JP2006300653A - Target position measuring instrument mounted on moving object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive target position measuring instrument capable of measuring automatically, quickly and precisely a target position during travel of a vehicle, even in a massed building place in an urban district. <P>SOLUTION: A reference point capturing camera turn-driving part 20B of the first directive means is controlled by a controller 40 of a control means to capture a reference point P11 within an imaging view field of a reference point capturing camera 19 that is the first imaging means. The position of a target point P2 is measured by the controller 40 of a position measuring means, based on the first measured angle α, the second measured angle β, a measured distance L and a measured position P0 which are measured when the target point P2 is captured within an imaging view field of a locating visible ray camera 11 of the second imaging means or a searching and orienting IR camera 12, and based on positional information of the reference point P11. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus that is mounted on a moving body such as a vehicle, a ship, or an aircraft and measures a target position while the moving body is moving.

  In the field of military industry, reconnaissance vehicles equipped with target position measuring devices have been developed. A reconnaissance vehicle measures the target position of an enemy (a soldier, a tank, etc.) with a target position measuring device, and performs processing to send information on the measured position to a command post. The command post transmits the target position information to a friendly missile launch base with a combat function. At the missile launch base, the missile is launched based on the received target position information to attack the enemy.

  The following are required for the development of reconnaissance vehicles.

1) The target position can be automatically measured while the vehicle is running.

2) The target position measuring device is inexpensive.

3) The target position must be measured with high accuracy.

4) One of the characteristics of recent battles is that there are many city battles. For this reason, it is required to quickly measure the target position and send information to the command post as soon as possible in a densely populated place such as an urban area.

  Here, a conventional method for measuring the target position will be described.

1. Reference Point Angle Measurement Method In the reference point angle measurement method, the target position measurement unit is configured as follows, and the target position is measured by the following procedure. This will be described with reference to FIG.

  That is, the target position measuring device of the vehicle 1 includes a daytime visible light camera, a nighttime infrared camera, a laser distance measuring unit, a direction angle measuring unit (encoder, etc.), a self-position measuring unit (GPS sensor, etc.), and arithmetic processing. It consists of parts.

(1) First, the visible light camera for daytime or the infrared camera for nighttime is turned so as to point at the target point P2, and the target point P2 is captured in the imaging field of view. Then, the laser ranging unit is aimed at the target point P2 in the imaging field of view of the camera, and laser light is irradiated toward the target point P2. The time from when the laser beam is emitted from the vehicle 1 until it is reflected at the target point P2 and received by the vehicle 1 is calculated, and the distance L from the vehicle 1 to the target point P2 is calculated as the distance corresponding to the calculated time. Is measured.

(2) Next, the daytime visible light camera or the nighttime infrared camera is turned so as to be directed to the reference point P1 whose position is previously known on the map, and the reference point P1 is captured in the imaging field of view. . As the reference point P1, a building (chimney, steel tower, etc.) or a mountain (top) fixed on the ground is used.

(3) The angle difference (angle difference between the reference point direction and the target point direction) α between the turning angle of the camera when directed toward the target point P2 and the turning angle of the camera when directed toward the reference point P1 is an encoder. It is measured by a direction angle measuring unit such as.

(4) The position P0 of the vehicle 1 is measured by a self-position measuring unit such as a GPS sensor. In the calculation processing unit, based on the position P0 of the vehicle 1, the distance L from the vehicle 1 to the target point P2, and the angle difference α between the reference point direction and the target point direction, the coordinate position (X2,. Y2) is measured.

2. In the geomagnetic azimuth method, as shown in FIG. 2, magnetic north is used instead of the reference point P1 in the reference point angle measurement method, and the azimuth of magnetic north is detected by the geomagnetic detection unit. The processing procedure of the target position measurement is the same as that of the reference point angle measurement method, and includes the position P0 of the vehicle 1, the distance L from the vehicle 1 to the target point P2, and the angle difference α between the magnetic north direction and the target point direction. Based on this, the coordinate position (X2, Y2) of the target point P2 is measured.

3. Gyro System In the gyro system, a gyro is used instead of the geomagnetic direction detection unit, and the magnetic north direction is detected by the gyro. The processing procedure of the target position measurement is the same as that of the reference point angle measurement method, and includes the position P0 of the vehicle 1, the distance L from the vehicle 1 to the target point P2, and the angle difference α between the magnetic north direction and the target point direction. Based on this, the coordinate position (X2, Y2) of the target point P2 is measured.

  The conventional target position measurement methods described above have the following problems.

1. Reference Point Angle Measurement Method (1) The reference point P1 is captured manually while looking at the map. For this reason, a great amount of time is required for the process of turning the camera and capturing the reference point P1.

(2) When the vehicle 1 is traveling, the relative position between the vehicle 1 and the reference point P1, which is a fixed object on the ground, changes, and the angle difference α between the reference point direction and the target point direction shifts. Measurement cannot be performed while the vehicle is running.

(3) In an urban area or the like, the reference point P1 is often hidden from the building as viewed from the vehicle 1, and the reference point P1 cannot be captured in many cases. For this reason, a plurality of candidate reference points are prepared. If the reference point P1 cannot be captured and another reference point is manually captured, it takes much more time.

2. Geomagnetic orientation method (1) The detection accuracy of geomagnetism is poor and the target position cannot be measured with high accuracy.

(2) Since the surrounding magnetic field affects the detection accuracy of the geomagnetism, the measurement accuracy of the target position may be further deteriorated in places that are easily affected by the surrounding magnetic field (such as places where there are magnetic rocks). is there.

(3) Since the vehicle is made of metal and magnetized, the measurement accuracy of the target position may be further deteriorated in the configuration in which the geomagnetic detection unit is mounted on the vehicle.

3. Gyro System (1) Gyros such as optical fiber gyros are inexpensive, but the detection accuracy of the magnetic north orientation is poor and the target position cannot be measured with high accuracy.

(2) A gyro such as a ring laser gyro can detect the orientation of magnetic north with high accuracy, but is expensive.

(3) Since the gyroscope requires a rising time for detecting the rotation of the earth before the vehicle 1 travels, it takes time to measure the target position, and the target position cannot be measured quickly.

