JP2015055590A - Location acquisition device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable acquisition of a location of a target being viewed from a base point even when obstacles exist between a target and the base point and GPS devices are not used.SOLUTION: A location acquisition device includes: a plurality of moving bodies 3a to 3d that is movable with respect to a base point Pand a target 1; a relative location measurement device 5 that is provided in each of the moving bodies 3a to 3d, in which the relative location measurement device 5 of at least one of the moving bodies 3a to 3d measures a relative location to the target 1 as a target relative location, and the relative location measurement device 5 of at least one moving body measures a relative location to the base point Pas a base point relative location, and the relative location measurement device 5 of the plurality of moving bodies 3a to 3d measures a relative location of the mutual moving bodies; and a computation device 7 that calculates a location Pof the target 1 with respect to the base point Pon the basis of the target relative location, the base point relative location, and the relative location of the moving bodies.

Description

  The present invention relates to a position acquisition apparatus and method for acquiring the position of a target relative to a base point.

  In order to fire cannonballs and missiles (guide bullets) from a base point and hit the target with a shell or missile, it is necessary to accurately measure the position of the target with respect to the base point.

  When the target is an enemy tank, it is necessary to measure the position of the target from a position at a safe distance from the target.

  Considering this, conventionally, the position of the target is measured as follows.

  An observer measures the position of the target from a position at a safe distance from the target and having a good view. For example, the observer measures his / her position with a GPS device. The observer measures the distance from his / her position to the target using a laser distance meter. Furthermore, the observer measures the direction of the target from its own position using a gyrocompass. Based on the position of the observer, the distance from the observer to the target, and the direction of the target viewed from the observer, the absolute position of the target on the map is obtained. The observer transmits the absolute position of the target obtained in this way to the control device of the launcher wirelessly.

  On the other hand, in Patent Document 1 below, the position measurement means mounted on the vehicle measures the relative position between the base point whose position is known in advance on the map and the vehicle, and the target (for example, an enemy tank) and the vehicle The relative position of is measured. The absolute position of the target is obtained from these relative positions, and this absolute position is transmitted wirelessly to the control device of the launcher.

  In addition, the technique which can be used by embodiment of this invention mentioned later is described in the following patent documents 2-4.

JP 2006-300653 A JP 2009-33366 A JP 2007-3233 A JP 2011-28417 A

  Since the target is hidden behind the obstacle, the observer may not be able to measure the position of the target. For example, if the target is a moving tank, the position of the target cannot be measured if the target moves to a position hidden by an obstacle as viewed from the observer.

  In addition, the accuracy of position measurement by the GPS device may be lowered depending on the position of the observer. Therefore, it is desirable to obtain the absolute position of the target without using a GPS device.

In addition, Patent Document 1 has the following problems (a) to (c).
(A) It is desired to obtain the position of the target with higher accuracy.
(B) When the target is away from the base point, the position of the target with respect to the base point cannot be obtained.
(C) When the target moves, if the target is hidden behind an obstacle as viewed from the vehicle, the position of the target cannot be continuously measured from the vehicle.

  Therefore, an object of the present invention is that an obstacle exists between the target and the base point, and even when the GPS device is not used, the position of the target viewed from the base point can be obtained. It is an object of the present invention to provide an apparatus and a method that can solve at least one of the following.

In order to achieve the above-described object, the present invention provides a position acquisition device that acquires the position of a target with respect to a base point,
A plurality of movable bodies movable relative to the base point and the target;
A relative position measuring device provided in each moving body,
The relative position measuring device of at least one moving body measures the relative position between the moving body and the target as the target relative position, and the relative position measuring device of at least one moving body is the distance between the moving body and the base point. The relative position is measured as the base point relative position, and the relative position measuring device of a plurality of moving bodies measures the relative position of each moving body,
An arithmetic device is further provided for calculating the position of the target relative to the base point based on the target relative position, the base point relative position, and the relative position of the moving bodies.

That the relative position measuring devices of a plurality of moving bodies measure the relative positions of the moving bodies of each other means the following.
The relative position measuring device for each moving body included in the plurality of moving bodies is indirectly connected to any moving body included in the plurality of moving bodies via the other moving bodies included in the plurality of moving bodies. Alternatively, the relative positions of the moving bodies are measured directly. Here, the definition of indirectly measuring through other mobile bodies included in the plurality of mobile bodies will be described later.

According to a preferred embodiment of the present invention, each of the relative position measuring devices for two moving bodies measures the relative position between the moving body and the target as a target relative position, and Measuring relative position indirectly or directly via other moving objects,
The relative position measuring device of at least one of the two moving bodies, the other moving body, and another moving body measures the relative position between the moving body and the base point as a base point relative position,
When the relative position measuring device of the other moving body measures the relative position between the moving body and the base point, the relative position measuring device of at least one of the two moving bodies and the other moving body; The relative position measuring device of the other moving body measures the relative position of the moving bodies with each other indirectly or directly via a further additional moving body,
The computing device calculates the position of the target relative to the base point based on the relative position of each target, the relative position of the base point, and the relative position of the moving bodies.
This content corresponds to the following case.
In the relative position acquisition method 3 to be described later, a relative position measuring device for an auxiliary moving body, which will be described later, measures the relative position between the auxiliary moving body and the target.

  As described above, the relative position measuring devices of the two moving bodies each measure the relative position between the moving body and the target as the target relative position, so that the position of the target with respect to the base point can be calculated with high accuracy. .

In the present application, the first and second moving bodies (that is, two moving bodies) change the relative positions of the moving bodies, and the relay moving bodies (for example, the other moving bodies or the additional moving bodies). Indirect measurement through the following means the following (1) and (2). It is assumed that there are n relay moving bodies.
(1) When n is 1, the relative position measuring device between the relay moving body and the first moving body directly measures the relative position between the moving bodies, and the relay moving body and the second moving body The relative position measuring device of the moving bodies directly measures the relative positions of the moving bodies.
(2) When n is 2 or more, assuming that m is an integer satisfying 1 ≦ m <n, the relative position measuring devices of the first relay moving body and the first moving body The relative positions of the moving bodies of each other are directly measured, and the relative position measuring device for the mth relay moving body and the (m + 1) th relay moving body directly measures the relative positions of the moving bodies. In other words, the relative position measuring device for the nth relay moving body and the second moving body directly measures the relative positions of the moving bodies.

