WO2016070796A1 - Method and device for obtaining target position information - Google Patents

Method and device for obtaining target position information Download PDF

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Publication number
WO2016070796A1
WO2016070796A1 PCT/CN2015/093710 CN2015093710W WO2016070796A1 WO 2016070796 A1 WO2016070796 A1 WO 2016070796A1 CN 2015093710 W CN2015093710 W CN 2015093710W WO 2016070796 A1 WO2016070796 A1 WO 2016070796A1
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Prior art keywords
target
reference point
tested
position information
according
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PCT/CN2015/093710
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French (fr)
Chinese (zh)
Inventor
吴球
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邦彦技术股份有限公司
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Priority to CN201410614135.7A priority Critical patent/CN104457736A/en
Priority to CN201410614135.7 priority
Application filed by 邦彦技术股份有限公司 filed Critical 邦彦技术股份有限公司
Publication of WO2016070796A1 publication Critical patent/WO2016070796A1/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00Measuring distances in line of sight; Optical rangefinders
    • G01C3/10Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00

Abstract

A method and a device for obtaining target position information, the method comprising: step S1: obtaining the position information of a reference point; step S2: measuring the azimuth angle and elevation angle from the reference point to a target to be measured; step S3: obtaining the linear distance from the reference point to the target to be measured; step S4: calculating the relative position information from the reference point to the target to be measured; step S5: calculating the position information of the target to be measured; step S6: transmitting the position information of the target to be measured to an application device. The present method and device have the following advantages: the position information of a target can be quickly obtained in real time even when the target to be measured has no positioning apparatus (or when the position information cannot be internally obtained from the target); the target to be measured does not detect that the measuring party is obtaining position information. The present method and device have wide application in the field of measuring target position information.

Description

Method and device for acquiring target location information Technical field

The present invention relates to the field of target location information measurement, and in particular, to a method and apparatus for acquiring target location information.

Background technique

The target position information plays an important role in the fields of positioning, navigation, measurement, etc. The current target position information is mainly obtained by the positioning device built in the target to be tested, such as GPS, Beidou locator, or various wireless signal-based positioning devices. Location location and location information acquisition, but the location information is not available to the target without the positioning device. Generally, the location information can only be obtained through on-site measurement and calculation, and the location information cannot be obtained quickly and automatically, and real-time performance cannot be achieved. Applications that require high levels of inability to be perceived by the target, such as enemy target location information detection, reporting, and location information for third-party strikes. Therefore, it is necessary to develop a method and apparatus for acquiring target location information with high concealment and high real-time performance.

Summary of the invention

In order to solve the above technical problems, an object of the present invention is to provide a method of acquiring target location information.

Another object of the present invention is to provide an apparatus for acquiring target location information.

The technical solution adopted by the present invention is: a method for obtaining target location information, including:

Step S1: acquiring location information of the reference point;

Step S2: measuring the elevation angle and the azimuth angle of the reference point to the target to be tested;

Step S3: acquiring a linear distance from the reference point to the target to be tested;

Step S4: calculating relative position information of the reference point to the target to be tested according to the height angle of the reference point to the target to be measured, the azimuth angle, and the straight line distance of the reference point to the target to be tested;

Step S5: calculating position information of the target to be tested according to the position information of the reference point and the relative position information of the reference point to the target to be tested;

Step S6: transmitting the location information of the target to be tested to the application device.

Further, the position information (x1, y1, h1) of the reference point in the step S1 is acquired by the positioning device, wherein x1 represents longitude, y1 represents latitude, and h1 represents altitude.

Further, the step S3 is specifically: selecting a test point, forming a triangle with the object to be tested, the reference point, and the test point as three vertices; calculating a linear distance L of the reference point to the target to be tested according to the following formula: L=e/(cosD+sinD*(cosC/sinC))

Where e is the linear distance between the reference point and the test point, C and D are the two internal angles on the side of the reference point and the test point in the triangle, and C is formed by the two sides of the reference point in the triangle. The angle, D is the angle formed by the two sides of the test point in the triangle.