(4) Even after the vehicle 1 starts running, it is necessary to stop the vehicle 1 periodically (for example, every 2 to 3 hours) in order to reset the accumulated error of the gyro. For this reason, there is a restriction in measuring the target position while the vehicle 1 is traveling.

The present invention has been made in view of such a situation, solves each problem of the above-described conventional target position measurement method,
1) The target position can be automatically measured while the vehicle is running.
2) Configure the target position measuring device at low cost,
3) To measure the target position with high accuracy,
4) To enable quick measurement of the target position in a densely populated place such as an urban area.
This is a problem to be solved.

The first invention is
First imaging means (19);
A second imaging means (11, 12);
First directing means (20B) for changing the imaging direction of the first imaging means (19);
A second directing means (20A) for changing the imaging direction of the second imaging means (11, 12);
First angle measuring means (25B) for measuring a first angle (α) corresponding to the imaging direction of the first imaging means (19);
Second angle measuring means (25A) for measuring a second angle (β) corresponding to the imaging direction of the second imaging means (11, 12);
Control means (40, step 108) for controlling the first directing means (20B) so that the reference point (P11) is continuously captured within the imaging field of view of the first imaging means (19);
Distance measuring means (13) for measuring the distance (L) from the moving body (1) to the target point (P2);
Position measuring means (27) for measuring the position (P0) of the moving body (1);
The first measurement angle (α), the second measurement angle (β), and the measurement measured when the target point (P2) is captured in the imaging field of view of the second imaging means (11, 12). A position measuring means (40) for measuring the position of the target point (P2) based on the distance (L), the measurement position (P0), and the position information of the reference point (P11) is mounted on the moving body (1). It is characterized by being.

The second invention is the first invention,
Third angle measuring means (28, 40) for measuring a third angle (α ') corresponding to the direction of the reference point (P11);
Control means (40, step 106) for controlling the first directing means (20B) so that the first imaging means (19) is oriented in the imaging direction corresponding to the third angle (α ′). Furthermore, it is mounted on the mobile body (1).

The third invention is the first invention,
Position information of a plurality of reference points (P11, P12, P13, P14) is stored in the memory (41),
Based on the position information stored in the memory (41), processing (steps 104 and 105) for selecting a reference point (P11) in the vicinity of the position (P0) of the mobile body (1) is performed. .

A fourth invention is the first invention,
A plurality of reference points (P11, P12, P13, P14) are prepared in advance,
Control means (40, step 105) for performing control for switching the reference point to be kept within the imaging field of view of the first imaging means (19)
Is further mounted on the moving body (1).

A fifth invention is the first invention,
At least one moving body (1 ′) of the plurality of moving bodies (1, 1 ′) is defined as a reference point (P1), and the moving body (1 ′) defined at the reference point (P1) includes: A means (27) for measuring the position of its own moving body is mounted,
The other moving body (1) is the moving body according to claim 1,
The position information of the reference point (P1) is transmitted from the moving body (1 ') defined at the reference point (P1) to the moving body (1) according to claim 1.

A sixth invention is the first invention,
The plurality of moving bodies (1, 1) are the moving bodies according to claim 1,
The position information of the moving body measured by the position measuring means (27) of any one of the plurality of moving bodies (1, 1) is used as the position information of the reference point (P1). It is transmitted to (1).

  According to the first invention, as shown in FIG. 4, FIG. 5, FIG. 8, FIG. 9, FIG. 16, a reference point (figure in the imaging field of view of the first imaging means (reference point capturing camera 19 in FIG. 4)). The first directing means (the reference point capturing camera turning drive unit 20B in FIG. 4) is controlled by the control means (the controller 40 in FIG. 16) so that P11) in FIG. 108).

  On the other hand, it is measured when the target point (P2 in FIG. 9) is captured in the imaging field of view of the second imaging means (search, orientation visible light camera 11 or search, orientation IR camera 12 in FIG. 4). Further, the first measurement angle (α in FIG. 9), the second measurement angle (β in FIG. 9), the measurement distance (L in FIG. 9), the measurement position (P0 in FIG. 9), and the reference point (FIG. 9). The position of the target point (P2 in FIG. 9) is measured by the position measuring means (controller 40) based on the position information of P11) (steps 112 and 113 in FIG. 5, FIG. 9).

According to the second invention, as shown in FIGS. 4, 5, and 6, the third angle (α ′ in FIG. 6) corresponding to the direction of the reference point (P11 in FIG. 6) is the third angle. It is measured by measuring means (the geomagnetic direction meter 28 in FIG. 4 and the controller 40 in FIG. 16) (α ′ = θ + δ in FIG. 6, step 103 in FIG. 5). ,
Then, the first directing means (reference point camera swivel in FIG. 4) is turned so that the first image pickup means (reference point capturing camera 19 in FIG. 4) points in the image pickup direction corresponding to the third angle (α ′). The drive unit 20B) is controlled by the control means (controller 40 in FIG. 16).

  According to the second aspect of the invention, as shown in FIG. 8A, the reference point P11 is automatically captured in the imaging field of view of the first imaging means (reference point capturing camera 19 in FIG. 4).

  According to the third invention, as shown in FIGS. 4, 5, 7, and 16, the positional information of a plurality of reference points (P11, P12, P13, P14 in FIG. 7) is stored in the memory (memory 41 in FIG. 16). ) Is remembered. Then, based on the position information stored in the memory (memory 41 in FIG. 16), a reference point (P11 in FIG. 7) near the position (P0 in FIG. 7) of the moving body (vehicle 1 in FIG. 7) is selected. Processing (steps 104 and 105 in FIG. 5) is performed by the control means (controller in FIG. 16).

  According to the third aspect of the invention, a reference point (P11 in FIG. 7) near the position (P0 in FIG. 7) of the moving body (vehicle 1 in FIG. 7) is selected, and the reference point (P11 in FIG. 7) is selected. Since the target point (P2 in FIG. 6) is measured based on this, the target position can be measured reliably and accurately.

  According to the fourth invention, as shown in FIGS. 4, 5, 7, 8, and 16, a plurality of reference points (P11, P12, P13, P14 in FIG. 7) are prepared in advance. Then, control for switching the reference point (reference point P11 in FIG. 8B) to be kept within the imaging field of view of the first imaging means (reference point capturing camera 19 in FIG. 4) is control means (controller in FIG. 16). 40) (step 105 in FIG. 5).

