to claim 3, it is characterised in that: to being sent out on same base station
Each laser wall number out is Hi, the angle γ of each adjacent laser walli(i+1)It is known and different, it detects adjacent sharp
Light wall successively passes through the time interval Δ T of main website or base stationH, the angular speed of laser wall is ω, is found out and angle ω Δ THEqual
γi(i+1), resolution laser wall number.
5. Multi objective Planar position coordinates localization method according to claim 4, it is characterised in that: detect a wherein base station
The angle of upper sending is γi(i+1)Two adjacent laser wall HiAnd Hi+1Successively pass through the time interval Δ T of another base stationHi(i+1),
The laser wall Hi+1Angular speed be
With angular velocity omegai+1' as the laser wall H for calculating main website k location coordinatei+1Angular speed.
6. Multi objective Planar position coordinates localization method described according to claim 1~any one of 5, it is characterised in that:
Third base station is added, the first base station, the second base station and third base station are moved on coordinate plane with the position of main website k, and
And the first base station, the second base station, third base station are maintained at main website k at a distance from main website k and are able to detect that laser wall signal
Distance range in.
7. Multi objective Planar position coordinates localization method according to claim 6, it is characterised in that: the first base station,
It is solid in mobile and other two base station to move only one base station in moving process every time for second base station and third base station
It is fixed, and two fixed base stations detect the movement base station it is mobile after position coordinates.
8. Multi objective Planar position coordinates localization method described according to claim 1~any one of 5, it is characterised in that:
Add two laser inductors on main website k, the lines of two laser inductors and object to be measured towards identical, described
The position coordinates that two laser inductors are detected in one base station and the second base station know the direction of object to be measured.
9. a kind of Multi objective Planar position coordinates positioning system, it is characterised in that: including two base stations, multiple object to be measured and master
It stands, two base stations are respectively first base station and the second base station, install a main website, the first base station in each object to be measured
With laser beam emitting device is equipped on the second base station, be equipped in the first base station, the second base station and main website laser inductor,
Communication module, the laser beam emitting device issue the laser wall in planar of rotation, further include at angle acquisition module and data
Module is managed, the laser wall rotary scanning that angle acquisition module acquisition base station issues is from main website position to another base station location
The position coordinates of main website and corresponding object to be measured are calculated in angle, the data processing module.
10. Multi objective Planar position coordinates positioning system according to claim 9, it is characterised in that: the angle acquisition
Module includes timer, and the first base station, the second base station are equipped with timer in main website, further includes that can to emit clock synchronous
The clock sync signal source of signal.
11. Multi objective Planar position coordinates positioning system according to claim 9, it is characterised in that: the first base station
Laser beam emitting device and the laser beam emitting device of the second base station issue the laser walls of two kinds of different wave lengths, swashing in the main website
Optical inductor includes the photoelectric sensor for being able to detect the laser wall of two kinds of different wave lengths.
12. Multi objective Planar position coordinates positioning system according to claim 9, it is characterised in that: further include third base
Stand, the first base station, the second base station and third base station not on the same line, the first base station, the second base station and third
Base station is equipped with mobile device, and the first base station, the second base station and third base station are mobile with the position of main website.
13. Multi objective Planar position coordinates positioning system, feature according to any one of claim 9~12 exist
Radial multiple laser walls of rotation are issued in: the laser beam emitting device, known to the angle of each adjacent laser wall
And it is different.
14. Multi objective Planar position coordinates positioning system according to claim 13, it is characterised in that: the Laser emission
Device includes laser emitter, and taper launch mirror is equipped at the emission port of the laser emitter, further includes sending out with the taper
The turntable of mirror coaxial arrangement is penetrated, the turntable is equipped with several radial lumens, and the outside of the lumen, which is equipped with, makes laser beam shape
At the optical mirror slip of laser wall.
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