RU2486467C1 - Apparatus for measuring and recording spherical coordinates of remote object and method of determining spherical coordinates of remote object on location - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: apparatus has a laser range finder, an elevation angle sensor in a housing, an optical-electronic device and a collimating module. The optical-electronic device is in form of a digital camera and is rigidly attached to the collimating module, the laser range finder and the housing of the elevation angle sensor. Optical axes of the lens of the digital camera and the collimating module are parallel. The collimating module is in form of a microdisplay in its own holder, a lens and two mirrors mounted in the holder of an erecting system, all lying on the light beam path. The holder of the erecting system, the lens and the holder of the microdisplay are rigidly connected to each other.

EFFECT: broader functional capabilities of the viewing apparatus and method for its use, while reducing the size and increasing accuracy and reliability of measurement and recording with the possibility of determining spherical coordinates of an object from a position manually on location without interrupting the viewing of the object and the location.

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Description

The invention relates to the field of measuring equipment, in particular to geodesy and navigation, and can be used when performing search and rescue operations, for registering the coordinates of distant objects (ships, aircraft, etc.), while patrolling borders, surveying natural disaster areas and etc.

Known (see, for example, RF patent No. 2123165) is an optical laser system for aiming and ranging air targets. The system consists of a laser emitter with a pump unit and a radiation receiver, which are part of the optical tracking system, and a rangefinder channel, as well as a calculation unit. In this case, the sighting tracking system contains a mirror mounted rotatably, the position of which is determined by the signal generated by the calculation unit. A telescopic lens is used to reduce beam divergence.

The disadvantage of the system is its relatively narrow application - mainly for air-to-air missiles and, therefore, the inability to use objects from the ground to search and localize objects, both ground and air, in a specific coordinate system. In addition, the entire complex is quite complex and expensive.

A known optical-electronic target search and tracking system (RF patent No. 2155323), which contains a movable mirror with an angle sensor and drives, a spectro-splitting filter, a direction finding channel, which generates a mismatch signal between the optical axis of the system and the direction to the target, as well as transmitting and receiving laser channels. In the search mode, viewing the target space is carried out by a moving mirror according to the mismatch signals between the direction finding channel information and the external target designation system. The mismatch signal between the optical axis of the system and the direction to the target in two coordinates - azimuth and altitude is fed to the drives of the moving mirror, bringing the image of the target to the center of the field of view of the sensitive areas. Next, the transition to tracking and ranging mode.

The disadvantage of the system is the need to use complex expensive special optical systems.

A device for measuring spherical coordinates is known, comprising a laser range finder with a digital indicator and a unit for measuring the magnetic azimuth and pitch angle, in which the unit for measuring the magnetic azimuth and pitch angle is made in the form of two sensors of the corresponding angles mounted in a gimbal, each of which consists of a disk with an angle code and an optotronic coupler with a transmitter and receiver, the axis of the outer frame of the gimbal is mounted in the laser rangefinder housing parallel to the axis of the sight , on the outer frame along its axis there is an optocoupler pair of pitch angle sensors, covering the angle measuring disk, which is placed on the axis of the inner frame, which is the body of the magnetic compass mounted perpendicular to the axis of the outer frame with the center of mass offset, the optocoupler pair of magnetic azimuth sensors is placed on the inner frame, covering the angle measuring disk, which is the card of the magnetic compass, which is placed on the inner axis of the inner frame mounted perpendicular to the axis of the outer frame and externally inner frame axis, the angle sensor outputs are connected to corresponding additional inputs digital inductor (RF Patent №1827136).

The disadvantage of this technical solution is the low accuracy and reliability of the measurement due to the lack of accounting for changes in the position of the observer, as well as the low speed of the device and the information content of its output.

The closest technical solution to the proposed invention is a device for measuring the spherical coordinates of a remote object and a method for determining the coordinates of a remote object on the ground, containing an optoelectronic device, an indicator of the course and position of the observer, a strapdown inertial unit, an altimeter and a microprocessor. Moreover, the optoelectronic device, the laser range finder and the course indicator and observer positions are rigidly fastened together. The strapdown inertial block and altimeter are connected separately to the microprocessor inputs and are placed in the body of the course indicator and observer position. In addition, an indicator of the course indicator and the position of the observer and the object is introduced into it. The pointer is equipped with connectors for communication with this indicator, and an optoelectronic device (RF Patent No. 2381447).