  According to the fourth aspect of the invention, the reference point P13 (FIG. 7) where the view is not obstructed by the obstacle 50 or the like from the reference point P11 (FIG. 7) where the view may be obstructed by the obstacle 50 or the like (FIG. 7). ) And the reference point is continuously captured within the imaging field of view of the first imaging means (reference point capturing camera 19 in FIG. 4), so that the target position can be measured reliably and accurately.

  According to the fifth invention, as shown in FIGS. 3, 4 and 12, at least one moving body (moving body 1 ′ in FIG. 12) of a plurality of moving bodies (vehicle 1 and moving body 1 ′ in FIG. 12). ) Is defined as the reference point (P1). Means (GPS receiver 27 in FIG. 4) for measuring the position of the moving body is mounted on the moving body (moving body 1 ′ in FIG. 12) determined at the reference point (P1).

  The other moving body (vehicle 1 in FIG. 12) is the moving body (vehicle 1 in FIG. 4) of the first invention on which the position measuring device 10 (FIG. 3) is mounted. The position information of the reference point (P1) is sent from the moving body (moving body 1 ′ in FIG. 12) determined at the reference point (P1 in FIG. 12) to the moving body (vehicle 1 in FIG. 4) of the first invention. Then, the position of the target point (P2 in FIG. 12) is measured.

  According to the fifth aspect, there is no need to set a reference point as a fixed point and install the reference point in the memory in advance.

  According to the sixth invention, as shown in FIGS. 3 and 4, a plurality of moving bodies (vehicles 1, 1 in FIG. 4) are mounted on the position measuring device 10 (FIG. 3). (Vehicle 1 in FIG. 4). The position information of the moving body measured by the position measuring means (GPS receiver 27 in FIG. 4) of any of the moving bodies (vehicles 1 and 1 in FIG. 4) (vehicle 1 in FIG. 4) The position information of the reference point (P1) is transmitted to another moving body (vehicle 1 in FIG. 4).

  According to the sixth invention, there is no need to set a fixed point as a reference point and install the reference point in the memory in advance. Moreover, the position measurement of the target point can be reliably performed by providing the plurality of moving bodies 10 redundantly.

  As described above, according to the present invention, the following effects can be obtained.

1) Since the reference point P11 can always be captured even when the vehicle 1 travels, the target position can be automatically measured while the vehicle travels.

2) Since it is not essential in the present invention to mount an expensive gyroscope, which is essential when high-precision measurement is aimed at by the gyro method, the target position measuring device can be configured at low cost.

3) Unlike the geomagnetic azimuth method, the detection result of the geomagnetic azimuth meter is not directly reflected in the calculation processing of the target position, so that the target position is measured with high accuracy.

4) Since the camera 19 that captures the reference point P11 and the capture points 11 and 12 are provided for the target point P2, and the camera 19 always keeps capturing at the reference point P11, the place where the buildings are densely located like an urban area Therefore, the target position can be measured quickly.

  When the present invention is compared with the reference point angle measurement method, the following effects are obtained.

(1) Since the reference point is captured in advance, the target position can be quickly measured.

(2) The target position can be measured while the vehicle 1 is traveling.

(3) Since another reference point is automatically captured when the reference point P1 cannot be captured, the target position can be quickly measured.

  Further, when the present invention is compared with the geomagnetic orientation method, the following effects are obtained.

(1) Since the target position can be measured without detecting geomagnetism, the target position can be measured with high accuracy.

(2) Since the surrounding magnetic field does not affect the target position measurement accuracy, the target position can be measured with high accuracy.

(3) Since the magnetized vehicle does not affect the target position measurement accuracy, the target position can be measured with high accuracy.

  Further, when the present invention is compared with the gyro system, the following effects can be obtained.

(1) The target position can be measured with high accuracy without using an expensive gyro, and the target position measuring device can be made inexpensive.

(2) The gyro rising time before traveling the vehicle and the periodic stop for resetting the accumulated error during traveling of the vehicle are unnecessary, and the target position can be measured during traveling of the vehicle without these restrictions.

  Hereinafter, embodiments of a target position measuring apparatus mounted on a moving body according to the present invention will be described with reference to the drawings. In the following, “location” is used as appropriate as a term synonymous with measurement of a target position.

  FIG. 3 is a perspective view showing the appearance of the vehicle 1 in which the target position measuring device 10 is mounted on the vehicle 1. FIG. 4A shows the configuration of the target position measuring apparatus 10 in a perspective view. FIG. 4B is a perspective view showing the structure of the search of the target position measuring device 10, the orientation camera turning drive unit 20A, and the reference point capturing camera turning drive unit 20B.

  As shown in these drawings, a pole 18 protrudes from the vehicle body of the vehicle 1.

  The pole 18 includes a search and orientation visible light camera 11, a search and orientation IR camera 12, a light transmitter 13 a constituting the laser range finder 13, a housing 15 A having a light receiver 13 b, and a reference point capturing camera 19. A housing 15 </ b> B provided with is attached so as to be turnable in the horizontal direction with respect to the vehicle body. A GPS receiver 26 and a geomagnetic azimuth meter 27 are attached to the pole 18.

  The search and orientation visible light camera 11 is composed of an image sensor that captures visible light, and is a visible light camera that captures the target point P2 in the daytime. The search and orientation IR camera 12 is a camera that is configured by an image sensor that captures infrared rays and images the target point P2 at night.

  The laser range finder 13 includes a light transmitter 13a and a light receiver 13b. After the laser light is emitted from the light transmitter 13a, the laser light is reflected at the target point P2 and received by the light receiver 13b. Is calculated, and the distance L from the vehicle 1 to the target point P2 is measured according to the calculated time.

  The casing 15A is supported by the support base 16A. A bracket 17A is attached to the support base 16A. The bracket 17A is attached to the outer tube 21A. The outer tube 21A is provided on the outside of the pole 16 so as to be slidable in the circumferential direction. A gear 22A is provided on the outer periphery of the outer tube 21A. A gear 26A is provided on the drive shaft of the turning motor 24A. The gear 22A meshes with the gear 26A of the turning motor 24 through the reduction gear 23A. The turning motor 24A is provided with an angle measuring device 25A composed of an encoder or the like that detects the rotation angle of the turning motor 24A.