Further, the step S4 is specifically: calculating the relative position information (Δx, Δy, Δh) of the reference point to the object to be tested according to the corner relationship of the triangle and the conversion relationship between the latitude and longitude and the distance according to the following formula:

Δx=L*cosA*cosB/(cosy1*111km);

Δy=L*cosA*sinB/(111km);

Δh=L*sinA;

Where A is the height angle of the reference point to the target to be tested, B is the azimuth angle of the reference point to the target to be tested, L is the linear distance of the reference point to the target to be tested, and y1 is the latitude of the reference point.

Further, the step S5 is specifically: calculating position information (x2, y2, h2) of the target to be tested according to the following formula:

X2=x1+Δx; y2=y1+Δy; h2=h1+Δh.

Another technical solution adopted by the present invention is: an apparatus for acquiring target location information, including:

a first obtaining unit: acquiring location information of the reference point;

a second acquiring unit: for measuring a height angle and an azimuth of the reference point to the target to be tested;

a third obtaining unit: a linear distance for obtaining a reference point to the target to be tested;

a first calculating unit: configured to calculate relative position information of the reference point to the target to be tested according to the height angle of the reference point to the target to be measured, the azimuth angle, and the straight line distance of the reference point to the target to be tested;

a second calculating unit: configured to calculate position information of the target to be tested according to the position information of the reference point and the relative position information of the reference point to the target to be tested;

The transmission unit is configured to transmit the location information of the target to be tested to the application device.

Further, position information (x1, y1, h1) of the reference point in the first acquiring unit is acquired by using a positioning device, wherein x1 represents longitude, y1 represents latitude, and h1 represents altitude.

Further, the third acquiring unit is specifically configured to: select a test point, and form a triangle by using the object to be tested, the reference point, and the test point as three vertices; Calculate the straight line distance L from the reference point to the target to be tested: L=e/(cosD+sinD*(cosC/sinC))

Where e is the linear distance between the reference point and the test point, C and D are the two internal angles on the side of the reference point and the test point in the triangle, and C is formed by the two sides of the reference point in the triangle. The angle, D is the angle formed by the two sides of the test point in the triangle.

Further, the first calculating unit is specifically configured to: according to a corner relationship of the triangle and a conversion relationship between the latitude and longitude and the distance, calculate relative position information (Δx, Δy, Δh) of the reference point to the object to be tested according to the following formula:

Δx=L*cosA*cosB/(cosy1*111km);

Δy=L*cosA*sinB/(111km);

Δh=L*sinA;

Where A is the height angle of the reference point to the target to be tested, B is the azimuth angle of the reference point to the target to be tested, L is the linear distance of the reference point to the target to be tested, and y1 is the latitude of the reference point.

Further, the second calculating unit is specifically configured to: calculate position information (x2, y2, h2) of the target to be tested according to the following formula:

X2=x1+Δx; y2=y1+Δy; h2=h1+Δh.

The first beneficial effect of the present invention is:

The method for acquiring target position information according to the present invention, on the basis of obtaining the position information of the reference point, is to measure the measured object by using the covert measurement means, and obtain the relative position information of the measurer to the measured object, which is quickly calculated by the position real-time calculation. Obtain the absolute position information of the target to be measured. Under the condition that the target is not equipped with any positioning device (or the position information cannot be obtained from the target), the target position information can be quickly obtained in real time, and the target position is measured. The target does not perceive the measurer to obtain the location information; meet the requirements of the positioning application that requires real-time and concealability, such as target location information detection, reporting, and combat applications. In addition, by calculating the distance from the two observation points and the angle between the two observation points to the target point, the distance from the reference point to the target is calculated, and it is not necessary to use a test method such as a laser range finder that can be found by the target to be measured. To achieve covert measurement.

Another beneficial effect of the present invention is:

The invention provides a device for acquiring target position information, and provides an integrated device for positioning, measuring and calculating for a measurer, thereby realizing acquisition of the target information, the concealed, fast and real-time positioning information.

DRAWINGS

The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings:

1 is a schematic flow chart of a method for acquiring target location information according to the present invention;

2 is a schematic diagram of measuring a distance L from a reference point to a target to be tested in the method of the present invention;

3 is a schematic diagram of measurement of a reference point to a target to be tested in the method of the present invention;

4 is a schematic structural diagram of an apparatus for acquiring target location information according to the present invention.

detailed description

The principles and features of the invention are described below in conjunction with the accompanying drawings, which are intended to illustrate the invention and not to limit the scope of the invention.