In the present application, the fact that the first and second moving bodies (that is, two moving bodies) directly measure the relative positions of the moving bodies means the following (3).
(3) The relative position measuring device for the first moving body measures the relative position between the first moving body and the second moving body as the first relative position, and the relative position measuring device for the second moving body. However, the relative position between the second moving body and the first moving body is measured as the second relative position.

  In the case of the above (1), (2) or (3), all the first relative positions and the second relative positions that have been measured are set as the relative positions of the moving bodies, and the arithmetic unit calculates each target relative position and the base point. Based on the relative position and the relative position of the moving bodies, the position of the target with respect to the base point is calculated.

The other moving body measures the relative position between the other moving body and the target as the target relative position, and the arithmetic unit calculates the position of the target with respect to the base point based on the target relative position. You can do it.
This content corresponds to the following case.
In the relative position acquisition method 3 described later, two or more later-described auxiliary movable body relative position measuring devices measure the relative positions of the auxiliary movable body and the target.

  Thereby, the position of the target with respect to the base point can be calculated with higher accuracy.

Among the two moving bodies, the other moving bodies, and the other moving bodies, the relative position measuring device for two or more moving bodies measures the relative position between the moving body and the base point as a base point relative position. Then, the arithmetic unit may calculate the position of the target with respect to the base point based on the relative position of each base point.
This content corresponds to the following case.
In a relative position acquisition method 3 to be described later, a relative position measuring device for one auxiliary moving body, which will be described later, measures a relative position between the auxiliary moving body and the target, and a relative position measuring device for another auxiliary moving body, which will be described later. However, the relative position between the auxiliary moving body and the base point is measured.

  Thereby, the position of the target with respect to the base point can be calculated with higher accuracy.

According to another embodiment of the present invention, the relative position measuring devices for two moving bodies respectively measure the relative position between the moving body and the base point as the base point relative position, and the relative positions of the mobile bodies are mutually relative. Measuring the position indirectly or directly via other moving objects,
The relative position measuring device of at least one of the two moving bodies, the other moving body, and another moving body measures the relative position between the moving body and the target as a target relative position,
When the relative position measuring device of the other moving body measures the relative position between the moving body and the target, the relative position measuring device of at least one of the two moving bodies and the other moving body; The relative position measuring device of the other moving body measures the relative position of each moving body indirectly or directly via the additional additional moving body,
The computing device calculates the position of the target relative to the base point based on the target relative position, the base point relative positions, and the relative positions of the moving bodies.
This content corresponds to the following case.
In a relative position acquisition method 3 to be described later, a later-described auxiliary moving body relative position measurement device measures the relative position between the auxiliary moving body and the base point.

  Thus, since the relative position measuring devices of the two moving bodies each measure the relative position between the moving body and the base point as the base point relative position, the position of the target with respect to the base point can be calculated with high accuracy.

According to still another embodiment of the present invention, the relative position measuring device of the first moving body among the plurality of moving bodies measures the relative position between the moving body and the target as the target relative position, The relative position measuring device of the second moving body measures the relative position between the moving body and the base point as the base point relative position, and the relative position measuring device of the first and second moving bodies Measure the relative position indirectly through other moving objects,
The computing device calculates the position of the target relative to the base point based on the target relative position, the base point relative position, and the relative position of the moving bodies.
This content corresponds to the relative position acquisition method 1 or 2 described later.

  Thereby, even if the target and the base point are separated, the position of the target with respect to the base point can be obtained.

According to another embodiment of the present invention, the base point is provided with a relative position measurement device, which measures the relative position between the base point and the moving body,
The arithmetic device calculates the position of the target with respect to the base point based on the measured relative position.

  Thereby, the position of the target with respect to the base point can be calculated with higher accuracy.

According to another embodiment of the invention, the origin is at the position of the launcher that fires the shell or at a known relative position relative to the position of the launcher;
When launching a shell from a launcher at a scheduled launch,
The arithmetic unit is
Based on the relative position of the target measured at multiple points in time, the relative position of the base point, and the relative position of the moving objects, the position of the target with respect to the base point at multiple points in time is calculated.
Based on the calculated position of these targets, calculate the moving speed of the target relative to the base point,
Based on the calculated moving speed of the target, the scheduled launch time, and the position of the target with respect to the base point at the scheduled launch time, if the base point is at a known relative position with respect to the launcher position, then the known target Based on the relative position, the position of the target with respect to the launching device at a future time point when the shell reaches the target is calculated.

  Thus, since the position of the target with respect to the launching device at a future time point when the cannonball reaches the target, the cannonball is made to hit the moving target with high probability.

In order to achieve the above object, the present invention provides a position acquisition method for acquiring the position of a target with respect to a base point,
Prepare a plurality of moving bodies that can move relative to the base point and the target, and provide a relative position measurement device for each moving body,
The relative position measuring device of at least one moving body measures the relative position between the moving body and the target as the target relative position, and the relative position measuring device of at least one moving body is the distance between the moving body and the base point. The relative position is measured as the base point relative position, and the relative position measuring device of a plurality of moving bodies measures the relative position of each moving body,
The position of the target relative to the base point is calculated based on the target relative position, the base point relative position, and the relative position of the moving bodies.

  According to the present invention, the relative position between the moving body and the target, the relative position between the moving body and the base point, and the relative position between the mobile bodies are measured, and based on these relative positions, the position of the target with respect to the base point is measured. Is calculated. Therefore, even if an obstacle exists between the target and the base point and the GPS device is not used, the position of the target can be obtained.

In addition, since the measurement data of the relative positions of the plurality of moving bodies is also used for calculating the position of the target, at least one of the following (A), (B), and (C) is possible.
(A) By measuring the relative position with respect to the target or the base point from a plurality of moving bodies, the position of the target with respect to the base point can be calculated with high accuracy.
(B) Even if the target and the base point are separated, the position of the target with respect to the base point can be obtained.
(C) Even if it becomes impossible to measure the relative position with respect to the target from a certain moving body due to the movement of the target, the possibility that the relative position with respect to the target can be continuously measured from another moving body increases.