The disadvantage of this device is the presence of a large number of components, in particular a unified seat, frames with a translucent plate and an additional indicator, etc., which leads to a decrease in the accuracy and reliability of the system as a whole, as well as to an increase in its dimensions and weight. The presence of a magnetometer (course indicator) in the system does not allow using it when exposed to strong magnetic fields. In addition, periodic instrument calibration is required.

The technical result of the invention is to expand the functionality of the monitoring device and the method of its application while reducing dimensions and improving the accuracy and reliability of measurement and registration with the ability to determine the spherical coordinates of the object from the “on hand” position on the ground without stopping monitoring of the object and terrain. It is also possible to save a digital photo and video image with recording the shooting time, observer coordinates and object coordinates.

The specified technical result is achieved by the fact that a collimating module is introduced into the device for measuring the spherical coordinates of a remote object, which contains a laser range finder, an elevation sensor in the housing, an optoelectronic device, and the optoelectronic device is made in the form of a digital camera and fastened firmly with a collimating a module, a laser rangefinder, and a housing for the elevation sensor so that the optical axes of the lens of the digital camera and the collimating module are parallel.

In addition, an information processing module based on a programmable logic circuit located in the housing of the elevation sensor is introduced into it, and a microdisplay that is connected to the information processing module is inserted into the collimating module.

In addition, a GPS / Glonass receiver is introduced into it, and a laser rangefinder, a GPS / Glonass receiver and an elevation sensor are connected separately to the inputs of the information processing module.

In addition, the collimating module can be made in the form of a microdisplay located along the light beam in its own frame, a lens and two mirrors mounted in the frame of the wrapping system, and the frame of the wrapping system, the lens and the microdisplay frame are rigidly interconnected.

For the method of determining the coordinates of a remote object on the terrain, the specified technical result is achieved by the fact that in the known method, which consists in measuring the coordinates of the observer, the distance to the object, calculating the coordinates of the object and visualizing them for the observer, an optical-electronic device is used as a meter for coordinates of the remote object with the possibility of fixing and processing data in the microprocessor, and when measuring the coordinates of the observer, the current position of the device is monitored autonomously For relative to the local horizon and course, with the simultaneous calculation of the coordinates of the remote object in the microprocessor of the optoelectronic device and their representation on the electronic image of the remote object.

In addition, the coordinates of a remote object are measured from one point of the observer's position, and the coordinates of a remote object are calculated in accordance with the dependencies:

where: φ _A , λ _A and H _A are the latitude, longitude and height of the observer’s device, respectively

φ _In , λ _In and N _In - respectively the latitude, longitude and height of the remote object,

α - elevation angle α,

β is the angle between the direction to the north pole and the direction to the object (course angle),

L is the distance from the observer to the remote object,

R _З = 6378.1 km - the radius of the Earth,

and the current results of the calculations are fixed on the electronic image of the remote object.

In addition, when taking measurements from three or more points, the observer’s position relative to the distant object is changed, the coordinates of the remote object are measured from at least three observer position points that are not lying on one straight line and located at a certain distance from each other, process information about the positions the observer during the survey - his coordinates, the elevation angle of the optical axis of the device and the distance to the object, after which the spherical coordinates of the observer's position points are transformed into a Cartesian system coordinates in which the coordinates of the distant object are calculated, which are then converted into spherical coordinates and displayed on the electronic image of the object.

In addition, the spherical coordinates (φ, λ, h) of the observer's position points are transformed into a Cartesian coordinate system in accordance with the dependencies

and the current results of the calculations are fixed on the electronic image of the remote object.

In the case of measuring the coordinates of a distant object from one point of the observer's position, the heading angle is calculated by changing the coordinates of the observer when the line of sight of the object coincides with the direction of movement, or using a heading angle sensor.