FIG. 1 is a method for obtaining target location information according to the present invention. As shown in FIG. 1 , a method for obtaining target location information according to the present invention includes:

Step S1: Selecting a reference point to obtain location information of the reference point, which is The body measures the position information (x1, y1, h1) of the reference point by the positioning device provided by the reference point, wherein x1 represents longitude, y1 represents latitude, and h1 represents altitude.

Step S2: measuring the height angle and the azimuth angle of the reference point to the target to be tested; (height angle: the angle between the direction line from the point to the observation target and the water plane, the direction line is called the "elevation angle" above the water level, below It is called “pitch angle”; the azimuth angle is also called the horizontal flat longitude, which is the horizontal angle between the clockwise direction and the target direction line from the north direction line of a certain point);

Step S3: Obtain a straight line distance from the reference point to the target to be tested. In this embodiment, FIG. 2 is a schematic diagram of the distance from the reference point to the target to be measured in the method of the present invention; as shown in FIG. 2, Obtain the distance L from the reference point to the target to be tested. In addition to the reference point, take a test point and form a triangle with the three targets at the target, reference point and test point. By following the angle relationship of the triangle, follow the following points: The formula calculates the straight line distance L from the reference point to the target to be tested:

L=e/(cosD+sinD*(cosC/sinC))

Where e is the linear distance between the reference point and the test point, C and D are the two internal angles on the side of the reference point and the test point in the triangle, C is the angle formed by the two sides of the reference point in the triangle, and D is a triangle The angle formed by the two sides of the middle test point. In the present embodiment, the straight line distance e between the C, D angle and the reference point to the test point in FIG. 2 is measured by the measurer through a comprehensive measuring instrument with GPS ranging and azimuth measurement.

Step S4: calculating relative position information of the reference point to the object to be tested according to the height angle, the azimuth angle of the reference point to the target to be tested, and the straight line distance of the reference point to the object to be tested; FIG. 3 is a reference point in the method of the present invention. Schematic diagram of the target to be measured, as shown in Figure 3, with the reference point as the origin, along the longitude direction as the x-axis, along the latitude direction as the y-axis, along the altitude The direction is the z-axis to establish a space rectangular coordinate system. In Figure 3, the linear distance L, the elevation angle A, the azimuth angle B of the reference point to the measured object, and the relative position of the reference point to the measured object (Δx, Δy, Δh are identified. ). The relative position information of the reference point to the target to be tested is calculated according to the corner relationship of the triangle and the conversion relationship between the latitude and longitude and the distance.

First, according to the corner relationship of the triangle, the relative distance value (a, b, c) of the reference point to the measured object can be calculated:

a=L*cosA*cosB;

b=L*cosA*sinB;

c=L*sinA.

Where a is the distance from the reference point to the target in the longitude direction, b is the distance from the reference point to the target in the latitude direction, and c is the relative altitude of the reference point to the target to be tested;

Since the distance corresponding to each longitude on the latitude line is about 111kmCOSy, where y is the latitude, the distance on the latitude line is a. The conversion formula for the longitude difference is Δx'=a/111km*COSy (degrees); the distance on the longitude line is b corresponding latitude difference conversion formula is Δy' = b / (111km) (degrees);

Therefore, the relative position information (Δx, Δy, Δh) of the reference point to the target to be tested can be calculated according to the following formula:

Δx=a/(cosy1*111km);

Δy=b/(111km);

Δh=c;

which is:

Δx=L*cosA*cosB/(cosy1*111km);

Δy=L*cosA*sinB/(111km);

Δh=L*sinA.

Where y1 is the latitude of the reference point. In this embodiment, the measurer carries an integrated measuring instrument with GPS ranging and azimuth measurement, and measures the elevation angle A and the azimuth angle B.

Step S5: Calculating the position information (x2, y2, h2) of the target to be tested according to the position information of the reference point and the relative position information of the reference point to the target to be tested. In this embodiment, the specific calculation is performed according to the following formula: Location information:

X2=x1+Δx; y2=y1+Δy; h2=h1+Δh;

Step S6: transmitting the location information of the target to be tested to the application device.