1 shows a position acquisition device according to an embodiment of the present invention. The mobile body provided with the relative position measuring device is shown. Although the same state as FIG. 1 is shown, the relative position measurement between moving bodies is shown. The mobile body provided with two relative position measuring devices is shown.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 1 shows a position acquisition device 10 according to an embodiment of the present invention. The position acquisition device 10 acquires the position P _t of the target 1 with respect to the base point P _s .

In the present embodiment, the target 1 is movable on the ground. For example, the target 1 is an enemy tank. In the embodiment, the base point P _s is a position of a launching device for launching a bullet or missile toward the target 1 and hitting the target 1 with the cannonball or missile. A position at a known relative position with respect to the position. When firing the projectile from a launching device, acquired by the position acquiring unit 10, based on the position P _t of the target 1 with respect to the base point P _s, the firing of the projectile by the firing device (eg firing direction) is adjusted. When firing a missile from the launch device, acquired by the position acquiring unit 10, based on the position P _t of the target 1 with respect to the base point P _s, the missiles launcher firing (e.g. launch direction) and the flight of the missile One or both are controlled.

  The position acquisition device 10 includes moving bodies 3a, 3b, 3c, and 3d, a relative position measurement device 5, and a calculation device 7.

<Moving object>
The plurality of moving bodies 3a, 3b, 3c, 3d are arranged at intervals. Each moving body can be moved by a driving device provided in itself. Thereby, the some mobile body 3a, 3b, 3c, 3d can change the relative position with respect to each other. Further, each moving body can move to a position where the relative position measuring device 5 provided on the moving body can measure the relative position with the target 1. In this embodiment, such a moving body is a vehicle or a crawler traveling device that can travel on the ground.

<Relative position measuring device>
The relative position measuring device 5 is provided in each moving body 3a, 3b, 3c, 3d. Further, in the present embodiment, the relative position measuring device 5, is also provided as a base point P _s. Each relative position measuring device 5 includes an azimuth measuring unit 5a and a distance measuring unit 5b.

The relative position measuring device 5 provided on the moving body will be described. An azimuth measuring unit 5a and a distance measuring unit 5b of the relative position measuring device 5 are shown in FIG. 2, for example. 2A is a plan view of the moving body 3a, and FIG. 2B is a view taken along the line BB in FIG. 2A. Although FIG. 2 shows the moving body 3a, in the present embodiment, the other moving bodies 3b, 3c, and 3d have the same configuration as the moving body 3a. Azimuth measuring unit 5a of the provided mobile relative position measuring device 5, the target 1 with respect to the direction D _m of the measurement reference line L _m which is set to the moving object, the object of other mobile or the base point P _s the azimuth is measured, a distance measuring unit 5b of the relative position measuring device 5, from the distance measurement unit 5b, target 1 existing in the azimuth measured, the other mobile, or, to the object of the base point P _s Measure the distance. Note that the direction D _m of the measurement reference line L _m set for the moving body is the distance from the first set point (for example, the center of the moving body) fixed to the moving body at an interval from the first set point. The direction is toward the second set point fixed to the moving body. That is, the half straight line passing through the second set point extends from the first set point is the measurement reference line L _m. In the present application, the target 1 with respect to the direction D _m of the measurement reference line L _m, and the azimuth of the moving body or the base point P _s, viewed from the mobile (i.e., the first set point of the measurement reference line L _m), measured target 1 with respect to the reference line L _m, which means the orientation of the other mobile or the base point P _s. Further, the relative position measuring device 5 of the mobile, so that it can measure the relative position between the movable body and the base point P _s point, the object person is previously installed in the base point P _s.

The relative position measuring device 5 provided in the base point P _s has the same configuration as the relative position measuring apparatus 5 provided in the mobile. Azimuth measuring unit 5a of the relative position measuring apparatus 5 provided in the base point P _s is, the azimuth of the moving body with respect to the measurement reference line L _m which is set as the base point P _s is measured, the distance measuring unit of the relative position measuring apparatus 5 5b from the distance measurement unit 5b, to measure the distance to the object of the base point P _s existing in the azimuth measured.

Each orientation measuring unit 5a provided on the movable body and the base point P _s is, for example, as follows, is constituted by a camera and the image processing apparatus. Camera set up, such that faces the direction D _m of the measurement reference line L _m, or mobile so as to face the direction inclined by a known angle relative to the direction D _m of the measurement reference line L _m or the base point P _s Is done. The image processing apparatus, the image captured by the camera, the center position and the object of the image (target 1, mobile, or object base point P _s) on the basis of the positional relationship between, the target object is located Find the direction.

  Image processing by the image processing apparatus will be described.

  When the object is a moving object, the image processing apparatus may specify an index provided on the moving object as the position of the moving object in the image. For example, the index is a light emitting diode whose luminance changes in a specific pattern as in Patent Document 2. In this case, using a camera, a moving image over a short set time is captured as an image, and the image processing apparatus specifies the position of a pixel whose luminance changes in a specific pattern as the position of the index in the image. In another example, the index is a geometric pattern as described in Patent Documents 3 and 4. In this case, the image processing apparatus stores the same pattern as the geometric pattern in advance, and identifies the portion of the same pattern as the previously stored pattern as the index position in the image obtained using the camera.

When the target object is the target object 1, the image processing apparatus specifies a part that matches the shape data of the target object 1 that is obtained in advance in the image, and this part is determined as the position P _{t of the} target object 1. You may specify as

If the object is an object of the base point P _s is, the image processing apparatus, an indicator provided on the base point P _s, may be specified as the position of the moving body within the image. This index and the method for specifying the position of the index in the image are the same as in the case of the index provided on the moving body. That is, the index may be a above light-emitting diode as an object provided in the base point P _s, or may be a geometric pattern provided on the object base point P _s.

Incidentally, the index provided to a plurality of mobile, are set so as to be distinguished from each other, the index provided to each mobile, with the index provided on the base point P _s, is set so as to identify each other.