  For this reason, when the turning motor 24A is rotated, the outer tube 21A is rotated relative to the pole 18, and the housing 15A is turned relative to the vehicle body accordingly. 11. Search and orientation IR camera 12 and laser range finder 13 directivity directions are changed. The pointing direction (turning angle) of the search and orientation visible light camera 11, the search and orientation IR camera 12, and the laser range finder 13 is measured by the angle measuring instrument 25A.

  On the other hand, the housing 15B is supported by the support base 16B. A bracket 17B is attached to the support base 16B.

  The outer tube 21B, the gear 22B, the reduction gear 23B, the gear 26B, and the turning motor 24B constituting the reference point capturing camera turning drive unit 20B are configured in the same manner as the search and orientation camera turning drive unit 20A (FIG. 4). (B)). About each component which attached | subjected these code | symbol "B" which comprises the reference point capture camera turning drive part 20B, the code | symbol "A" which comprises the search and orientation camera turning drive part 20A demonstrated in FIG.4 (b) is shown. The description is omitted because it has the same function as each component having the same number. That is, when the turning motor 24B is rotated, the outer tube 21B is rotated relative to the pole 18, and the housing 15B is turned relative to the vehicle body accordingly, and accordingly, the reference point capturing light camera 19 is rotated. The pointing direction is changed. The directivity direction (turning angle) of the reference point capturing optical camera 17 is measured by the angle measuring device 25B.

  The angle measuring devices 25A and 25B measure the turning angle using the reference line m of the vehicle 1 (for example, the front-rear direction of the vehicle 1) as a reference angle (angle 0 °).

  The GPS receiver 27 receives an absolute position measurement signal transmitted from a GPS satellite.

  The geomagnetic azimuth meter 28 detects magnetic north.

  FIG. 16 is a block diagram showing the relationship between the controller 40 mounted on the vehicle 1 and each device that inputs a signal to the controller 40 or operates in response to a signal output from the controller 40.

  The memory 41 stores a digital map in an area where the vehicle 1 operates. In this digital map, as will be described later, the coordinate positions of a plurality of reference points P1 (P11, P12, P13, P14...) (See FIG. 7) are on the absolute coordinate system XY (capital letters X, Y). It is stored as data (see FIG. 9). As the plurality of reference points P11, P12, P13, P14..., Feature points of fixed objects on the ground (for example, chimney tip, mountain top, mobile phone base station, steel tower) are selected. It is desirable that the reference point is easily visible from a distance without obstructing the field of view by surrounding obstacles. Data stored in the memory 41 is read by the controller 40.

  The absolute position measurement signal received by the GPS receiver 27 is input to the controller 40, and based on the absolute position measurement signal, the current coordinate position P0 (X0, Y0) of the vehicle 1 on the absolute coordinate system XY. ) Is calculated. The current coordinate position P 0 (X 0, Y 0) of the vehicle 1 is written on the digital map in the memory 41 by the controller 40. The digital map is displayed on the screen of the monitor 43. The monitor 43 is provided at a position where an operator who gets on the vehicle 1 can see.

  The image pickup signal of the search and orientation visible light camera 11 and the image pickup signal of the search and orientation IR camera 12 are input to the controller 40, and processing described later is performed based on the image pickup signal. An image generated by the controller 40 based on the imaging signals of the search and orientation visible light camera 11 and the search orientation IR camera 12 is displayed on the screen of the monitor 44. The monitor 44 is provided at a position where an operator who gets on the vehicle 1 can see.

  The imaging signal of the reference point capturing camera 19 is input to the controller 12 and processing described later is performed based on the imaging signal. An image generated by the controller 40 based on the imaging signal of the reference point capturing camera 19 is displayed on the screen of the monitor 45. The monitor 45 is provided at a position where an operator who gets on the vehicle 1 can see.

  The distance measured by the laser rangefinder 13 is input to the controller 40, and arithmetic processing described later is performed based on the measured distance.

  The magnetic north detected by the geomagnetic azimuth meter 28 is input to the controller 40, and arithmetic processing described later is performed based on the detected magnetic north.

  As will be described later, the controller 40 generates a drive control signal for driving and controlling the swing motor 24A and outputs the drive control signal to the swing motor 24A. The turning motor 24A is rotated based on the input drive control signal. The turning angle detected by the angle measuring instrument 25A is input to the controller 40, and arithmetic processing described later is performed. The turning motor 24A is feedback-controlled using the detection signal of the angle measuring device 25A as a feedback signal.

  Similarly, the controller 40 generates a drive control signal for driving and controlling the swing motor 24B as described later, and outputs the drive control signal to the swing motor 24B. The turning motor 24B is rotated based on the input drive control signal. The turning angle detected by the angle measuring device 25B is input to the controller 40, and arithmetic processing described later is performed. The turning motor 24B is feedback-controlled using the detection signal of the angle measuring device 25B as a feedback signal.

  The casings 15A and 15B can be manually changed in turning angle.

  The first orientation switch 42 is a switch for instructing the start of position measurement of the target point P2. When the switch 42 is turned on, a position measurement instruction signal is input to the controller 40. The position measurement process (FIG. 5) described later is started using the position measurement instruction signal as a trigger.

  The lock-on switch 46 is a switch for instructing the start of an automatic follow-up process, which will be described later. When the lock-on switch 42 is turned on, an automatic follow-up process instruction signal is input to the controller 40. Automatic tracking processing (step 108 in FIG. 5) described later is started using the instruction signal as a trigger.

  The second orientation switch 47 is a switch for instructing measurement of the angle β and distance L and instructing measurement processing of the target position.

  Next, processing performed by the controller 40 will be described with reference to the flowchart of FIG. Hereinafter, a description will be given with reference to FIG.

  FIG. 6 shows a local coordinate system xy (lower case x, y) having the origin 1 as a reference point of the vehicle 1 (for example, the center position of the vehicle body).

  Hereinafter, the coordinate position on the absolute coordinate system XY is referred to as “latitude, longitude”, and the coordinate position on the local coordinate system xy is referred to as “polar coordinate position”, and the two are distinguished.

  When the vehicle 1 starts traveling, the first orientation switch 42 is turned on. The first orientation switch 42 may be a switch that is manually operated by an operator regardless of whether the vehicle 1 is traveling or stopped, and is a switch that is automatically operated when the vehicle 1 starts traveling. It may be. (Step 101).

