CN110045403A - A kind of distance measuring method and range unit based on earth coordinates - Google Patents
A kind of distance measuring method and range unit based on earth coordinates Download PDFInfo
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- CN110045403A CN110045403A CN201910309289.8A CN201910309289A CN110045403A CN 110045403 A CN110045403 A CN 110045403A CN 201910309289 A CN201910309289 A CN 201910309289A CN 110045403 A CN110045403 A CN 110045403A
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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
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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
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of distance measuring method and range unit based on earth coordinates, the larger technical problem of solution over the horizon range error.Comprise determining that first subject matter and the common visible homologous satellite of second subject matter；The geodetic coordinates of first subject matter and the second subject matter synchronization is obtained using the homologous satellite；The geodetic coordinates is converted to the relative distance that first subject matter and second subject matter are formed after rectangular space coordinate.It eliminates and location Calculation bring Positioning System Error is carried out using visible satellite at random according to signal strength, to improve range accuracy.Computing resource is greatly saved using the coordinate system mapping ruler of optimization and improves operation efficiency, realizes the quasi real time property of non-visual ranging between cluster device.
Description
Technical field
The present invention relates to technical field of mapping, and in particular to a kind of distance measuring method and ranging dress based on earth coordinates
It sets.
Background technique
In the prior art, for ground system distinct device, vehicle or unit, distance calibration is that determining ground is respectively set
One of the important link of relative positional relationship between standby, vehicle or unit.Common distance calibration be using laser range finder come
It completes, the method is easy the restriction by geographical environment, the distance even factors such as weather, very low in sight masking or visibility
Unfavorable conditions under, laser ranging just can not carry out, and laser ranging, mainly by manual operation, artificial subjective factor is more, accidentally
Difference is relatively large.
Summary of the invention
In view of the above problems, the embodiment of the present invention provides a kind of distance measuring method and range unit based on earth coordinates,
Solve the larger technical problem of over the horizon range error.
The distance measuring method based on earth coordinates of the embodiment of the present invention, comprising:
Determine first subject matter and the common visible homologous satellite of second subject matter；
The geodetic coordinates of first subject matter and the second subject matter synchronization is obtained using the homologous satellite；
First subject matter and second subject matter are formed after the geodetic coordinates is converted to rectangular space coordinate
Relative distance.
In one embodiment of the invention, determination first subject matter and second subject matter are common visible homologous
Satellite includes:
First subject matter and second subject matter obtain the satellite information of respective position；
First subject matter and second subject matter exchange the satellite information of respective position；
First subject matter and second subject matter determine homologous satellite according to homologous preference rule.
In one embodiment of the invention, the satellite information includes:
Satellite identifies ID, the signal-to-noise ratio of broadcast singal for determining satellite, the pitch angle for determining satellite, observable satellite number
Amount.
In one embodiment of the invention, the homologous preference rule includes:
Satellite identifies ID: identical；
Signal-to-noise ratio: greater than 40dB of the satellite broadcast signal of like-identified ID；
Pitch angle: greater than 35 ° of the satellite of like-identified ID；
If observable number of satellite only selects homologous satellite at 4 to 6, is selected when being greater than 6 and meet the letter
It makes an uproar than other satellites with the pitching corner condition as supplement.
In one embodiment of the invention, described be converted to the geodetic coordinates forms first mark after rectangular space coordinate
Object and the relative distance of second subject matter include:
Obtain the longitude B of current target object locationiLatitude LiWith height Hi；
Obtain the geodesic curvature radius N of the current subject matter Position Latitude；
Obtain the first eccentricity of earth f；
Obtain semimajor axis of ellipsoid length a；
The rectangular space coordinate of the current subject matter is formed according to following algorithm:
Euclidean distance is formed according to the rectangular space coordinate of first subject matter and second subject matter.
The range-measurement system based on earth coordinates of the embodiment of the present invention, comprising:
Memory, for storing the above-mentioned program code for stating treatment process in the distance measuring method based on earth coordinates；
Processor, for executing said program code.
The range-measurement system based on earth coordinates of the embodiment of the present invention, comprising:
Homologous satellite identification device, for determining that first subject matter and second subject matter are common visible homologous
Satellite；
Satellite signal receiving apparatus, for obtaining first subject matter and second target using the homologous satellite
The geodetic coordinates of object synchronization；
Coordinate mapping calculation device, for forming first mark after the geodetic coordinates is converted to rectangular space coordinate
Object and second subject matter relative distance.