Each distance measuring unit 5b provided on the movable body and the base point P _s can be a laser rangefinder. The laser rangefinder, reflective object orientation measuring unit 5a is measured (target 1, mobile, or object base point P _s) in the direction of, from the object that a laser beam emitted, present in the azimuth The distance from the laser distance meter to the object existing in the azimuth is determined based on the time difference between the time when the laser light is received and the laser light is emitted and the time when the reflected light of the laser light is received. measure.

The relative position measuring device 5 is installed on the support portion 8 in the example of FIG. The support portion 8 is provided on the moving body so as to be rotatable around a rotation axis (here, a vertical axis) with respect to the main body of the moving body. In this case, the supporting portion 8 of the movable body relative position measuring apparatus 5 installed thereto, and the movable body, the target 1, to continue the relative position of the object or other mobile base point P _s The rotation angle of the support portion 8 around the rotation axis is controlled so that measurement is possible. For example, in the central portion of the image, so that the target object 1, the object or other mobile base point P _s to position, rotation angle of the support 8 is controlled. When providing the supporting portion 8, the measurement reference line L _m is fixed to the main body of the mobile. Incidentally, the relative position measuring apparatus 5 provided in the base point P _s, the rotation shaft may be placed on the support portion 8 provided on the rotatable base point P _s around (here vertical axis). Rotation of the support portion 8, the relative position measuring apparatus 5 installed in the support portion 8, like the support 8 of the mobile, so that the relative position of the base point P _s and the mobile can be measured continuously May be controlled.

  With the above-described configuration, the relative position measuring device 5 of each moving body measures the relative position as follows.

The relative position measuring device 5 of at least one of the plurality of moving bodies 3a, 3b, 3c, 3d (all moving bodies 3a, 3b, 3c, 3d in the example of FIG. 1) includes the moving body, the target 1, Relative position (hereinafter also referred to as target relative position). Further, a plurality of mobile 3a, 3b, 3c, (in the example of FIG. 1, mobile 3a, 3b) at least one of 3d relative position measuring device 5, the relative position between the moving body and the base point _{P s} ( Hereinafter, the relative position of the base point is also measured. Further, the relative positions of the moving bodies 3a, 3b, 3c, 3d are measured by the relative position measuring device 5 of these moving bodies 3a, 3b, 3c, 3d.

(Relative position with the target)
In the present embodiment, as shown in FIG. 1, the relative position measuring device 5 provided in each of two or more moving bodies included in the plurality of moving bodies 3a, 3b, 3c, 3d includes the moving body and the target object. 1 relative position (target relative position) is measured. In the example of FIG. 1, the moving bodies 3a, 3b, 3c, and 3d measure the target relative position as follows. The relative position measuring device 5 of the moving body 3a determines the direction θ _at of the target 1 with respect to the measurement reference line L _m and the distance r _at from the relative position measuring device 5 to the target 1 existing in the direction θ _at. The relative position between the moving body 3a and the target 1 is measured. The relative position measuring device 5 of the mobile 3b is a direction theta _bt of the target 1 with respect to the measurement reference line L _m, and a distance r _bt from the relative position measuring device 5 to the target 1 to be present in the azimuth theta _bt The relative position between the moving body 3b and the target 1 is measured. Similarly, the relative position measuring device 5 of the moving body 3c measures the azimuth _θct and the distance _rct as the relative position between the moving body 3c and the target 1, and the relative position measuring device 5 of the moving body 3d The azimuth θ _dt and the distance r _dt are measured as the relative position between the moving body 3 d and the target 1.

(Relative to the base point)
Further, in the present embodiment, a plurality of mobile 3a, 3b, 3c, the relative position measuring apparatus 5 provided in two or more respective moving body included in 3d, relative to the the mobile body and the base point P _s Measure the position (base point relative position). In the example of FIG. 1, the moving bodies 3 a and 3 b measure the base point relative position as follows. The relative position measuring device 5 of the mobile. 3a, and the direction theta _{the as} objects of the base point _{P s} for measuring the reference line _{L m,} the distance _{r the as} from the mobile bodies 3a to the object of the base point _{P s} existing in the direction theta _{the as} preparative measures relative position between the moving body 3a and the base point P _s. Similarly, the relative position measuring device 5 of the mobile 3b is a direction theta _bs object base points P _s for measuring the reference line L _m, from the mobile 3b to the object of the base point P _s existing in the direction theta _bs the distance _{r bs,} measured as the relative position between the moving body 3b and the base point _{P s.}

In the present embodiment, the relative position measuring device 5 provided at the base point P _s has the azimuth θ _sa of the moving body 3a with respect to the measurement reference line L _m and the distance from the base point P _s to the moving body 3a existing in the azimuth θ _sa. r _sa is measured as a relative position between the base point P _s and the moving body 3a. Further, the relative position measuring apparatus 5 provided in the base point _{P s,} and the direction theta _sb mobile 3b for measuring the reference line _{L m,} from the base point _{P s,} the distance _{r sb} to mobile 3b present in the azimuth theta _sb preparative measures relative position between the base point P _s and the mobile 3b. Here, the measurement reference line L _m is the base point P _s, extends to a point which is set at a base point P _s and spacing, are fixed to the base point P _s, also the orientation with respect to the measurement reference line L _m and is a direction as seen from the base point P _s.

(Relative position between moving objects)
The relative positions of the moving bodies are measured as follows. Among a set of moving bodies capable of measuring relative positions, the relative position measuring device 5 of one moving body measures the relative position between the one moving body and the other moving body as a first relative position, The relative position measuring device 5 of the other moving body measures the relative position between the other moving body and the one moving body as the second relative position. The relative positions of the moving bodies include a first relative position and a second relative position obtained for each set of moving bodies whose relative positions can be measured.

In the example of FIG. 3, the moving bodies 3a and 3b, the moving bodies 3b and 3c, the moving bodies 3c and 3d, and the moving bodies 3d and 3a measure the relative positions of each other as follows. . FIG. 3 is a plan view showing the same state as FIG. That is, the moving body 3a, 3b, 3c, 3d and the base point _{P s} and the target 1 more in FIG. 3, respectively, a plurality of mobile 3a in FIG. 1, 3b, 3c, 3d and the base point _{P s} and the target 1 At the same position.