  The following position measurement process is started in response to the ON operation of the first orientation switch 42.

First, the absolute position measurement signal received by the GPS receiver 27 is input to the controller 40, and based on the absolute position measurement signal, the current latitude and longitude P0 (on the absolute coordinate system XY of the vehicle 1) X0, Y0) is calculated. The current latitude and longitude P0 (X0, Y0) of the vehicle 1 is written on the digital map in the memory 41 by the controller 40 (step 102).

  A reference point (for example, P11) closest to the current latitude and longitude P0 of the vehicle 1 is selected from all the reference points P11, P12, P13, P14... Stored in the memory 41. The position of the vehicle 1 and the nearest reference point (P11) are displayed on the screen of the monitor 43 as shown in FIG. 7 (step 104).

  Magnetic north is detected by the geomagnetic azimuth meter 28, and an angle θ formed by the vehicle reference line m (for example, the vehicle longitudinal direction) and the magnetic north is calculated (step 103).

  An angle δ formed by magnetic north and the orientation of the reference point P11 is obtained based on the latitude and longitude (X1, Y1) of the reference point P11.

  The angle α ′ formed between the vehicle reference line m and the orientation of the reference point P11 is obtained by adding the angle θ formed between the vehicle reference line m and the magnetic north and the angle δ formed between magnetic north and the orientation of the reference point P11 (α ′ = Θ + δ).

  Therefore, a drive control signal for rotating the turning motor 24B by the angle α from the reference angle (vehicle reference line m) is generated and output to the turning motor 24B. The turning motor 24B is rotated by α from the reference angle (vehicle reference line m) based on the input drive control signal. As a result, the reference point capturing camera 19 automatically points in the direction of the reference point P11, and the reference point P11 is captured in the imaging field of view of the reference point capturing camera 19 (step 106).

  FIG. 8A illustrates an image on the screen of the monitor 45 when the reference point capturing camera 19 automatically points in the direction of the reference point P11.

  FIG. 8A shows a state in which, for example, the tip of the chimney 3 is displayed on the screen as the reference point P11. On the screen, a reticle 2 for specifying a feature point on the screen to be automatically followed is displayed.

  Therefore, the operator manually changes the turning angle of the casing 15B to finely adjust the imaging direction of the reference point capturing camera 19 so that the center point 2c of the reticle 2 coincides with the reference point P11 on the screen. .

  FIG. 8B shows a screen when the center point 2c of the reticle 2 coincides with the reference point P11 on the screen. When the operator determines that the center point 2c of the reticle 2 matches the reference point P11 on the screen in this way, the lock-on switch 46 is turned on (step 107).

  When the lock-on switch 42 is turned on, an automatic tracking process instruction signal is input to the controller 40, and the controller 40 starts the automatic tracking process with the automatic tracking instruction signal as a trigger. That is, when the lock-on switch 46 is turned on, the feature of the reference point P11 on the image designated by the center point 2c of the reticle 2 is recognized (for example, the brightness difference with respect to the background image is recognized), and the reference as the feature point The swing motor 24B is driven and controlled so that the point P11 is always captured as the center point 2c of the reticle 2 within the imaging field of the reference point capturing camera 19 (always in the state shown in FIG. 8B). Then, the imaging direction of the reference point capturing camera 19 is changed (step 108).

  During the execution of the automatic tracking process, it is determined whether or not the current reference point P11 is a target to be automatically tracked, that is, whether or not it is a reference point that should be kept within the imaging field of view of the reference point capturing camera 19. The If it is determined that the current reference point P11 is not a target to be automatically followed, the next new reference point is selected and the reference point is switched. The judgment criteria in this case are as exemplified below, for example.

1) The position information of a plurality of reference points P11, P12, P13, P14... And the current detection position P0 of the vehicle 1 are compared, and the reference point near (closest) the current detection position P0 of the vehicle 1 P11 is selected sequentially.

2) Information (obstacle position, height, width, etc.) of obstacles (buildings, etc.) that are considered to block the field of view of the reference point when viewed from the vehicle 1 is stored in the memory 41 in advance. Based on the position information of P11, P12, P13, P14..., The current detected position P0 of the vehicle 1, and the information on the obstacle, the current reference point P11 is not obstructed by the obstacle, and the reference point capturing camera 19 Whether the current reference point P11 is obstructed (or may be) by the obstacle. At that time, a new reference point that enters the imaging field of view of the reference point capturing camera 19 without being blocked by an obstacle is selected.

3) When the current reference point P11 on the captured image of the reference point capturing camera 19 is no longer recognized as a feature point on the image (or may not be recognized), the next new reference point is selected. .

(Step 110)
If it is determined that the current reference point P11 is an object to be automatically followed (YES at Step 110), the current imaging direction of the reference point capturing camera 19 is the angle α (measured by the angle measuring device 25B). It is measured as an angle α) formed by the vehicle reference line m and the orientation of the reference point P11 (step 111).

  On the other hand, when it is determined that the current reference point P11 is not the target to be automatically followed (NO at Step 110), a new reference point is selected and the reference point is switched (Step 105). Similar processing (steps 106, 107, 108, 110) is executed for the reference point.

  FIG. 7 is a diagram illustrating an example of the screen of the monitor 43. According to the determination criteria of 1) above, when the vehicle 1 is traveling in the direction indicated by the arrow, a reference point is used as a reference point in the vicinity. The reference points are sequentially switched in the order of P12, P14, P11, and P13. In addition, according to the determination criteria of 2) and 3) above, if it is determined that the current reference point P11 is not captured by the obstacle 50 in the imaging field of the reference point capturing camera 19 (may be), It is switched to the next reference point P13 that is captured in the imaging field of the reference point capturing camera 19 without being obstructed by the obstacle 50.