In the case of a change in the position of the observer relative to the remote object, when the coordinates of the remote object are measured from at least three points of the observer's position, not lying on one straight line and located at a certain distance from each other, i.e. in the case of a moving observer, he holds the crosshair of the aiming mark of the rangefinder, visible in the viewfinder of the camera on the object, moves and registers the image of the object several times (makes measurement) from several points. With each measurement of the distance to the object with a new position of the observer, the parameters of a new circle become known, the center of which is the position of the observer, and the radius is the projection of the inclined range. Next are the coordinates of the intersection points of the circles, if any. After three measurements, 6 intersection points of the circles (if any) are obtained, which can be divided into 2 groups. Of the two groups of points, one is selected in which the distance between the points is minimal. For the object’s coordinates, the average value of the coordinates of the intersection points of the group of circles in which the distance between the points is minimal is taken. Further, these coordinates are transformed into a spherical coordinate system and, through the collimating module, are entered into the camera lens. At the same time, to avoid ambiguity in determining the group of points, restrictions are imposed on the nature of the observer's movement — the survey points should not lie on one straight line and be located close to each other. The accuracy of determining the coordinates of the object is determined by the accuracy with which the observer holds the crosshair of the aiming mark of the range finder on the object during shooting.

The calculation of the course and position of the object is carried out by the information processing module.

Figure 1 shows a General view of a device for calculating the spherical coordinates of a remote object.

Figure 2 shows a functional diagram of a device for calculating the spherical coordinates of a remote object.

Figure 3 shows a General view of the collimating optical module.

Figure 4 shows the coordinate system used in the device to calculate the spherical coordinates of a remote object.

Figure 5 shows a diagram for determining the spherical coordinates of a remote object in the case of shooting an object from several points.

Figure 6 shows the definition of the points of intersection of circles.

Figure 1 shows the position:

1 - digital camera;

2 - laser range finder;

3 - collimating optical module;

4 - the case of the device with the information processing module and the elevation sensor;

Figure 2 shows:

5 - information processing module;

2 - laser range finder with elevation and heading angle sensors;

6 - object of observation;

1 - camera;

3 - collimating optical module;

7 - connectors for power and video signal supply to the collimating module;

8 - connector of the camera shutter activation connector;

9 - RS232 interface;

10 - elevation sensor based on NEMIP with AEE;

11 - heading angle sensor based on NEMIP with AEE;

12 - receiver of signals of satellite navigation GPS / Glonass;

13 - antenna receiver GPS / Glonass satellite navigation signals;

14 - power switch of the information processing module;

15 - switch "method for determining the coordinates of the object";

16 - switch "course angle determination mode";

17 - button "Setting 0 azimuth / new series of measurements";

18 - button "Measure".

The device comprises a laser range finder 2, rigidly connected to the digital camera 1. At the top there is a collimating optical module 3, which projects coordinate information onto the camera’s matrix. The information processing module 5 reads data from the range finder 2 and the elevation sensor 10, the GPS / Glonass 12 satellite navigation signal receiver calculates the coordinates of the remote object 6 and generates a video signal for the collimating module 3 with an alphanumeric representation of the observer's position information: geographical latitude, geographical longitude , elevation angle and height of the observer, as well as the parameters of the object of observation: geographical latitude, geographical longitude, distance to it and the time of observation. The object is selected by pointing the crosshair at it, fixing the position of the device and pressing the "Measurement" button.

The observer observes the image of object 6 against the background of the surrounding area. After the observer presses the “Measure” button 18, the laser range finder 2 calculates the distance to the object and transfers this distance to the information processing module 5. From the elevation sensor 10, the information processing module 5 through the interface 9 reads the elevation angle of the optical axis of the device from the sensor elevation angle 10. The switch 16 determines the method of calculating the course angle - either from the course angle sensor 11, if installed in the device, or from the GPS / Glonass receiver. The switch 17 determines the method by which the coordinates of the object are determined - the mode of single measurement, the mode of multiple measurements. At the beginning of a new measurement series, the observer presses the button 17, and in the case of a single measurement mode, pressing the button 17 sets the current elevation angle and course to 0. The spherical coordinates of the observer are determined by the GPS / Glonass 12 satellite navigation signal receiver, to which the antenna 13 is connected Next, the information processing module calculates the spherical coordinates of the object and transfers them to the collimating optical module 3 through connector 7. After the coordinate information is generated by the collimating optical mode Lemma 3 of the information processing module 5 sends a signal to the camera 1 through connector 8 to trigger the shutter of the camera.

Figure 3 shows a General view of the collimating optical module.

Figure 3 shows:

19 - microdisplay;

20 - frame microdisplay;

21 - lens;

22 - rim of the wrapping system;

23 - mirrors.