Mobile 3a, the 3b between the relative position measuring device 5 of the mobile 3a measures the relative positions of the moving body 3a and the mobile 3b theta _ab, the _{r ab} as the first relative position, the relative position of the moving body 3b The measuring device 5 measures the relative positions θ _ba and r _ba between the moving body 3b and the moving body 3a as the second relative position. Here, θ _ab of the first relative position is the azimuth of the moving body 3b with respect to the measurement reference line L _m of the moving body 3a, and r _ab of the first relative position exists in the azimuth θ _ab from the moving body 3a. This is the distance to the moving body 3b. Similarly, θ _ba of the second relative position is the azimuth of the moving body 3a with respect to the measurement reference line L _m of the moving body 3b, and r _ba of the second relative position exists from the moving body 3b in the azimuth θ _ba . This is the distance to the moving body 3a.

Between the moving bodies 3b and 3c, the relative position measuring device 5 of the moving body 3b measures the relative positions θ _bc and r _bc between the moving body 3b and the moving body 3c as the first relative position, and the relative position of the moving body 3c. The measuring device 5 measures the relative positions θ _cb and r _cb between the moving body 3c and the moving body 3b as the second relative position. Here, θ _bc of the first relative position is the azimuth of the moving body 3c with respect to the measurement reference line L _m of the moving body 3b, and r _bc of the first relative position is present from the moving body 3b in the azimuth θ _bc . This is the distance to the moving body 3c. Similarly, θ _cb of the second relative position is the azimuth of the moving body 3b with respect to the measurement reference line L _m of the moving body 3c, and r _cb of the second relative position exists in the azimuth θ _cb from the moving body 3c. This is the distance to the moving body 3b.

Similarly, between the moving bodies 3c and 3d, the relative position measuring device 5 of the moving body 3c measures the relative positions θ _cd and r _cd between the moving body 3c and the moving body 3d as the first relative position, and the moving body 3d The relative position measuring device 5 measures the relative positions θ _dc and r _dc between the moving body 3d and the moving body 3c as the second relative position. Similarly, between the moving bodies 3d and 3a, the relative position measuring device 5 of the moving body 3d measures the relative positions θ _da and r _da between the moving body 3d and the moving body 3a as the first relative position, and the moving body 3a the relative position measuring device 5 measures the relative positions of the moving body 3a and the mobile 3d theta _ad, the _{r ad} as the second relative position.

  The relative position measured by each relative position measuring device 5 as described above is transmitted to the arithmetic device 7. In the present embodiment, the above-described relative positions measured by the relative position measuring device 5 provided in each moving body 3a, 3b, 3c, 3d are determined by the communication unit 9 (see FIG. 2) provided in the moving body. , And transmitted to the communication unit 11 (see FIG. 1) provided in the arithmetic unit 7. Thereby, the arithmetic unit 7 obtains each relative position.

Preferably, the relative position measuring device 5 of each moving body has a time measuring unit (not shown) that counts time. These time measuring units are synchronized with each other. The communication unit 9 of each moving body receives a measurement command and a command measurement time by wireless communication from a command unit (not shown), for example. Accordingly, the relative position measuring device 5 of the moving body can detect each relative position described above at the received command measurement time or within a minute elapsed time from the command measurement time based on the time indicated by the time measurement unit. Measure. In this way, the target relative position, the base point relative position, the first relative position, and the second relative position used by the arithmetic unit 7 to calculate the position P _t of the target 1 with respect to the base point P _s are the same. The time or data measured within a minute elapsed time from the same time.
Therefore, when at least one of the plurality of moving bodies 3a, 3b, 3c, and 3d is moving, the relative position measuring device 5 of the plurality of moving bodies 3a, 3b, 3c, and 3d is relative to the base point as described above. Even when the position, the target relative position, the first relative position, and the second relative position are measured, the arithmetic unit 7 based on these relative positions, as will be described later, the target with respect to the base point P _s . 1 position _{P t} can be accurately calculated. Accordingly, each relative position can be measured while moving so that the plurality of moving bodies follow the moving target 1.

Further, the relative position measuring device 5 for each mobile, the above-mentioned relative position measurement, and the mobile body, the target 1, the identification data indicating the relative position of the base point P _s or other mobile Generate. Each relative position measured by the relative position measuring device 5 of each moving body and identification data corresponding to the relative position are associated with each other and transmitted to the communication unit 11 of the arithmetic device 7 by the communication unit 9. Thereby, the arithmetic unit 7 uses each identification data when calculating the position P _t of the target 1 with respect to the base point P _s as described later.

<Calculation device>
The arithmetic unit 7 sets the target relative position, the base point relative position, and the relative positions (first relative position and second relative position) between the moving bodies 3a, 3b, 3c, and 3d received from each relative position measuring device 5. Based on this, the position P _t of the target 1 with respect to the base point P _s is calculated.
Therefore, an obstacle exists between the target 1 and the base point P _s, and the position P _t of the target 1 viewed from the base point P _s can be obtained geometrically even when the GPS device is not used. . In the present embodiment, preferably, the position of each moving body is not obtained by the GPS device.
The arithmetic unit 7, for example, may be provided in the vicinity of the base point P _s as shown in FIG. 1, one of the moving body 3a, 3b, 3c, may be provided to 3d.