  On the other hand, the operator manually changes the turning angle of the casing 15A to adjust the imaging direction of the search and orientation visible light camera 11 (daytime) and the search orientation IR camera 12 (nighttime). Search for the target point P2 (enemy soldiers, tanks, etc.). The captured image of the camera 11 or 12 can be confirmed on the screen of the monitor 44. When a target point P2 (enemy soldier, tank, etc.) is found in the captured image of the camera 11 or 12 (on the screen of the monitor 44), as in FIGS. 8A and 8B, the reticle in the captured image is displayed. The imaging directions of the cameras 11 and 12 are finely adjusted so that the center point 2c of 2 coincides with the target point P2. When the center point 2c of the reticle 2 coincides with the target point P2, the operator turns on the second orientation switch 47. As a result, the current imaging direction of the searching and locating visible light camera 11 (daytime) and the locating IR camera 12 (nighttime) is the angle β (vehicle reference line m and target point) measured by the angle measuring device 25A. The angle β) formed by the direction of P2 is measured (step 109). In response to the ON operation of the second orientation switch 47, the laser range finder 13 is activated, and laser light is emitted toward the target point P2. Thereby, the distance L from the vehicle 1 to the target point P2 is measured (step 110).

  When the second orientation switch 47 is turned on in this way, the angle β and the distance L are obtained at the same time. When the second orientation switch 47 is turned on, the angle α (step 111) at that time and the position P0 (step 102) of the own vehicle 1 at that time are obtained. Further, the current position of the reference point P11 is read from the memory 41.

  Based on the data P0, α, β, L measured at the same time in this way and the current position information of the reference point P11, as shown in FIG. 9, the latitude and longitude (X2) of the target point P2 are shown. , Y2) is measured (steps 112 and 113).

  Hereinafter, a description will be given with reference to FIG. 9. First, the polar coordinate position (γ, xt, yt) of the target point P2 is calculated by the following equation (1).

γ = Atan ((Y1−Y0) / (X0−X1))
xt = L × cos (180 ° −α−β−γ)
yt = L × sin (180 ° −α−β−γ) (1)
However,
P11 (P1); (X1, Y1)
P0; (X0, Y0)
(Step 112).

  Next, based on the above equation (1), the latitude and longitude (X2, Y2) of the target point P2 are calculated by the following equation (2).

X2 = X0 + xt
Y2 = Y0 + yt (2)
(Step 113)
Thus, when the target position P2 (X2, Y2) of the enemy (a soldier, a tank, etc.) is measured by the target position measuring device 10, the information (latitude, longitude) of the measured position is sent to a transceiver (not shown). Sent to the command post and received at the command post. The command post transmits the received target position information P2 (X2, Y2) to a friendly base equipped with a battle function, such as a friendly missile launch base. At the missile launch base, the missile is launched based on the received target position information P2 (X2, Y2) to attack the enemy (P2) (step 113).

  Various modifications and changes can be made to the above-described embodiments. Other embodiments will be described below.

  First, in the above-described embodiment, as described in Steps 103, 104, and 106, the angle α ′ corresponding to the direction of the reference point P11 is measured based on the detected magnetic north of the geomagnetic azimuth meter 28, and this angle α Rotation motor 24B is driven and controlled so that the reference point capturing camera 19 is oriented in the imaging direction corresponding to '(direction of the reference point P11), and the reference point P11 is automatically within the imaging field of view of the reference point capturing camera 19 However, the operation of capturing the reference point P11 within the imaging field of view of the reference point capturing camera 19 may be manually performed by the operator without being automatically performed.

  That is, the operator may manually adjust the imaging direction of the reference point capture camera 19 to capture the reference point P11 within the imaging field of the reference point capture camera 19. In this case, the arrangement of the geomagnetic azimuth meter 28 and the function of calculation processing for calculating the turning angle α ′ can be omitted. The geomagnetic azimuth meter 28 is an inexpensive component, and the cost increase due to the provision of the geomagnetic azimuth meter 28 is extremely small compared to the cost of the entire apparatus.

  In the above-described embodiment, as described in step 107, the process of turning on the lock-on switch 46 by matching the center point 2c of the reticle 2 with the reference point P11 on the screen (FIG. 8 (a), Although FIG. 8 (b)) has been described as being performed manually by the operator, it is also possible to perform such processing automatically. For example, by storing the shape pattern of the reference point P11 and searching for the stored shape pattern in the image by a pattern recognition technique, the reference point P11 is made to coincide with the center position 2c of the reticle 2 and automatically. It may be locked on.

  Similarly, a series of processing (steps 103, 104, 106, 107) from turning of the reference point capturing camera 19 to lock-on can be automatically performed. For example, the shape pattern of the reference point P11 is stored, and the reference point capturing camera 19 is turned and stored in the captured image of the reference point capturing camera 19 until the stored shape pattern is searched by the pattern recognition method. When the shape pattern is captured, the reference point P11 may be made to coincide with the center position 2c of the reticle 2 by a pattern recognition method and locked on automatically.

  Similarly, the process of searching for the target point P2 by the search and orientation cameras 11 and 12 (the process of searching until the target point P2 is captured by the search and orientation cameras 11 and 12), the search and orientation cameras 11 and 12 In the captured image, the target point P2 is made to coincide with the center point 2c of the reticle 2, and either or both of the processes (step 109) for turning on the second orientation switch 47 are automatically performed. Good.

  In short, the present invention includes at least the process of step 108 in FIG. 5, that is, the process of continuously capturing the reference point P11 within the imaging field of view of the reference point capturing camera 19 (the process of always maintaining the state of FIG. 8B). As long as it can be performed automatically, it does not matter whether the entire position measurement process shown in FIG. 5 is performed completely automatically or partially manually.

  In the above-described embodiment, a plurality of reference points P11, P12, P13, P14... Are prepared in advance, and control is performed to switch the reference points that should continue to be captured within the imaging field of the reference point capturing camera 19 ( Steps 110 and 105) may capture one reference point by the reference point capturing camera 19, and the reference point switching process may be omitted.

  In the above-described embodiment, the description has been made on the assumption that one reference point capturing camera 19 is provided. However, a plurality of reference point capturing cameras 19 are provided, and each reference point capturing camera 19, 19. , P13, P14... Can be captured. With this configuration, the reference point switching process (step 105) is omitted, the process of directing again toward the new reference point (step 106), and the reticle 2 is again aligned with the new reference point. A process (step 107) becomes unnecessary.

