CN110285829B - Geographical calibration ranging method for single-station optical servo monitoring - Google Patents
Geographical calibration ranging method for single-station optical servo monitoring Download PDFInfo
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- CN110285829B CN110285829B CN201910546198.6A CN201910546198A CN110285829B CN 110285829 B CN110285829 B CN 110285829B CN 201910546198 A CN201910546198 A CN 201910546198A CN 110285829 B CN110285829 B CN 110285829B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
A geographical calibration distance measurement method for single-station optical servo monitoring belongs to the monitoring field; the prior art can not meet the normal work of all occasions; comprises fixedly erecting a servo turntable optical monitoring device; marking installation position points of the servo turntable optical monitoring equipment on a map, generating azimuth distance data matrix points which are equally divided by 360 degrees according to the installation position points of the servo turntable optical monitoring equipment, marking the azimuth distance data matrix points on the map, finding and aligning each matrix point by using optical television frequency according to ground feature characteristics on a ground remote sensing image map, calibrating all matrix points, namely azimuth pitching data of ground targets with different distances in different directions, and generating a reference data matrix; photoelectric detection outputs the azimuth and pitch data of the servo equipment; according to the direction and the pitching data, the distance value of the observation place is output through the calculation of the pitching and direction mapping calibration data matrix; the invention combines the topographic ground relief characteristic data of the region to realize a simple and convenient distance measuring method.
Description
Technical Field
The invention belongs to the field of monitoring, and particularly relates to a geographical calibration distance measurement method for single-station optical servo monitoring.
Background
The photoelectric video monitoring is widely applied to various industries at present, but the photoelectric technology cannot accurately measure the distance of a monitored target or an object, which brings inconvenience for special application of some industries, especially the field of security monitoring, the distance data between the monitored target and monitoring equipment is particularly required, some photoelectric equipment can be added with some laser ranging devices to realize ranging, but the laser ranging devices have higher cost, and the ranging result is stable and accurate to achieve, certain requirements are also required for application occasions and conditions, and all occasions can not work normally.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a geographical calibration distance measurement method for single-station optical servo monitoring.
The technical scheme of the invention is as follows:
a geographical calibration ranging method for single-station optical servo monitoring comprises the following steps:
step a, fixedly erecting a servo turntable optical monitoring device;
b, marking installation position points of the servo turntable optical monitoring equipment on a map, generating azimuth distance data matrix points which are equally divided by 360 degrees according to the installation position points set by the servo turntable optical monitoring equipment, marking the azimuth distance data matrix points on the map, finding and aligning each matrix point by using optical television frequency according to ground feature characteristics on a ground remote sensing image map, and calibrating all matrix points, namely azimuth pitching data of different ground targets in different directions to generate a reference data matrix;
step c, photoelectric detection outputs azimuth and pitching data of the servo equipment; and according to the direction and the pitching data, outputting the distance value of the observation place through the calculation of the pitching and direction mapping calibration data matrix.
Further, after a servo turntable optical monitoring device is fixedly erected, the installation position and the height H of the servo turntable optical monitoring device are added to the geographic information platform management software.
The method for calibrating all matrix points further comprises the steps of setting the position of the optical monitoring equipment of the servo turntable as 0 degree due to the north as a central position O, setting the position of the optical monitoring equipment of the servo turntable as 0 degree due to the north, setting the position of the optical monitoring equipment of the servo turntable as 0 degree due to the pitch as 0 degree according to the horizontal plane, standing the optical monitoring equipment of the servo turntable at a calibration point a1 by a handheld GPS positioning system, setting the linear distance from the optical monitoring equipment of the servo turntable to the mounting point O to be L1, enabling the personnel to appear at the most central position of a video picture by adjusting the optical monitoring equipment of the servo turntable, recording the pitch value α 1 of the current equipment through angle information return of a servo mechanism, calibrating the pitch value on the calibration point, and the like, and completing calibration of all calibration points in 8 directions.
