539865539865
、發明說明〇) 么一本發明係有關無人水面載具的定位方法，尤其是利用 !緯儀測量載具的座標以定出載具位置者。 申請人獲准之本國專利公告第448 1 1 6號「自動導航鉦 水面载具」，揭示一種具有良好穩定性及安全性，可柊 配各種探測儀器，進行包括較淺區域之較廣範圍水域的探 ’則作業。該載具結合有GPS接收儀及Gps天線，可接收多顆 GPS衛星訊號，做為載具的定位之用。利用GPS衛星定位的 方法雖有其方便性，但當載具接近岸邊、或穿過橋樑時， 部分衛星訊號常會受到岸邊的凸出物或橋樑的阻擋，使載 具於該等地區無法接收足夠數量的GPS衛星定位訊號，而 無法定位。而該等區域往往是重要的探測區域，若缺乏載 具的定位資料即無法進行正確的探測紀錄。為解決上述載 具在部分區域無法利用GPS衛星定位之問題，經發明人1_ 再研究後，終完成本發明。 本發明的主要目的，在提供一種無人水面載具的定位 方法’係利用經緯儀測量載具的位置定出其座標，= 利用GPS衛星在部分區域無法定位之問題。 口 說明ί Ϊ明之其他目的、功效及實施例，冑參閱圖式詳細 圖式簡單說明： 圖1為5施本發明的結構示意圖。 圖2為實施本發明之流程圖。 2 0個人數位助理 主要部分代表符 10經緯儀 唬 539865 五、發明說明（2) 40載具 50 10 成 3〇菱鏡 導線 請參閱圖1所示，實施本發明之硬體架構包括經緯儀 攜帶型個人數位助理2 0 (或筆記型電腦）及菱鏡3 〇所組 該菱鏡30係置放載具40上之適當位置，而經緯儀1 〇以 ，線50連接攜帶型個人數位助理2〇。利用經緯儀1〇架設於 岸邊的一基準點上，並設定一基準方位；而後使經緯儀j 〇 發射光線，照射載具4〇之菱鏡3〇，並接收菱鏡3〇反射之光 線；計算經緯儀1 〇相較於基準方位的旋轉角度及光線射至 菱鏡30來回所需時間，以定菱鏡3〇相對於經緯儀1〇的方位 及距離，再結合基準點的經度、緯度及高度值，即可定出 載具40的經度、緯度及高度值。在海岸邊測量時，若利用 載具上的GPS接收儀接收GPS衛星訊號計算載具的高度時， 由於GPS係接收儀裝設於載具上，所測量的高度值會受潮 汐水位的影響，故需利用潮汐的水位值進行校正，才能 ，f具正確的高度值。而本發明係利用陸地上的基準點， 計异載具的高度值不受潮汐之影響，故不需利用潮汐的水 Ϊ彳Γ枚正本發明可直接取得載具的正確方位及高度 值。貫施本發明時，若經緯儀丨〇及菱鏡3〇之間受阻擋時， 將！!緯儀10變換另一不受阻擋的基準點，繼續進行_ 載具4 0的疋位作業。 请參閱圖2所示，實施本發明，包括如下步驟： 20 1使經緯儀對準載具上的菱鏡發射雷射射線，並接收 反射之光線； 539865 五、發明說明（3) 2 0 2使攜帶细個人數彳立狀田 ^ ^ 1 彳助理接收經緯儀傳送對準菱鏡所 方疋轉的角度（A )及、、目丨丨& 9ίη你推逃 ；及/則®邊菱鏡距離之資料（D ); —型個人數位助理利用A及D及經緯儀所在基準位 度、緯度及高度值，及一基準方位值計算載具 的經度、緯度及高度值； 2〇U帶型個人數位助理將載具的經度緯度及高度值 儲存於記憶體。 方杨ί發明利用經緯儀可正確的測量載具相對於經緯儀的 Μ，π，離，並利用攜帶型個人數位助理將該方位及距 户佶。己1經緯儀的位置資料轉換成載具的經度、緯度及高 二GPS?吏載具的移動路徑可獲得正確的記錄，+會發生利 Φ ^ . 位方法’在收不到足夠的GPS衛星訊號時即無 ^ ^間題。故在靠近岸邊及橋樑下之水域，皆能獲得 戰具正確的位置資料。 任何孰f所°己載者’僅為利用本發明技術内容之實施例， 本路本項技藝者運用本發明所為之修飾、變化’皆屬 發=所主張之專利範圍。 人扒欢^戶^述’本發明是載具定位方法上之一大創舉，已 口於發明專剌亜4 矛J要件’敬請早日賜准專利嘉惠社會。2. Description of the invention 0) The present invention relates to a positioning method of an unmanned surface vehicle, especially a person who uses a theodolite to measure the coordinates of the vehicle to determine the position of the vehicle. The applicant's approved national patent bulletin No. 448 1 16 "Automatic Navigation Water Surface Vehicle" reveals a type of instrument with good stability and safety, which can be equipped with various detection instruments to cover a wide range of waters including shallow areas. Explore 'homework. The vehicle combines a GPS receiver and a Gps antenna, and can receive multiple GPS satellite signals for positioning of the vehicle. Although the method of using GPS satellite positioning has its convenience, when the vehicle approaches the shore or crosses a bridge, some satellite signals are often blocked by the protrusions on the shore or the bridge, making it impossible for the vehicle to be used in these areas. Receive a sufficient number of GPS satellite positioning signals, but cannot locate. These areas are often important detection areas. Without the vehicle's positioning data, correct detection records cannot be made. In order to solve the above-mentioned problem that the vehicle cannot use GPS satellite positioning in some areas, the present invention was finally completed after further research by the inventor 1_. The main object of the present invention is to provide an unmanned surface vehicle positioning method ', which uses a theodolite to measure the position of the vehicle to determine its coordinates, = the problem that GPS satellites cannot be located in some areas.口 Explain the other purposes, functions and embodiments of the Ming, refer to the detailed drawings for a brief description of the drawings: Figure 1 is a schematic view of the structure of the present invention. FIG. 2 is a flowchart for implementing the present invention. 