  At the time of starting the process of calculating the target point P2 (step 112), the reference point capturing camera 19 in which the reference point is captured in the captured image and the angle α is measured by the corresponding angle measuring device 25B is used. What is necessary is just to select from each reference point capture camera 19, 19 .... For example, as shown in FIG. 7, among the reference point capturing cameras 19, 19..., The reference point P <b> 11 is obstructed by the obstacle 50 in the imaging field of the reference point capturing camera 19 for the reference point P <b> 11. When not captured, a process of calculating the target point P2 based on the angle α measured by the corresponding angle measuring device 25B by selecting the reference point capturing camera 19 for another reference point P13 (step 112). ).

  In the above-described embodiments, the reference point P1 (P11, P12, P13, P14), whether singular or plural, is described as being a fixed object on the ground. However, as illustrated in FIG. The point P1 may be a moving body 1 ′ such as a vehicle, an aircraft, a helicopter, or a ship. A means for measuring the position of the moving body, for example, a GPS sensor or an inertial navigation device (gyro) is mounted on the moving body 1 ′ as the movement reference point P1. The GPS sensor is a sensor that measures the absolute position (latitude, longitude) of its own moving body 1 ′ based on the absolute position measurement signal received by the GPS receiver 27 shown in FIG. The inertial navigation device is a device that calculates the position of the moving body 1 'sequentially by integrating the measured acceleration of the gyro from the initial position of the moving body 1'.

  The position information of the movement reference point P 1 is transmitted from the moving body 1 ′ to the vehicle 1, and the position information of the movement reference point P 1 is received by the vehicle 1. Based on the position information of the movement reference point P1, the vehicle 1 performs a process (step 112) for calculating the target point P2.

  A plurality of moving bodies 1 ′ may be provided. A plurality of vehicles 1 that should receive the position information of the moving body 1 ′ may also be provided.

  Further, the vehicle 1 may be a moving body other than a vehicle such as an aircraft, a helicopter, or a ship.

  In the above-described embodiment, the case where the vehicle 1 is operated by one unit has been described. However, a plurality of vehicles 1, 1,... The system which transmits to the command post from the vehicles 1, 1.

  In this case, the position information P0 of any one of the plurality of vehicles 1, 1,... May be transmitted to other vehicles 1 as the position information of the reference point P1.

  Thus, the position information of the reference point P1 is transmitted from the vehicle 1 to the other vehicle 1, and the position information of the reference point P1 is received by the other vehicle 1. Based on the position information of the reference point P1, the other vehicle 1 performs a process of calculating the target point P2 (step 112).

  Further, the vehicles 1, 1... May be moving bodies other than vehicles such as airplanes, helicopters, and ships.

  In the above-described embodiments, for the sake of convenience of explanation, the description has been made assuming that the position information of the target point P2 is acquired as two-dimensional information (latitude, longitude), but of course the position information of the target point P2 is three-dimensional. It is also possible to obtain the information (latitude, longitude, altitude).

  FIG. 13 is a perspective view showing a search and orientation camera elevation drive unit 20C for swinging the casing 15A in the elevation direction, and a reference point capturing camera elevation drive unit 20D for swinging the casing 15B in the elevation direction. .

  A configuration of the search and orientation camera elevation drive unit 20C will be described.

  A horizontal shaft 21C is fixed to the housing 15A. The horizontal shaft 21C is rotatably provided on the support base 16C. A gear 22C is provided on the outer periphery of the horizontal shaft 21C.

  The gear 22C, the reduction gear 23C, the gear 26C, and the elevation motor 24C constituting the search and orientation camera elevation drive unit 20C are configured in the same manner as the search and orientation camera turning drive unit 20A described in FIG. 4B. ing. For each of the components having the reference sign “C” constituting the search and orientation camera elevation drive unit 20C, the reference sign “A” constituting the search and orientation camera turning drive unit 20A described in FIG. 4B. The description is omitted assuming that the component has the same function as the component of the same number assigned with. That is, when the raising / lowering motor 24C is rotated, the horizontal shaft 21C is rotated, and accordingly the housing 15A is raised / lowered with respect to the vehicle body, and accordingly, the search and orientation cameras 11, 12 and the laser range finder 13 are The pointing direction is changed. The directivity direction (elevation angle) of the search and orientation cameras 11 and 12 and the laser distance measuring device 13 is measured by the angle measuring device 25C.

  The horizontal shaft 21D, the gear 22D, the reduction gear 23D, the gear 26D, and the elevation motor 24D constituting the reference point capturing camera elevation drive unit 20D are configured in the same manner as the search and orientation camera elevation drive unit 20C described in FIG. ing. About each component which attached | subjected the code | symbol "D" which comprises the reference point capture camera elevation drive part 20D, each component of the same number which attached | subjected the code | symbol "C" which comprises the search and orientation camera elevation drive part 20C Description of the same function is omitted. That is, when the raising / lowering motor 24D is rotated, the horizontal shaft 21D is rotated, and the casing 15B is raised / lowered with respect to the vehicle body accordingly, and the pointing direction of the reference point capturing camera 19 is changed accordingly. The directivity direction (elevation angle) of the reference point capturing camera 19 is measured by the angle measuring device 25D.

  As described above, since the cameras 11, 12, and 19 have been added with the degree of freedom in the elevation direction in addition to the turning direction, the processing of turning the cameras 11, 12, and 19 in performing the processing of FIG. 5 (steps 106, 107, 108, 109), processing for raising the cameras 11, 12, 19 is added.

  10 and 11 show processes corresponding to steps 112 and 113 for measuring the latitude, longitude, and altitude (X2, Y2, Z2) of the target point P2 when the process of raising the cameras 11, 12, 19 is added. FIG. 10 is a diagram corresponding to FIG. 9.

  Based on the data P0, α, β, L measured at the same time and the current position information of the reference point P11, as shown in FIGS. 10 and 11, the latitude, longitude, altitude ( X2, Y2, Z2) are measured.

  First, the polar coordinate position (γ, xt, yt, zt) of the target point P2 is calculated by the following equation (3).

γ = Atan ((Y1−Y0) / (X0−X1))
xt = Lh × cos (180 ° −α−βh−γ)
yt = Lh × sin (180 ° −α−βh−γ)
zt = Lv × sin (βv)
... (3)
However,
P11 (P1); (X1, Y1, Z1)
P0; (X0, Y0, Z0)
βh; angle β measured in the xy coordinate system
βv; angle β measured in xz coordinate system
Lh = L × cos (βh)
Lv = L × cos (βv)
(Step 112).