Further, the method for calculating the distance value of the observation point comprises the steps of establishing a differential data matrix, calculating the corresponding relation between the distance L of any point a and the equipment pitch value α in the coverage range of the equipment, calculating the point a by using a data matrix of adjacent calibration points a1/a2/a3/a4, finding a target in a picture of the servo turntable optical monitoring equipment, enabling the target to be located at the central position of a view field, and calculating the distance L according to the relative position relation between the target point and the round point O and the position value β and the pitch value α of the current equipment.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a geographical calibration distance measurement method for single-station optical servo monitoring, which combines the physical angle and the image content of a servo turntable optical monitoring device and integrates the topographic and geomorphic change characteristics of regions to realize accurate distance measurement on the position of a target in a wide area range, namely a radius of 5km, while monitoring the target, and grasp the relative position of the target point. The method can be widely applied to the fields of measurement of the positions of the floating objects in lakes and rivers, boundary protection of regional prevention and control, safety production management of oil fields and the like. Particularly in the aspect of oilfield production protection, when damage and theft are found, the position of a target point can be reported in time, and powerful help is provided for guard personnel to arrest criminals.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a diagram of the azimuth pitch distance calibration matrix of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Detailed description of the invention
A geographical calibration ranging method for single-station optical servo monitoring is disclosed, as shown in FIG. 1, and includes the following steps:
step a, fixedly erecting a servo turntable optical monitoring device, wherein the type of the servo turntable optical monitoring device is ARD-PRT-02;
b, marking installation position points of the servo turntable optical monitoring equipment on a map, generating azimuth distance data matrix points which are equally divided by 360 degrees according to the installation position points set by the servo turntable optical monitoring equipment, marking the azimuth distance data matrix points on the map, finding and aligning each matrix point, namely a marking point, by a marking person by using a photoelectric video of the blessing turntable optical monitoring equipment according to ground feature on a ground remote sensing image map, marking all the matrix points, namely azimuth pitching data of ground targets with different distances in different directions, and generating a reference data matrix;
step c, photoelectric detection outputs azimuth and pitching data of the servo equipment; and according to the direction and the pitching data, outputting the distance value of the observation place through the calculation of the pitching and direction mapping calibration data matrix.
Specifically, after a servo turntable optical monitoring device is fixedly erected, the installation position and the height H of the servo turntable optical monitoring device are added to geographic information platform management software, namely a GIS geographic information system platform.
Specifically, as shown in fig. 2, the method for calibrating all matrix points includes that a servo turntable optical monitoring device is taken as a central position O, the true north is 0 °, a calibration line is arranged at intervals of 45 °, a mounting point O radiates outwards on each calibration line, a calibration point is set at intervals of 1km, the orientation of the servo turntable optical monitoring device is set to be the true north is 0 °, the pitching is 0 ° in terms of the horizontal plane, a person stands at a calibration point a1 through a handheld GPS positioning system, specifically, a wishbone handheld GPS positioning instrument, the linear distance from the mounting point O is L1, the person can be enabled to appear at the most central position of a video picture through adjusting the servo turntable optical monitoring device, specifically, the calibration person can input a device IP, a port, a user name and a password through a handheld GPS positioning instrument, adjustment can be achieved on an operation interface, a built-in information feedback module of a servo mechanism is provided, a GIS information system platform can acquire data information through a certain communication protocol, angle information feedback of the servo mechanism is achieved, a pitching value α 1 of the current device is recorded, the pitching value is calibrated on the operation interface, all calibration points are calibrated, and calibration points are calibrated by analogy, and all calibration points are calibrated.
Specifically, the method for calculating the distance value of the observation point comprises the steps of establishing a differential data matrix, calculating the corresponding relation between the distance L of any point a and the equipment pitch value α in the coverage range of the equipment, calculating the point a by using a data matrix of adjacent calibration points a1/a2/a3/a4, finding a target in a picture of the servo turntable optical monitoring equipment, enabling the target to be located at the central position of a view field, and calculating the distance L according to the relative position relation between the target point and a dot O and the position value β and the pitch value α of the current equipment.
The method for calculating the distance L comprises the steps that the pitch value of the point a is α, the azimuth value is β, the pitch values of 4 adjacent calibration points are β 01, β 12, β 23 and β 34, the comparison between | β 41- β 5|, | α 2- α |, | α 3- α |, and | α 4- α |, the minimum value is taken out, the point a is proved to be closest to the calibration point am, and if the point a is α m- α>0, proving that the index point am is farther than a
Where α m is the am pitch calibration, α n is the am pitch calibration for the previous calibration point an in the direction of the calibration point am, Lm is the am distance, Ln is the an distance, and the value of L is calculated from all known values.