20 The representative of the main part of the personal digital assistant 10 Theodolite 539865 V. Description of the invention (2) 40 carrier 50 10 1030 Mirror wire Please refer to Figure 1. The hardware architecture for implementing the present invention includes a theodolite personal Digital assistant 20 (or laptop) and Ling Jing 30. The Ling Jing 30 series is placed on the appropriate position on the carrier 40, and the theodolite 10, line 50 is connected to the portable personal digital assistant 20. Use the theodolite 10 to set up a reference point on the shore and set a reference orientation; then make the theodolite j 〇 emit light, illuminate the diamond 40 of the carrier 40, and receive the light reflected by the diamond 30; calculation The rotation angle of the theodolite 10 compared to the reference azimuth and the time required for the light to travel back and forth to the diamond mirror 30. The position and distance of the diamond mirror 30 relative to the theodolite 10 are determined, combined with the longitude, latitude and height values of the reference point. , You can determine the longitude, latitude and height of the vehicle 40. When measuring at the coast, if the GPS receiver on the vehicle is used to receive GPS satellite signals to calculate the height of the vehicle, since the GPS receiver is installed on the vehicle, the measured height value will be affected by the tide level. Therefore, it is necessary to use the tide water level value for correction so that f has the correct height value. However, the present invention uses the reference point on the land, and the height value of different vehicles is not affected by the tide. Therefore, it is not necessary to use the tide water. The present invention can directly obtain the correct orientation and height value of the vehicle. When the present invention is implemented, if the theodolite and the mirror 3 are blocked, it will! ! The theodolite 10 changes another unobstructed reference point and continues the positioning operation of the vehicle 40. Please refer to FIG. 2 to implement the present invention, including the following steps: 20 1 Align the theodolite with a diamond mirror on the carrier to emit laser rays and receive reflected light; 539865 V. Description of the invention (3) 2 0 2 Carry a small number of people 彳 立 田田 ^ ^ 1 彳 The assistant receives the theodolite to transmit the angle (A) and the angle of rotation of the mirror to the side of the mirror, and you push away; and / or the distance of the side mirror Data (D); —type personal digital assistant uses A and D and the theodolite to locate the latitude, latitude and altitude values, and a reference azimuth value to calculate the latitude, longitude and altitude of the vehicle; 20U belt personal digital The assistant stores the latitude, longitude, and altitude values of the vehicle in memory. Fang Yanglong invented that using the theodolite can accurately measure the M, π, and distance of the vehicle relative to the theodolite, and using a portable personal digital assistant to position and distance the user. The position data of the 1 theodolite is converted into the latitude and longitude of the vehicle, and the movement path of the second-higher GPS? The vehicle can obtain a correct record, + will be beneficial Φ ^. Bit method 'When not enough GPS satellite signals are received That is, no ^ ^ between questions. Therefore, in the waters near the shore and under the bridge, the correct position data of the combat gear can be obtained. Anyone who owns the 'is only an embodiment using the technical content of the present invention, and the modifications and changes' made by the present artist using the present invention are within the scope of the claimed patent. Ren Jiahuan ^ household ^ description ‘The present invention is one of the pioneering methods of vehicle positioning method, and has been clarified in the“ Special 4 Elements of the Invention ”.