  Next, based on the above equation (3), the latitude, longitude and altitude (X2, Y2, Z2) of the target point P2 are calculated by the following equation (4).

X2 = X0 + xt
Y2 = Y0 + yt
Z2 = Z0 + zt
(4)
(Step 113)
In this way, the target position measuring device 10 measures the target position P2 (X2, Y2, Z2) of the enemy (a soldier, a tank, etc.).

  In the above-described embodiment, it has been described that the height of the casings 15A and 15B with respect to the vehicle body of the vehicle 1 is unchanged. However, as shown in FIG. 14, the pole 32 has a structure including a plurality of stages of telescopic rods. The height of the casings 15A and 15B relative to the vehicle body may be changed by extending and retracting the pole 32. If comprised in this way, each camera 11, 12 or 19 can adjust to the height which is easy to catch the target point P2 or the reference point P1.

  In the above-described embodiment, the case where the two casings 15A and 15B are provided on one pole 18 has been described. However, as shown in FIG. 15, each of the two poles 33 and 34 has a casing. You may comprise so that the body 15A, 15B may be provided. The GPS receiver 27 and the geomagnetic azimuth meter 28 are provided on one pole 34. Thus, the structure of the poles 33 and 34 can be simplified by adopting a structure in which the casings 15A and 15B are distributed to the respective poles 33 and 34.

  In the above description, it is assumed that the vehicle 1 is used in the field of the munitions industry, but the field of use of the present invention is not limited to such a field.

  The present invention can be used as exemplified below.

1) The target position measuring device 10 is mounted on the police and security vehicle 1 to measure the position of the investigation target (vehicle, human, etc.).

2) The target position measuring device 10 is mounted on a rescue helicopter, aircraft, or ship in the event of a disaster, marine accident, or disaster, and the position of a rescue target (human, ship, vehicle, etc.) is measured. For example, at the time of a marine accident, the lighthouse can be used as the reference point P1.

FIG. 1 is a diagram for explaining the principle of the reference point angle measurement method. FIG. 2 is a diagram for explaining the principle of the geomagnetic azimuth method and the gyro method. FIG. 3 is a perspective view of a vehicle on which the target position measuring device is mounted. 4A and 4B are perspective views showing the appearance of the target position measuring apparatus. FIG. 5 is a flowchart showing a processing procedure performed by the controller constituting the target position measuring apparatus. FIG. 6 is a diagram for explaining the principle of the target position measurement process of the embodiment. FIG. 7 shows the contents of the digital map. FIGS. 8A and 8B are diagrams for explaining processing for capturing a reference point. FIG. 9 is a diagram for explaining the arithmetic processing of the embodiment. FIG. 10 is a diagram for explaining the arithmetic processing of the embodiment. FIG. 11 is a diagram for explaining the arithmetic processing of the embodiment. FIG. 12 is a diagram for explaining the arithmetic processing of the embodiment. FIG. 13 is a perspective view showing an appearance of another configuration example of the target position measuring apparatus. FIG. 14 is a perspective view showing the appearance of another configuration example of the target position measuring apparatus. FIG. 14 is a perspective view showing the appearance of another configuration example of the target position measuring apparatus. FIG. 16 is a block diagram illustrating a configuration of the target position measuring apparatus according to the embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Vehicle 11 Visible light camera for search and orientation 12 IR camera for search and orientation 13 Laser range finder 19 Reference point capture camera 24A, 24B Turning motor 25A, 25B Angle measuring device 27 GPS receiver 28 Geomagnetic direction meter 40 Controller 41 memory

Claims (6)

First imaging means (19);
A second imaging means (11, 12);
First directing means (20B) for changing the imaging direction of the first imaging means (19);
A second directing means (20A) for changing the imaging direction of the second imaging means (11, 12);
First angle measuring means (25B) for measuring a first angle (α) corresponding to the imaging direction of the first imaging means (19);
Second angle measuring means (25A) for measuring a second angle (β) corresponding to the imaging direction of the second imaging means (11, 12);
Control means (40, step 108) for controlling the first directing means (20B) so that the reference point (P11) is continuously captured within the imaging field of view of the first imaging means (19);
Distance measuring means (13) for measuring the distance (L) from the moving body (1) to the target point (P2);
Position measuring means (27) for measuring the position (P0) of the moving body (1);
The first measurement angle (α), the second measurement angle (β), and the measurement measured when the target point (P2) is captured in the imaging field of view of the second imaging means (11, 12). A position measuring means (40) for measuring the position of the target point (P2) based on the distance (L), the measurement position (P0), and the position information of the reference point (P11) is mounted on the moving body (1). A target position measuring device mounted on a moving body. Third angle measuring means (28, 40) for measuring a third angle (α ') corresponding to the direction of the reference point (P11);
Control means (40, step 106) for controlling the first directing means (20B) so that the first imaging means (19) is oriented in the imaging direction corresponding to the third angle (α ′). The target position measuring device mounted on the moving body according to claim 1, further mounted on the moving body (1). Position information of a plurality of reference points (P11, P12, P13, P14) is stored in the memory (41),
Based on the position information stored in the memory (41), processing (steps 104 and 105) for selecting a reference point (P11) in the vicinity of the position (P0) of the mobile body (1) is performed. A target position measuring device mounted on the moving body according to claim 1. A plurality of reference points (P11, P12, P13, P14) are prepared in advance,
Control means (40, step 105) for performing control for switching the reference point to be kept within the imaging field of view of the first imaging means (19)
Is further mounted on the moving body (1). The target position measuring device mounted on the moving body according to claim 1. At least one moving body (1 ′) of the plurality of moving bodies (1, 1 ′) is defined as a reference point (P1), and the moving body (1 ′) defined at the reference point (P1) includes: A means (27) for measuring the position of its own moving body is mounted,
The other moving body (1) is the moving body according to claim 1,
The position information of the reference point (P1) is transmitted from the mobile body (1 ') defined as the reference point (P1) to the mobile body (1) according to claim 1. Target position measurement device mounted on a moving body of The plurality of moving bodies (1, 1) are the moving bodies according to claim 1,
The position information of the moving body measured by the position measuring means (27) of any one of the plurality of moving bodies (1, 1) is used as the position information of the reference point (P1). The target position measuring device mounted on the mobile body according to claim 1, wherein the target position measuring device is transmitted to (1).

Images