An image with coordinate information is formed on the microdisplay 19, which is transferred by the lens 21 to infinity. Further, after reflection from two mirrors 23 fixed in the frame 22, the image is flipped. The frame of the wrapping system 22, the lens 21 and the frame of the microdisplay 20 are rigidly interconnected. The rigid coupling of the collimating module with the laser rangefinder and the body of the elevation sensor so that the optical axes of the lens of the digital camera and the collimating module are parallel, improves the accuracy and reliability of measurement and recording with the ability to determine the spherical coordinates of the object from the “hand” position on the ground without stopping observation behind the object and the terrain.

The method for determining the spherical coordinates of a remote object on the ground is as follows.

The coordinates of a distant object on the ground as a result of a single measurement are practically carried out by the fact that the observer autonomously scans the terrain with an optical-electronic observational device with control and fixing at this moment the position of the device relative to the local horizon and course, its coordinates and the distance from the object to the observer, which enter the microprocessor, the coordinates of the object are calculated, stored and recorded on the electronic image of the object and the indicator.

In figure 4, point A indicates the position of the observer, point B is the position of the object. Point C is the projection of point B on the object’s parallel, point E is the projection of point C on the observer’s parallel, point D is the projection of point A on the object’s parallel. The direction of the reference angles shown in figure 4 by arrows.

Let the latitude φ _A , longitude λ _A and height H _{A of} point A, the distance L to point B, the angle β of the course (the angle between the direction to the north pole and the direction to the object), elevation angle α be known. Since the maximum measured range does not exceed 10 km, and at distances less than 10 km, replacing the arcs AC, AD, CE, AE by the tangents at point A, we make an error less than 1: 1,000,000 of the length of this arc, then to calculate longitude and latitude we will assume that points A, E, C, D are located on a plane normally located to the surface of the Earth. When measuring vertical distances, the curvature of the Earth cannot be neglected even at small horizontal distances between points.

The height of point B is calculated by the formula $${\text{H}}_{\text{AT}}={\text{H}}_{\text{BUT}}+\text{Lsin}\left(\text{α}\right)+\frac{\text{one}}{\text{2}}\frac{{\text{AC}}^{\text{2}}}{{\text{<figure-callout id="3" label="R" filenames="00000023.png" state="{{state}}">R</figure-callout>}}_{\text{3}}}.$$

Проекция расстояния L на наклонную плоскость вычисляется по формуле L_пр=AC=Lcos(α).The last term takes into account the deflection of the Earth $$\text{Δh}=\frac{\text{one}}{\text{2}}\frac{{\text{AC}}^{\text{2}}}{{\text{<figure-callout id="3" label="R" filenames="00000023.png" state="{{state}}">R</figure-callout>}}_{\text{3}}}.$$

Projection distance L on an inclined plane is calculated by the formula L _ave = AC = Lcos (α).

The latitude increment δφ = φ _B -φ _{A is} determined from the triangle ADO by the cosine theorem

где AD=AC·cos(β), R_З=6378.1 км - радиус Земли. $$\cos \left(\delta \phi \right)=\frac{2{\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)}^2-\mathrm{<figure-callout\; id="2"\; label="A\; D"\; filenames="00000023.png"\; state="\{\{state\}\}">A\; </figure-callout>}{D}^{}{}^2}{2{\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)}^2},$$

where AD = AC · cos (β), R _З = 6378.1 km is the radius of the Earth.

The longitude increment δλ = λ _B −λ _{A is} determined from the triangle APE by the cosine theorem

где AE=AC·sin(β). $$\cos \left(\delta \lambda \right)=\frac{2{\left(\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)\cos \left({\phi }_A\right)\right)}^2-\mathrm{<figure-callout\; id="2"\; label="A\; E"\; filenames="00000023.png"\; state="\{\{state\}\}">A\; </figure-callout>}{E}^{}{}^2}{2{\left(\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)\cos \left({\phi }_A\right)\right)}^2},$$

where AE = AC sin (β).

Depending on the range in which the value of the magnetic course β falls (see figure 4), the formulas for calculating the coordinates of a distant object are:

Thus, the derived formulas make it possible to calculate the coordinates of a remote observation object with a single measurement of the distance to the object.