In one embodiment of the invention, the homologous satellite identification device includes:
Individual reception module obtains the satellite letter of respective position for first subject matter and second subject matter
Breath；
Information exchange module exchanges the satellite letter of respective position for first subject matter and second subject matter
Breath；
Information identification module determines together for first subject matter and second subject matter according to homologous preference rule
Source satellite.
In one embodiment of the invention, the coordinate mapping calculation device includes:
Fisrt feature obtains module, for obtaining the longitude B of current target object locationiLatitude LiWith height Hi；
Second feature obtains module, for obtaining the geodesic curvature radius N of the current subject matter Position Latitude；
Third feature obtains module, for obtaining the first eccentricity of earth f；
Fourth feature obtains module, for obtaining semimajor axis of ellipsoid length a；
Coordinate mapping module, for forming the rectangular space coordinate of the current subject matter according to following algorithm:
Coordinate calculation module, for being formed according to the rectangular space coordinate of first subject matter and second subject matter
Euclidean distance.
The range-measurement system based on earth coordinates of the embodiment of the present invention, comprising:
First processor completes the above-mentioned ranging side based on earth coordinates for the first target object location to be arranged in
Method；
First memory stores the above-mentioned ranging side based on earth coordinates for the first target object location to be arranged in
Treatment process in method；
First receiver receives satellite broadcast signal acquisition first mark in the first target object location for being arranged
Object location satellite information；
Second processor completes the above-mentioned ranging side based on earth coordinates for the second target object location to be arranged in
Treatment process in method；
Second memory stores the above-mentioned ranging side based on earth coordinates for the second target object location to be arranged in
Treatment process in method；
Second receiver receives satellite broadcast signal acquisition second mark in the second target object location for being arranged
Object location satellite information；
Data interchange links, for forming data link on demand between first processor and second processor.
The distance measuring method based on earth coordinates and range unit of the embodiment of the present invention are obtained different using homologous satellite
The common measuring basis of position makes two units apart from each other lock same set satellite number, uses under the conditions of same satellite
The One-Point Location result of synchronization carries out that the factors bring such as satellite clock correction, ephemeris parameter can be partially removed apart from calculating
Errors in position measurement eliminates and carries out location Calculation bring positioning system mistake using visible satellite at random according to signal strength
Difference, to improve range accuracy.Realize coordinate information to being conducive to using computing resource using the coordinate system mapping ruler of optimization
Coordinate system migration, computing resource is greatly saved and improves operation efficiency, realizes the standard of non-visual ranging between cluster device
Ranging duration is reduced to second grade by real-time.Important meaning is suffered from for the performance and reaction time that improve ground system.
Detailed description of the invention
Fig. 1 show the flow diagram of distance measuring method of the one embodiment of the invention based on earth coordinates.
Fig. 2 is shown one embodiment of the invention and is shown based on the process for obtaining homologous satellite in the distance measuring method of earth coordinates
It is intended to.
Fig. 3 is shown one embodiment of the invention and is shown based on the process for optimizing coordinate conversion in the distance measuring method of earth coordinates
It is intended to.
Fig. 4 show the configuration diagram of range-measurement system of the one embodiment of the invention based on earth coordinates.
Fig. 5 show the portion of functional module in processor of the one embodiment of the invention based on the range-measurement system of earth coordinates
Affix one's name to configuration diagram.
Specific embodiment
To be clearer and more clear the objectives, technical solutions, and advantages of the present invention, below in conjunction with attached drawing and specific embodiment party
The invention will be further described for formula.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art institute without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Distance measuring method of the one embodiment of the invention based on earth coordinates is as shown in Figure 1.In Fig. 1, the present embodiment includes:
Step 100: determining the first subject matter and the common visible homologous satellite of the second subject matter.
Subject matter can be the subsystem of the equipment of geographical location dispersion laying, the subsystem of equipment or big system.
It is determined by GNSS (Global Navigation Satellite System) Construction Mechanism, on the ground of same hemisphere
Ball surface two the first target object locations and the second target object location apart from each other are observed that several same satellites, connect
The broadcast singal of these same satellites is received, these same satellites are as homologous satellite.The broadcast singal of homologous satellite can be with shape
At the identical signal criterion and time reference of the first subject matter and the second subject matter coordinates computed position.