In the example of FIGS. 1 and 3, the arithmetic unit 7 determines the target for the base point P _s based on a plurality of target relative positions, a plurality of base point relative positions, and a plurality of sets of first relative positions and second relative positions. 1 position _Pt is obtained. This makes it possible to determine the position P _t of the target 1 with respect to the base point P _s with high accuracy. Here, for convenience of explanation, each of one target relative position or a plurality of target relative positions is one measurement data, and one base relative position or each of the plurality of base relative positions is one measurement data. Each of the first relative position and the second relative position is taken as one measurement data. It is possible to geometrically obtain a plurality of positions of the target 1 with respect to the base point P _s from a plurality of types of sets obtained by selecting a part of all the plurality of obtained measurement data. it can. Therefore, preferably, the arithmetic unit 7 geometrically obtains a plurality of positions of the target 1 with respect to the base point P _s from a plurality of types of sets, and calculates an average of the obtained plurality of positions with respect to the base point P _s . This is calculated as the (final) position P _t of the target 1. For example, in FIG. 1, the arithmetic unit 7 determines the position of the target 1 with respect to the base point P _s obtained geometrically from the set of r _as , r _at , θ _at , θ _as, and θ _sa , r _bs, and r _bt. And the average of the position of the target 1 with respect to the base point P _s obtained geometrically from the set of θ _bt , θ _bs, and θ _sb is calculated as the (final) position P _t of the target 1 with respect to the base point P _s . To do. In this example, the final position P _t is obtained from the two sets. However, the calculation device 7 can arbitrarily calculate any number (for example, all) of the positions P _t of the target 1 with respect to the base point P _s . From these sets, a plurality of positions of the target 1 with respect to the base point P _s are geometrically obtained, and an average of these positions is calculated as the (final) position P _t of the target 1 with respect to the base point P _s . May be.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention. For example, any one of the following modification examples 1 to 6 may be employed alone, or modification examples 1 to 5 may be arbitrarily combined and employed. In this case, the points not described below are the same as described above.

[Modification 1]
Any of the following relative position acquisition methods 1 to 4 may be performed using a plurality of moving bodies. Note that this modified example partially overlaps with the above-described embodiment.

(Relative position acquisition method 1)
The relative position of the base point P _s (base relative position) a moving body measuring the relative position measuring device 5 (base point measurement mobile), in the case of measuring the relative position between the base point measurement mobile and other mobile The relative position measuring device 5 of the other moving body (target measuring moving body) measures the relative position between the target measuring moving body and the target 1, and the target position measuring moving body and the base point measuring moving body. The relative position measuring device 5 directly measures the relative positions of the moving bodies.

(Relative position acquisition method 2)
One mobile relative position measuring device 5 (base point measurement mobile), the relative position between the base point measurement mobile and base point P _s (the base relative position) is measured, another mobile (target measurement mobile ) Of the relative position measuring device 5 measures the relative position (target relative position) between the target measurement moving body and the target 1, as described below, another moving body (referred to as a relay moving body). ) May be used.
When one relay moving body is provided, the relative position measuring device 5 between the relay moving body and the base point measuring moving body directly measures the relative position between the moving bodies, and the relay moving body and the target The relative position measuring device 5 of the object measuring moving body directly measures the relative position between the moving bodies.
In the case where n is an integer of 2 or more and n relay moving bodies are provided, the relative position measuring device 5 of the first relay moving body and the base point measuring moving body has a relative position between the moving bodies. Are directly measured, and the relative position measuring device 5 of the first relay moving body and the second relay moving body directly measures the relative positions of the moving bodies, and (n -1) The relative position measurement device 5 of the nth relay moving body and the nth relay moving body directly measures the relative positions of the moving bodies, and the nth relay moving body and the target object are moved. The body relative position measuring device 5 directly measures the relative positions of the moving bodies.

Here, the relative position measuring apparatus 5 of each relay mobile, without measuring the relative position between the relay mobile and base point P _s, and measure the relative position between the relay mobile and target 1 You don't have to.

(Relative position acquisition method 3)
In the relative position acquisition method 1 or 2 described above, it is not necessary to use a moving body other than the moving body described above, and in addition to the above-described moving body (referred to as a basic moving body), a further moving body (referred to as an auxiliary moving body) It may be used. The basic mobile body is the above-described base point measurement mobile body, target measurement mobile body, or relay mobile body.
The relative position measuring device 5 of the support moving body and the support moving body to measure the relative position of the base point P _s or target 1, and the relative position measuring device of the auxiliary mobile member and one of the basic mobile 5 directly measures the relative positions of the moving bodies.

One auxiliary moving body or a plurality of auxiliary moving bodies may be provided. In the case of providing the plurality of support moving body, one first auxiliary mobile relative position measuring device 5, and the first unit of the auxiliary mobile, the relative position of the base point P _s or target 1 is measured In addition, the relative position measuring device 5 of the first auxiliary moving body and any one of the basic moving bodies directly measures the relative positions of the moving bodies, but each auxiliary unit after the second one the relative position measuring device 5 of the mobile (as additional support moving body) is provided with the additional support moving body, the relative position of the base point P _s or target 1 is measured, and the relative position measurement of the additional auxiliary mobile The relative position measuring device 5 of the device 5 and any one of the basic moving bodies or other auxiliary moving bodies (first auxiliary moving body or other additional auxiliary moving bodies) Measure directly.

(Relative position acquisition method 4)
When the relative position acquisition method 1, 2 or 3 mentioned above, may not be provided relative position measuring device 5 as the base point P _s.

Alternatively, if the relative position acquisition method 1, 2 or 3 described above, may be provided relative position measuring device 5 as the base point P _s. In this case, the relative position measuring apparatus 5 provided in the base point P _s, and the base point P _s, the moving body described above (reference point measuring mobile, target measurement mobile relay mobile auxiliary mobile, etc.) at least one of Measure the relative position of the heel.

(Processing of arithmetic unit)
In the case of performing the above-described relative position acquisition method 1, 2, 3 or 4, the computing device 7 obtains the position of the target 1 with respect to the base point P _s based on all the relative positions measured by the position acquisition method. . Here, all the relative positions include a reference relative position, a target relative position, and a relative position (first relative position and second relative position) between the moving bodies of each other.

In addition, according to the relative position acquisition methods 1 and 2, even if the target 1 is located far from the base point P _s or there is an obstacle that hinders measurement, one or more sets By measuring the first relative position and the second relative position of the set, even if each moving body does not have a device (for example, a GPS device) that measures its own absolute position, the target 1 with respect to the base point P _s it is possible to obtain the position P _t.

Further, according to the relative position acquisition method 3, since the measurement data of the relative positions is increased, measurement accuracy of the position P _t of the target 1 is improved relative to the base point P _s.