The method of measuring the coordinates of a distant object on the ground as a result of several measurements is practically carried out by the fact that the observer moves relative to the object and measures from several points - a series of measurements that do not lie on one straight line and located at a certain distance from each other. After three or more measurements, it becomes possible to determine the spherical coordinates of the object, which are determined as a result of processing information about the observer's position during the survey - his coordinates, the elevation angle of the optical axis of the device and the distance to the object. In this case, the spherical coordinates of the measurement points are converted into a Cartesian coordinate system, in which the coordinates of the object are calculated, which are then converted to spherical. The calculated spherical coordinates are displayed on the electronic image of the object formed by the camera.

The value of the distance to the object l and the elevation angle α of the optical axis make it possible to find the projection of the inclined range onto the plane of the object that is tangent to the surface. Let the observer take measurements from several points on a certain section of the flight path, track the object, that is, the crosshair is held at the object and the distance to the object is measured. In Fig. 5, points A ', B', C 'are the projections of the points at which the distance to the object is measured. The projection value of the oblique range is calculated by the formula l _CR = l · cos (α), where α is the elevation angle of the optical axis of the device. As can be seen from Fig.6, the determination of the coordinates of the object is reduced to finding the point at which the circles intersect, of radius l _CR with the center at points A ', B', C '. The coordinates of the intersection of circles are most easily found in the Cartesian coordinate system, the axes of which are oriented so that the x axis is tangent to the parallel and directed toward increasing longitude, and the y axis is tangent to the meridian and directed towards increasing latitude. The height at which the object is located can be found immediately by the formula h _Ob = h _nab + lsin (α), where l is the inclined distance to the object, h _nab is the height at which the observer is located. At the beginning of a new series of measurements, the point of the current location of the observer is taken as the beginning of the Cartesian coordinate system. The coordinates of the intersection points of the circles will be calculated in this coordinate system. During the measurement, the navigation parameters become known: the current position of the observer (spherical coordinates, which are converted to Cartesian), the distance to the object and the elevation angle of the instrument axis. Let the spherical coordinates of the beginning of the Cartesian coordinate system be equal (φ ₀ , λ ₀ , h ₀ ), and the spherical coordinates of the observer at the moment of measuring the distance equal (φ, λ, h). The spherical coordinates of the observer (centers of circles) in the Cartesian coordinate system can be found by the formulas:

$$y=\{\begin{array}{c}\sqrt{2{\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)}^2\left(\mathrm{one}-\cos \left(\delta \phi \right)\right)}e\mathrm{from}l\mathrm{and}\delta \phi \ge 0\\ -\sqrt{2{\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)}^2\left(\mathrm{one}-\cos \left(\delta \phi \right)\right)}e\mathrm{from}l\mathrm{and}\delta \phi <0\end{array}$$

$$x=\{\begin{array}{c}\sqrt{2{\left(\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)\cos \left({\phi }_0\right)\right)}^2\left(\mathrm{one}-\cos \left(\delta \lambda \right)\right)}e\mathrm{from}l\mathrm{and}\delta \lambda \ge 0\\ -\sqrt{2{\left(\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)\cos \left({\phi }_0\right)\right)}^2\left(\mathrm{one}-\cos \left(\delta \lambda \right)\right)}e\mathrm{from}l\mathrm{and}\delta \lambda <0\end{array}$$

where δφ = φ-φ ₀ , δλ = λ-λ ₀ are the increments of the spherical coordinates.

With each measurement of the distance to the object with a new position of the observer, the parameters of the new circle become known. Next are the coordinates of the intersection points of the circles, if any. If more than two points have arrived, then it is necessary to check the conditions for the uniqueness of determining the group of intersection points of circles. To do this, find the angle between the lines connecting 3 points that do not lie on the same line, and compare it with a certain threshold (10 degrees). In addition, the distance between the points should not be less than a threshold equal to 200 meters. If both conditions are met, then you can calculate the coordinates of the object as the average value of the points of the group in which the object is located. At this stage, the coordinates of the object are calculated in a Cartesian coordinate system, the origin of which is located at a point with geographical coordinates λ0, φ0, h. Next, these coordinates are converted to spherical and the coordinate information is formed on the microdisplay. Next, the shutter of the camera is activated. During the shutter release, the observer should not move the crosshair of the aiming mark of the rangefinder from the object. Next, we consider an algorithm for determining the intersection points of circles. After 3 measurements, 6 intersection points of the circles (if any) are obtained, which can be divided into 2 groups (see Fig.6). From two groups of points, one is selected in which the distance between the points is minimal. The transformation of Cartesian coordinates to spherical is performed in the following sequence. First, the magnetic azimuth ψ is determined by the known coordinates x and y according to the following formula:

$$\psi =\{\begin{array}{c}\arctan \left(\frac{x}{y}\right),\text{if}\{\begin{array}{c}x\ge 0\\ y>0\end{array}\\ 90+\arctan \left(\frac{y}{x}\right),\text{if}\{\begin{array}{c}x>0\\ y\le 0\end{array}\\ 180+\arctan \left(\frac{x}{y}\right),\text{if}\{\begin{array}{c}x<0\\ y<0\end{array}\\ 270+\arctan \left(\frac{y}{x}\right),\text{if}\{\begin{array}{c}x<0\\ y>0\end{array}\end{array}$$

where x, y are the Cartesian coordinates of the object. Next, increments of latitude and longitude are calculated:

$$d\phi =\arccos \left(\mathrm{one}-\frac{\mathrm{one}}{2}{\left(\frac{l\cos \left(\psi \right)}{{\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A}\right)}^2\right)$$

$$d\lambda =\arccos \left(\mathrm{one}-\frac{\mathrm{one}}{2}{\left(\frac{l\cos \left(\psi \right)}{\left({\mathrm{<figure-callout\; id="3"\; label="R"\; filenames="00000023.png"\; state="\{\{state\}\}">R</figure-callout>}}_3+H_A\right)\cos \left({\phi }_0\right)}\right)}^2\right)$$

Depending on the sign of the increments dφ and dλ, the latitude and longitude of the object are calculated using the following formulas:

$$\phi =|\begin{array}{l}{\mathrm{<figure-callout\; id="0"\; label="\phi "\; filenames="00000025.png,00000026.png"\; state="\{\{state\}\}">\phi </figure-callout>}}_0+d\phi \text{at}\left(\text{90}\ge \psi \ge \text{0}\right)\text{or}\left(\text{270}\ge \psi >\text{360}\right)\\ {\phi }_0-d\phi \text{at}\left(\text{180}\ge \psi >\text{270}\right)\end{array}$$

$$\lambda =|\begin{array}{c}{\mathrm{<figure-callout\; id="0"\; label="\lambda "\; filenames="00000025.png,00000026.png"\; state="\{\{state\}\}">\lambda </figure-callout>}}_0+d\lambda \text{at 180}\ge \lambda \ge \text{0}\\ {\lambda }_0-d\lambda \text{at 180}>\lambda >\text{360}\end{array}$$

Thus, the achievement of the technical result of inventions is achieved in the form of improving the accuracy and reliability of measurement, expanding the functionality and increasing the speed of the device while ensuring the reading of the spherical coordinates of the object from the “from hand” position without stopping the observation of the object and terrain. It is also possible to save a digital image with recording the shooting time, observer coordinates, object coordinates, range to the object.

Claims (5)

1. A device for measuring and recording the spherical coordinates of a remote object, containing a laser range finder, an elevation sensor in the housing, an optical-electronic device, characterized in that a collimating module is inserted into it, and the optical-electronic device is made in the form of a digital camera and is rigidly fixed with a collimating module, a laser range finder and a housing for the elevation sensor so that the optical axes of the lens of the digital camera and the collimating module are parallel, and the collimating module itself is designed as along the light beam of the microdisplay in its own frame, the lens and two mirrors fixed in the frame of the wrapping system, the rim of the wrapping system, the lens and the microdisplay frame are rigidly interconnected. 2. The device according to claim 1, characterized in that an information processing module based on a programmable logic circuit located in the housing of the elevation sensor is inserted into it, and a microdisplay that is connected to the information processing module is inserted into the collimating module. 3. The device according to claim 1, characterized in that a GPS / Glonass receiver is inserted into it, the laser range finder, the GPS / Glonass receiver and the elevation sensor are connected separately to the inputs of the information processing module. 4. A method for determining the spherical coordinates of a remote object on the ground, which consists in measuring the coordinates of the observer, the distance to the object, calculating the coordinates of the object and visualizing them for the observer, using an optical-electronic device as a measuring instrument for the coordinates of a remote object with the possibility of fixing and processing data in a microprocessor , autonomous control when measuring the observer's coordinates of the current position of the observer’s device relative to the local horizon and course with simultaneous subtraction by collecting the coordinates of a distant object in a microprocessor of an optoelectronic device, characterized in that they measure the coordinates of a distant object from at least three observer positions that are not lying on one straight line and located at a certain distance from each other, process information about the coordinates in the microprocessor , the angle of the optical axis of the instrument and the distance to the object for these observer position points during shooting, after which the spherical coordinates of the observer position points are converted into artov coordinate system in which the remote entity calculates coordinates, which are then converted into spherical coordinates and displayed on an electronic image of the object. 5. The method according to claim 4, characterized in that the spherical coordinates (φ, λ, h) of the observer's position points are transformed into a Cartesian coordinate system in accordance with the dependencies
$$y=\{\begin{array}{c}\sqrt{2{\left(R_3+H_A\right)}^2\left(\mathrm{one}-\cos \left(\delta \varphi \right)\right)}e\mathrm{from}l\mathrm{and}\delta \varphi \ge 0\\ -\sqrt{2{\left(R_3+H_A\right)}^2\left(\mathrm{one}-\cos \left(\delta \varphi \right)\right)}e\mathrm{from}l\mathrm{and}\delta \varphi <0\end{array}$$