Step 200: the geodetic coordinates of the first subject matter and the second subject matter synchronization is obtained using homologous satellite.
It is determined by GNSS (Global Navigation Satellite System) operating mechanism, satellite trajectory has in real time
Sequence is formed.The first subject matter that synchronization is cleared out using homologous satellite broadcast signal can be obtained using satellite receiving equipment
With the longitude, latitude and height position information (i.e. geodetic coordinates) of the second subject matter.
Step 300: geodetic coordinates is converted to the phase that the first subject matter and the second subject matter are formed after rectangular space coordinate
It adjusts the distance.
Describe between the coordinate system in same geographical location that there are coordinate mapping relations.It can be with using preferable coordinate mapping ruler
It obtains and excludes the interference that the specific physical factor in geographical location maps coordinate, obtain the exact position mapping between coordinate system, realize
Surface coordinates are rapidly completed linear distance using the rectangular co-ordinate of acquisition and calculate the first mark of acquisition to the Mapping and Converting of rectangular co-ordinate
Object and the second subject matter relative distance.
The distance measuring method based on earth coordinates of the embodiment of the present invention obtains the common of different location using homologous satellite
Measuring basis eliminates and carries out location Calculation bring Positioning System Error using visible satellite at random according to signal strength.Benefit
It realizes that coordinate information is migrated to the coordinate system be conducive to using computing resource with the coordinate system mapping ruler of optimization, is greatly saved
Computing resource improves operation efficiency, realizes the quasi real time property of non-visual ranging between cluster device, ranging duration is reduced to
Second grade.
One embodiment of the invention is as shown in Figure 2 based on homologous satellite is obtained in the distance measuring method of earth coordinates.In Fig. 2
In, obtaining homologous satellite includes:
Step 110: the first subject matter and the second subject matter obtain the satellite information of respective position.
First subject matter and the second subject matter utilize the satellite signal receiving equipment respectively carried that can obtain current location
The broadcast singal for the satellite that can receive.Satellite information is interpreted according to the broadcast singal of each satellite.
Step 120: the first subject matter and the second subject matter exchange the satellite information of respective position.
It includes but is not limited to satellite mark that first subject matter and the second subject matter, which exchange the satellite information obtained on respective position,
Know ID, the signal-to-noise ratio of broadcast singal for determining satellite, the pitch angle for determining satellite, observable number of satellite etc..
Step 130: the first subject matter and the second subject matter determine homologous satellite according to homologous preference rule.
Homologous preference rule includes:
Satellite identifies ID: identical (i.e. homologous satellite)；
Signal-to-noise ratio: greater than 40dB of the satellite broadcast signal of like-identified ID；
Pitch angle: greater than 35 ° of the satellite of like-identified ID；
If observable number of satellite only selects homologous satellite at 4 to 6, can be selected when greater than 6 meet it is above-mentioned
Other satellites of signal-to-noise ratio and pitching corner condition are as supplement.
The process for determining homologous satellite includes that homologous satellite mutually confirms, carries out the negotiations process of data exchange.
The distance measuring method based on earth coordinates of the embodiment of the present invention is by comparing the received satellite information of different location
The homologous satellite that different location has related satellite information is obtained, ensure that the signal conformance during systematic survey.
Optimization of the one embodiment of the invention based on coordinate conversion in the distance measuring method of earth coordinates is as shown in Fig. 3.Scheming
Optimization process includes: in 3
Step 310: obtaining the longitude B of current target object locationiLatitude LiWith height Hi。
It is resolved and is obtained according to satellite signal receiving equipment.
Step 320: obtaining the geodesic curvature radius N of current subject matter Position Latitude.
The Equivalent ellipsoid body that the data and the earth that obtain are resolved according to satellite signal receiving equipment obtains.
Step 330: obtaining the first eccentricity of earth f.
It is obtained according to the Equivalent ellipsoid body of the earth.
Step 340: obtaining semimajor axis of ellipsoid length a.
It is obtained according to the Equivalent ellipsoid body of the earth.
Step 350: the rectangular space coordinate of current subject matter is formed according to following algorithm:
Step 360: Euclidean distance is formed according to the rectangular space coordinate of the first subject matter and the second subject matter.
Euclidean distanceThat is the first subject matter and the second subject matter
Relative distance.