Claims (3)
1. A geographical calibration distance measurement method for single-station optical servo monitoring is characterized by comprising the following steps:
step a, fixedly erecting a servo turntable optical monitoring device;
b, marking the installation position point of the optical monitoring equipment of the servo turntable on a map, taking the installation position point of the optical monitoring equipment of the servo turntable as a central position O, setting the north as 0 degree, setting a calibration line at intervals of 45 degrees, radiating the central position O outwards on each calibration line, setting a calibration point at intervals of 1km, generating azimuth distance data calibration points which are equally divided by 360 degrees, marking the data calibration points on a map, finding and aligning each calibration point by using optical television frequency according to the feature of a ground object on a ground remote sensing image map, calibrating all the calibration points, acquiring the azimuth and the elevation data of each calibration point observed by equipment, and generating an elevation-distance-azimuth mapping calibration data matrix;
step c, photoelectric detection outputs azimuth and pitch data of the observation target of the servo turntable optical monitoring equipment, a distance value of the observation target is output through calculation of a pitch-distance-azimuth mapping calibration data matrix according to azimuth and pitch data, the distance value is a distance value between the target and the equipment, the target is found in a picture of the servo turntable optical monitoring equipment and is positioned at the position of the center of a view field, an azimuth value β and a pitch value α of the observation target of the current equipment are output, the pitch values of 4 calibration points a1, a2, a3 and a4 adjacent to the target are determined to be α 01, α 12, α 23 and α 34, the absolute value α 41- α 5, the absolute value α 2- α, the absolute value α 3- α and the absolute value α 4- α are compared, the minimum value is taken out, the calibration point am corresponding to the minimum value is closest to the target point a, and if α m- α>0, proving that the target point am is farther than the target point a, then
Wherein α m is the pitch value of the index point am, α n is the pitch value of the previous index point an in the direction of the index point am, Lm is the distance between the index point am and the center position O, Ln is the distance between the index point an and the center position O, and the distance L between the target point a and the center position O is calculated according to all known values.
2. The geographical calibration distance measurement method for single-station optical servo monitoring according to claim 1, wherein after a servo turntable optical monitoring device is fixedly erected, the installation position and height H of the servo turntable optical monitoring device are added to geographical information platform management software.
3. The method for georeferencing distance measurement through single-station optical servo monitoring according to claim 1, wherein the method for calibrating all calibration points comprises setting the orientation of the optical monitoring device of the servo turntable to be 0 ° due to north, setting the pitch to be 0 ° in the horizontal plane, setting the personnel to stand at the calibration point a0 with the GPS positioning system held by the hand, setting the straight line distance from the center position O to be L0, enabling the personnel to appear at the most central position of the video frame by adjusting the optical monitoring device of the servo turntable, recording the pitch value α 0 of the current device through the angle information feedback of the servo mechanism, calibrating the pitch value on the calibration point a0, and so on, completing calibration of all calibration points in 8 directions.
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| CN104796620A (en) * | 2015-05-20 | 2015-07-22 | 苏州航天系统工程有限公司 | Rapid and precise camera monitoring method based on GIS (geographic information system) |
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| US9127928B2 (en) * | 2012-11-15 | 2015-09-08 | General Electric Company | Object location accounting for pitch, yaw and roll of device |
| EP2765388B1 (en) * | 2013-02-08 | 2018-10-17 | Hexagon Technology Center GmbH | Mobile field controller for measuring and remote control |
| CN103322984B (en) * | 2013-05-13 | 2015-09-09 | 成都理工大学 | Based on the range finding of video image, speed-measuring method and device |
| CN103578109B (en) * | 2013-11-08 | 2016-04-20 | 中安消技术有限公司 | A kind of CCTV camera distance-finding method and device |
| CN103905797A (en) * | 2014-04-18 | 2014-07-02 | 山东神戎电子股份有限公司 | Monitoring equipment with distance measurement function and distance measurement method |
| CN104776844A (en) * | 2015-04-02 | 2015-07-15 | 重庆市海普软件产业有限公司 | Fire point locating method for forest fire prevention |
| CN104776832B (en) * | 2015-04-16 | 2017-02-22 | 浪潮软件集团有限公司 | Method, set top box and system for positioning objects in space |
| CN108253940B (en) * | 2016-12-29 | 2020-09-22 | 东莞前沿技术研究院 | Positioning method and device |
| CN107870633A (en) * | 2017-11-13 | 2018-04-03 | 深圳中天云隼科技有限公司 | Monitoring objective localization method |
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| CN104180793A (en) * | 2014-08-27 | 2014-12-03 | 北京建筑大学 | Device and method for obtaining mobile spatial information for digital city construction |
| CN104796620A (en) * | 2015-05-20 | 2015-07-22 | 苏州航天系统工程有限公司 | Rapid and precise camera monitoring method based on GIS (geographic information system) |
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Address after: 205, D-1, room 4-8, service outsourcing industry park, 163316 Xinfeng Road, hi tech Zone, Heilongjiang, Daqing Patentee after: DAQING ANRUIDA TECHNOLOGY DEVELOPMENT Co.,Ltd. Patentee after: Beijing fujirui Optoelectronic Technology Co.,Ltd. Address before: 163316 21 Floor, Gate 3, Block A, No. 2, Xinxing Street, Daqing High-tech Zone, Heilongjiang Province Patentee before: DAQING ANRUIDA TECHNOLOGY DEVELOPMENT Co.,Ltd. Patentee before: BEIJING FJR OPTOELECTRONIC TECHNOLOGY Co.,Ltd. |
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