$$x=\{\begin{array}{c}\sqrt{2{\left(\left(R_3+H_A\right)\cos \left({\varphi }_0\right)\right)}^2\left(\mathrm{one}-\cos \left(\delta \lambda \right)\right)}e\mathrm{from}l\mathrm{and}\delta \lambda \ge 0\\ -\sqrt{2{\left(\left(R_3+H_A\right)\cos \left({\varphi }_0\right)\right)}^2\left(\mathrm{one}-\cos \left(\delta \lambda \right)\right)}e\mathrm{from}l\mathrm{and}\delta \lambda <0\end{array}$$

where N _A is the height of the observer’s device,
φ ₀ , λ ₀ , h ₀ - spherical coordinates of the beginning of the Cartesian coordinate system,
δφ = φ-φ ₀ , δλ = λ-λ ₀ - increments of spherical coordinates,
R ₃ = 6378.1 km - the radius of the Earth,
after which the Cartesian coordinates x and y of the remote object are calculated, and to convert the Cartesian coordinate system to spherical coordinates, the magnetic azimuth ψ is first determined from the known x and y coordinates of the remote object using the following formula:
$$\psi =\{\begin{array}{c}\arctan \left(\frac{x}{y}\right),\text{if}\{\begin{array}{c}x\ge 0\\ y>0\end{array}\\ 90+\arctan \left(\frac{y}{x}\right),\text{if}\{\begin{array}{c}x>0\\ y\le 0\end{array}\\ 180+\arctan \left(\frac{x}{y}\right),\text{if}\{\begin{array}{c}x<0\\ y<0\end{array}\\ 270+\arctan \left(\frac{y}{x}\right),\text{if}\{\begin{array}{c}x<0\\ y>0\end{array}\end{array}$$

then the increments of latitude dφ and longitude dλ are calculated from the dependencies
$$d\varphi =\arccos \left(\mathrm{one}-\frac{\mathrm{one}}{2}{\left(\frac{l\cos \left(\psi \right)}{R_3+H_A}\right)}^2\right)$$

$$d\lambda =\arccos \left(\mathrm{one}-\frac{\mathrm{one}}{2}{\left(\frac{l\cos \left(\psi \right)}{\left(R_3+H_A\right)\cos \left({\varphi }_0\right)}\right)}^2\right)$$

and taking into account the sign of the increments dφ and dλ, the spherical coordinates of the remote object are calculated using the following formulas:
$$\varphi =|\begin{array}{c}{\varphi }_0+d\varphi \text{at}\left(\text{90}\ge \psi \ge \text{0}\right)\text{or}\left(\text{270}\ge \psi >\text{360}\right)\\ {\varphi }_0-d\varphi \text{at}\left(\text{180}\ge \psi >\text{270}\right)\end{array}$$

$$\lambda =|\begin{array}{c}{\lambda }_0+d\lambda \text{at 180}\ge \lambda \ge \text{0}\\ {\lambda }_0-d\lambda \text{at 180}>\lambda >\text{360}\end{array}$$

and the current results of the calculations are fixed on the electronic image of the remote object.

Images