The distance measuring method based on earth coordinates of the embodiment of the present invention is obtained by the coordinate system mapping ruler of optimization
Type coordinate is accurately calculated, realizes high speed, accurate distance operation.
Range-measurement system of the one embodiment of the invention based on earth coordinates, comprising:
Memory, for storing the program code for the treatment of process in the above-mentioned distance measuring method based on earth coordinates；
Processor, for executing the program code for the treatment of process in the above-mentioned distance measuring method based on earth coordinates.
Processor can use DSP (Digital Signal Processing) digital signal processor, FPGA
(Field-Programmable Gate Array) field programmable gate array, MCU (Microcontroller Unit) system
Plate, SoC (system on a chip) system board or PLC (Programmable Logic Controller) including I/O are most
Mini system.
Range-measurement system of the one embodiment of the invention based on earth coordinates is as shown in Figure 4.In Fig. 4, the present embodiment includes:
First processor 1 completes the above-mentioned distance measuring method based on earth coordinates for the first target object location to be arranged in；
First memory 2 stores the above-mentioned distance measuring method based on earth coordinates for the first target object location to be arranged in
The program code of middle treatment process；
First receiver 3 receives satellite broadcast signal the first target level of acquisition in the first target object location for being arranged
Set satellite information；
Second processor 4 completes the above-mentioned distance measuring method based on earth coordinates for the second target object location to be arranged in；
Second memory 5 stores the above-mentioned distance measuring method based on earth coordinates for the second target object location to be arranged in
The program code of middle treatment process；
Second receiver 6 receives satellite broadcast signal the second target level of acquisition in the second target object location for being arranged
Set satellite information；
Data interchange links 7, for forming data link on demand between first processor and second processor.Data link
For two-way link.
Inventive embodiments establish complete satellite using general technology component based on the range-measurement system of earth coordinates
Signal receives, satellite information identification, satellite information exchange, homologous wechat confirms and the data processing of coordinate mapping distance calculating is hard
Part basis.Range-measurement system infrastructure cost is low, high reliablity.
The range-measurement system based on earth coordinates of one embodiment of the invention is as shown in Figure 5.In Fig. 5, in the middle part of processor
Administration:
Homologous satellite identification device 10, for determining the first subject matter and the visible homologous satellite of the second subject matter；
Satellite signal receiving apparatus 20, for obtaining the first subject matter and the second subject matter synchronization using homologous satellite
Geodetic coordinates；
Coordinate mapping calculation device 30, for geodetic coordinates is converted to formed after rectangular space coordinate the first subject matter and
The relative distance of second subject matter.
As shown in figure 5, in one embodiment of the invention, homologous satellite identification device 10 includes:
Individual reception module 11 obtains the satellite information of respective position for the first subject matter and the second subject matter；
Information exchange module 12 exchanges the satellite information of respective position for the first subject matter and the second subject matter；
Information identification module 13 exchanges satellite information for the first subject matter and the second subject matter, according to homologous preferred rule
Then determine homologous satellite.
As shown in figure 5, in one embodiment of the invention, coordinate mapping calculation device 30 includes:
Fisrt feature obtains module 31, for obtaining the longitude B of current target object locationiLatitude LiWith height Hi；
Second feature obtains module 32, for obtaining the geodesic curvature radius N of current subject matter Position Latitude；
Third feature obtains module 33, for obtaining the first eccentricity of earth f；
Fourth feature obtains module 34, for obtaining semimajor axis of ellipsoid length a；
Coordinate mapping module 35, for forming the rectangular space coordinate of current subject matter according to following algorithm:
Coordinate calculation module 36, for according to the rectangular space coordinate of the first subject matter and the second subject matter formed Euclidean away from
From.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (10)
1. a kind of distance measuring method based on earth coordinates characterized by comprising
Determine first subject matter and the common visible homologous satellite of second subject matter；
The geodetic coordinates of first subject matter and the second subject matter synchronization is obtained using the homologous satellite；
The geodetic coordinates is converted to the phase that first subject matter and second subject matter are formed after rectangular space coordinate
It adjusts the distance.
2. as described in claim 1 based on the distance measuring method of earth coordinates, which is characterized in that determination first mark
Object and the common visible homologous satellite of second subject matter include:
First subject matter and second subject matter obtain the satellite information of respective position；
First subject matter and second subject matter exchange the satellite information of respective position；
First subject matter and second subject matter determine homologous satellite according to homologous preference rule.