[Modification 2]
In FIG. 2, one relative position measuring device 5 is provided for each moving body. Preferably, however, a wide range of orientations when viewed from the mobile (e.g., all directions) in, as can be measured and the mobile, the target 1, the relative position of the base point P _s or other mobile, each The relative position measuring device 5 of the moving body is configured. For example, a plurality of relative position measuring devices 5 may be provided in each moving body. As a result, the plurality of relative position measuring devices 5 in one moving body each have a relative position between the moving body and a certain object (for example, another moving body), and another object (for example, a target). It becomes easy to measure the relative position with the object 1) at the same time.

For example, as shown in FIG. 4, one of two relative position measuring devices 5 (that is, the camera of the two sets of azimuth measuring units 5 a and the laser distance meter 5 b) provided on the moving body is the moving body. the relative position of the target 1 as a dedicated device for measurement and the other may as a dedicated device for measuring the relative position between the moving body and the other mobile or the base point P _s. 4A is a plan view of the moving body 3a, and FIG. 4B is a view taken along line BB in FIG. 4A. Other moving bodies 3b, 3c, and 3d may have the same configuration as in FIG.

In FIG. 4, each relative position measuring device 5 is installed on a support portion 8 that can rotate around a rotation axis (vertical axis in this example). In this case, the supporting portion 8, the relative position measuring apparatus 5 installed thereto, and the moving body, the target 1, as can be measured continuously the relative position of the base point P _s or other mobile The rotation angle of the support portion 8 around the rotation axis is controlled. For example, in the central portion of the image, so that the target object 1, the base point P _s or other moving body is located, the rotation angle of the support 8 is controlled.

Similarly, also the base point P _s, may be provided a plurality of relative position measuring device 5.

[Modification 3]
In the above description, the relative position measuring device 5 of each moving body measures each relative position described above at a command measurement time or within a minute elapsed time from the command measurement time. However, the present invention is not limited to this. Not. In other words, the relative position measuring devices 5 of the plurality of moving objects respectively change the base point relative position, the target object relative position, the first relative position, and the second relative position every moment (that is, at a plurality of time points). The measured relative position and the measured time of the relative position may be transmitted as measurement data to the communication unit 11 of the arithmetic device 7 by the communication unit 9.
In this case, the calculation device 7 uses the Bayes filter (preferably Kalman filter) based on the measurement data transmitted from the communication units 9 of the plurality of moving objects every moment to position the target 1 with respect to the base point P _s . the P _t may be updated from time to time. Thus, the arithmetic unit 7 can calculate the latest position of the target 1 with respect to the base point P _s.

  In the third modification, the communication unit 9 may not receive the command measurement time.

[Modification 4]
The base point P _s is assumed to be at the position of the launcher that fires the shell or at a known relative position with respect to the position of the launcher. When the shell is fired from the launching device toward the target 1 at the scheduled launch time, the calculation device 7 determines the position of the target 1 relative to the launching device at a future time when the shell reaches the target 1 as follows. Should be calculated. That is, the following processes X1, X2, and X3 are performed.

In process X1, arithmetic unit 7 calculates the plurality of time points, the position of the target 1 with respect to the base point P _s. This calculation may be performed by the following method 1 or method 2, for example.
(Method 1)
At a plurality of time points, at least one moving body relative position measuring device 5 measures a target relative position, at least one moving body relative position measuring device 5 measures a base point relative position, and a plurality of moving bodies. The relative position measuring device 5 measures the relative positions of the moving bodies. The computing device 7 is based on the target relative position measured at the plurality of time points, the base point relative position measured at the plurality of time points, and the relative positions of the moving bodies measured at the plurality of time points. , calculated at a plurality of time points, the position of the target 1 with respect to the base point P _s.
(Method 2)
In the above-described third modification, the arithmetic unit 7 uses a Bayes filter (preferably a Kalman filter) based on the measurement data transmitted from the communication units 9 of a plurality of mobile objects to the base point P _s . when updating the position P _t of the target 1 with time, has been updated by a plurality of time points, a plurality of position P _t of the target 1 with respect to the base point P _s, the target for the base point P _s at a plurality of time points It is good also as 1 position.

In processing X2, calculated by the processing X1, based on the position of the target 1 with respect to the base point P _s at a plurality of time points to calculate the moving velocity of the target 1 with respect to the base point P _s. Here, the moving speed means the direction in which the target 1 moves and the magnitude of the moving speed of the target 1.

In process X3, arithmetic unit 7, the movement velocity of the target 1 which is calculated by the processing X2, and scheduled launch time, on the basis of the position of the target 1 with respect to the base point P _s in scheduled launch time, munitions to target 1 The position of the target 1 with respect to the launching device at a future point in time at which is reached. When the base point P _s is in a known relative position with respect to the position of the launching device, the calculation device 7 further calculates the position of the target 1 with respect to the launching device at the future time point based on the known relative position. To do.

  Here, the scheduled launch time may be a time designated by a person using an appropriate input device. In this case, the designated scheduled launch time is stored in the storage unit of the arithmetic device 7. Instead, the scheduled launch time may be a time when a set time has elapsed from the time when the process X3 is performed. In this case, the set time is stored in the storage unit of the arithmetic device 7. In addition, the arithmetic unit 7 includes a time measuring unit that measures time or receives the measured time so that each time point can be recognized.

In addition, regarding the process X3, the position of the target 1 with respect to the launching device at the scheduled launch time is determined based on the moving speed of the target 1 calculated in the process X2 and the base point at any one of the plurality of times (preferably the latest time). Based on the position of the target 1 with respect to P _s, it may be calculated by the calculation device 7.

Further, in the process X3, the arithmetic unit 7 determines the characteristics of the shell (for example, weight, air resistance, launch speed, etc.) and the position of the target 1 with respect to the base point P _s (or launcher) at each time point after the scheduled launch time point. Based on the above, the position of the target 1 with respect to the launching device at a future time point when the shell reaches the target 1 may be calculated by simulation. Here, the position of the target 1 with respect to the base point P _s (or the launching device) at each time after the scheduled launch time is determined by the moving speed of the target 1 calculated in the process X2 and the target with respect to the base point P _s at the scheduled launch time. It may be calculated by the arithmetic unit 7 based on the position of 1.