3. as claimed in claim 2 based on the distance measuring method of earth coordinates, which is characterized in that the satellite information includes:
Satellite identifies ID, the signal-to-noise ratio of broadcast singal for determining satellite, the pitch angle for determining satellite, observable number of satellite.
4. as claimed in claim 3 based on the distance measuring method of earth coordinates, which is characterized in that the homologous preference rule packet
It includes:
Satellite identifies ID: identical；
Signal-to-noise ratio: greater than 40dB of the satellite broadcast signal of like-identified ID；
Pitch angle: greater than 35 ° of the satellite of like-identified ID；
If observable number of satellite only selects homologous satellite at 4 to 6, is selected when being greater than 6 and meet the signal-to-noise ratio
Other satellites with the pitching corner condition are as supplement.
5. as described in claim 1 based on the distance measuring method of earth coordinates, which is characterized in that described by the geodetic coordinates
First subject matter is formed after being converted to rectangular space coordinate and the relative distance of second subject matter includes:
Obtain the longitude B of current target object locationiLatitude LiWith height Hi；
Obtain the geodesic curvature radius N of the current subject matter Position Latitude；
Obtain the first eccentricity of earth f；
Obtain semimajor axis of ellipsoid length a；
The rectangular space coordinate of the current subject matter is formed according to following algorithm:
Euclidean distance is formed according to the rectangular space coordinate of first subject matter and second subject matter.
6. a kind of range-measurement system based on earth coordinates, comprising:
Memory states treatment process in the distance measuring method based on earth coordinates for storing as described in claim 1 to 5 is any
Program code；
Processor, for executing said program code.
7. a kind of range-measurement system based on earth coordinates characterized by comprising
Homologous satellite identification device visible homologous is defended for determining that first subject matter and second subject matter are common
Star；
Satellite signal receiving apparatus, for same using homologous satellite acquisition first subject matter and second subject matter
The geodetic coordinates at one moment；
Coordinate mapping calculation device, for forming first subject matter after the geodetic coordinates is converted to rectangular space coordinate
With the relative distance of second subject matter.
8. as claimed in claim 7 based on the range-measurement system of earth coordinates, which is characterized in that the homologous satellite identification dress
It sets and includes:
Individual reception module obtains the satellite information of respective position for first subject matter and second subject matter；
Information exchange module exchanges the satellite information of respective position for first subject matter and second subject matter；
Information identification module determines homologous defend according to homologous preference rule for first subject matter and second subject matter
Star.
9. as claimed in claim 7 based on the range-measurement system of earth coordinates, which is characterized in that the coordinate mapping calculation dress
It sets and includes:
Fisrt feature obtains module, for obtaining the longitude B of current target object locationiLatitude LiWith height Hi；
Second feature obtains module, for obtaining the geodesic curvature radius N of the current subject matter Position Latitude；
Third feature obtains module, for obtaining the first eccentricity of earth f；
Fourth feature obtains module, for obtaining semimajor axis of ellipsoid length a；
Coordinate mapping module, for forming the rectangular space coordinate of the current subject matter according to following algorithm:
Coordinate calculation module, for forming Euclidean according to the rectangular space coordinate of first subject matter and second subject matter
Distance.
10. a kind of range-measurement system based on earth coordinates characterized by comprising
First processor is completed as described in claim 1 to 5 is any in the first target object location based on the earth for being arranged
The distance measuring method of coordinate system；
First memory is based on the earth in the first target object location storage for being arranged as described in claim 1 to 5 is any
Treatment process in the distance measuring method of coordinate system；
First receiver receives satellite broadcast signal acquisition first subject matter in the first target object location for being arranged
Position satellite information；
Second processor is completed as described in claim 1 to 5 is any in the second target object location based on the earth for being arranged
Treatment process in the distance measuring method of coordinate system；
Second memory is based on the earth in the second target object location storage for being arranged as described in claim 1 to 5 is any
Treatment process in the distance measuring method of coordinate system；
Second receiver receives satellite broadcast signal acquisition second subject matter in the second target object location for being arranged
Position satellite information；
Data interchange links, for forming data link on demand between first processor and second processor.
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Cited By (1)
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| CN111736189A (en) * | 2020-04-08 | 2020-10-02 | 腾讯科技（深圳）有限公司 | Satellite selection method and device, computer readable storage medium and electronic device |
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