[Modification 5]
Based on the position P _t of the target 1 with respect to the base point P _s calculated as described above (for example, the position of the target 1 with respect to the launch device at a future time), the firing of the shell by the launch device (for example, the firing direction) is performed. Adjusted to fire a shell from the launcher. Thereby, it can be confirmed by the target measurement moving body (for example, a camera provided on the target measurement moving body) whether or not the shell hits the target. The acquisition device 10 can acquire the position P _t of the target 1 with respect to the base point P _s again, and fire a cannonball again as described above.

[Modification 6]
In the above description, the base point relative position, the target object relative position, the first relative position, and the second relative position on the two-dimensional plane (the paper surface of FIGS. 1 and 3) are included in the two-dimensional plane, respectively. Measured as the orthogonal x-axis and y-axis coordinate values), the relative position of the base point, the relative position of the target, the first relative position, and the second relative position are relative positions in the three-dimensional space. Good.

DESCRIPTION OF SYMBOLS 1 Target object, 3a-3d moving body, 5 Relative position measuring device, 5a Direction measuring part 5b Distance measuring part (laser distance meter), 7 Arithmetic unit, 8 Support part, 9,11 Communication part, 10 Position acquisition apparatus, L _m measurement reference line, D _m measurement reference line direction, P _s base point, P _t target position

Claims (9)

A device for obtaining a position of a target relative to a base point,
A plurality of movable bodies movable relative to the base point and the target;
A relative position measuring device provided in each moving body,
The relative position measuring device of at least one moving body measures the relative position between the moving body and the target as the target relative position, and the relative position measuring device of at least one moving body is the distance between the moving body and the base point. The relative position is measured as the base point relative position, and the relative position measuring device of a plurality of moving bodies measures the relative position of each moving body,
A position acquisition apparatus, further comprising: an arithmetic unit that calculates a position of a target relative to a base point based on a target relative position, a base point relative position, and a relative position between moving bodies. The relative position measuring devices of the two moving bodies respectively measure the relative position between the moving body and the target as the target relative position, and determine the relative position between the moving bodies as the other moving bodies. Via indirect or direct measurement,
The relative position measuring device of at least one of the two moving bodies, the other moving body, and another moving body measures the relative position between the moving body and the base point as a base point relative position,
When the relative position measuring device of the other moving body measures the relative position between the moving body and the base point, the relative position measuring device of at least one of the two moving bodies and the other moving body; The relative position measuring device of the other moving body measures the relative position of the moving bodies with each other indirectly or directly via a further additional moving body,
2. The position according to claim 1, wherein the calculation device calculates a position of the target relative to the base point based on each target relative position, a base point relative position, and a relative position between the moving bodies. Acquisition device.   The other moving body measures the relative position between the other moving body and the target as the target relative position, and the arithmetic unit calculates the position of the target with respect to the base point based on the target relative position. The position acquisition device according to claim 2, wherein:   Among the two moving bodies, the other moving bodies, and the other moving bodies, the relative position measuring device for two or more moving bodies measures the relative position between the moving body and the base point as a base point relative position. The position acquisition device according to claim 2, wherein the calculation device calculates a position of the target with respect to the base point based on the relative position of each base point. The relative position measuring devices of the two moving bodies respectively measure the relative position between the moving body and the base point as the base point relative position, and the relative positions of the mutual moving bodies via the other moving bodies Measure indirectly or directly,
The relative position measuring device of at least one of the two moving bodies, the other moving body, and another moving body measures the relative position between the moving body and the target as a target relative position,
When the relative position measuring device of the other moving body measures the relative position between the moving body and the target, the relative position measuring device of at least one of the two moving bodies and the other moving body; The relative position measuring device of the other moving body measures the relative position of each moving body indirectly or directly via the additional additional moving body,
2. The position according to claim 1, wherein the calculation device calculates a position of the target relative to the base point based on the target relative position, each base point relative position, and the relative position of the moving bodies. Acquisition device. Among the plurality of moving bodies, a relative position measuring device for a first moving body measures a relative position between the moving body and a target as a target relative position, and a relative position measuring device for a second moving body is used. The relative position between the movable body and the base point is measured as the relative position of the base point, and the relative position measuring device for the first and second movable bodies determines the relative position between the movable bodies via the other movable body. Measure indirectly,
2. The position acquisition according to claim 1, wherein the calculation device calculates a position of the target relative to the base point based on the target relative position, the base point relative position, and the relative position of the moving bodies. apparatus. A relative position measuring device is provided at the base point, and the relative position measuring device measures a relative position between the base point and the moving body,
The position acquisition device according to claim 1, wherein the arithmetic device calculates the position of the target with respect to the base point based on the measured relative position. The base point is at the location of the launcher that fires the shell, or at a known relative position relative to the location of the launcher,
When launching a shell from a launcher at a scheduled launch,
The arithmetic unit is
Based on the relative position of the target measured at multiple points in time, the relative position of the base point, and the relative position of the moving objects, the position of the target with respect to the base point at multiple points in time is calculated.
Based on the calculated position of these targets, calculate the moving speed of the target relative to the base point,
Based on the calculated moving speed of the target, the scheduled launch time, and the position of the target with respect to the base point at the scheduled launch time, if the base point is at a known relative position with respect to the launcher position, then the known target The position acquisition device according to any one of claims 1 to 7, wherein the position of the target with respect to the launching device at a future time point when the bullet reaches the target is calculated based on the relative position. . A method for obtaining a position of a target relative to a base point,
Prepare a plurality of moving bodies that can move relative to the base point and the target, and provide a relative position measurement device for each moving body,
The relative position measuring device of at least one moving body measures the relative position between the moving body and the target as the target relative position, and the relative position measuring device of at least one moving body is the distance between the moving body and the base point. The relative position is measured as the base point relative position, and the relative position measuring device of a plurality of moving bodies measures the relative position of each moving body,
A position acquisition method, comprising: calculating a position of a target relative to a base point based on a target relative position, a base point relative position, and a relative position between moving objects.

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