The method of the invention calculates the distance from the reference point to the target by the distance between the two observation points and the angle between the two observation points to the target point, and does not need to be found by the target to be measured, such as a laser range finder. The testing method realizes covert measurement, and the current device for measuring azimuth and distance is very popular. Generally, the mobile intelligent terminal is configured, and the method of the present invention can be combined with the strong processing capability of the intelligent terminal to realize real-time measurement data. Perform calculations to obtain the final result and transmit the result to a third party or application device through the network. The third party or the application device can also obtain the location information of the measured target in real time; in practice, it can be applied to the detection and reporting of the target location information of the hostile target. Provide location information for third-party strikes. The method of the invention has the advantages of simple implementation and high use value.

4 is a schematic structural diagram of an apparatus for acquiring target location information according to the present invention. As shown in FIG. 4, the apparatus for acquiring target location information includes:

a first acquiring unit: location information for acquiring a reference point; passing in this embodiment The positioning device acquires position information (x1, y1, h1) of the reference point, wherein x1 represents longitude, y1 represents latitude, and h1 represents altitude.

a second acquiring unit: for measuring a height angle and an azimuth of the reference point to the target to be tested;

The third obtaining unit is configured to: obtain a straight line distance from the reference point to the target to be tested; and the third acquiring unit is specifically configured to: select a test point, and form a triangle by using the object to be tested, the reference point, and the test point as three vertices; The formula calculates the linear distance L from the reference point to the target to be measured: L=e/(cosD+sinD*(cosC/sinC)); where e is the linear distance between the reference point and the test point, and C and D are the reference points in the triangle. With the two inner corners on the side of the test point, C is the angle formed by the two sides of the reference point in the triangle, and D is the angle formed by the two sides of the test point in the triangle.

The first calculating unit is configured to calculate relative position information of the reference point to the target to be tested according to the height angle of the reference point to the target to be measured, the azimuth angle, and the straight line distance of the reference point to the target to be tested, specifically according to the edge relationship of the triangle And the conversion relationship between latitude and longitude and distance, calculate the relative position information (Δx, Δy, Δh) of the reference point to the target to be tested according to the following formula: Δx=L*cosA*cosB/(cosy1*111km); Δy=L*cosA* sinB/(111km); Δh=L*sinA; where A is the elevation angle of the reference point to the target to be measured, B is the azimuth angle of the reference point to the target to be tested, and L is the linear distance from the reference point to the target to be tested. Y1 is the latitude of the reference point.

The second calculating unit is configured to calculate the position information of the target to be tested according to the position information of the reference point and the relative position information of the reference point to the target to be tested. In this embodiment, the position information of the target to be tested is calculated according to the following formula: :x2=x1+Δx; y2=y1+Δy; h2=h1+Δh;

The transmission unit is configured to transmit the location information of the target to be tested to the application device.

The device of the invention realizes the acquisition of the positioning target, the concealed, the fast and the real-time positioning information by providing the positioning, measuring and calculating integrated device to the measuring person.

The above is a detailed description of the preferred embodiments of the present invention, but the present invention is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the invention. Such equivalent modifications or alternatives are intended to be included within the scope of the claims.

Claims (10)

  1. A method for obtaining target location information, comprising:
    Step S1: acquiring location information of the reference point;
    Step S2: measuring the elevation angle and the azimuth angle of the reference point to the target to be tested;
    Step S3: acquiring a linear distance from the reference point to the target to be tested;
    Step S4: calculating relative position information of the reference point to the target to be tested according to the height angle of the reference point to the target to be measured, the azimuth angle, and the straight line distance of the reference point to the target to be tested;
    Step S5: calculating position information of the target to be tested according to the position information of the reference point and the relative position information of the reference point to the target to be tested;
    Step S6: transmitting the location information of the target to be tested to the application device.
  2. The method for acquiring target position information according to claim 1, wherein the position information (x1, y1, h1) of the reference point in the step S1 is acquired by using a positioning device, wherein x1 represents longitude and y1 represents latitude. H1 represents altitude.
  3. The method for obtaining target location information according to claim 2, wherein the step S3 is specifically: selecting a test point, and forming a triangle by using the object to be tested, the reference point, and the test point as three vertices; Calculate the linear distance L of the reference point to the target to be tested according to the following formula:
    L=e/(cosD+sinD*(cosC/sinC))
    Where e is the linear distance between the reference point and the test point, C and D are the two internal angles on the side of the reference point and the test point in the triangle, and C is formed by the two sides of the reference point in the triangle. The angle, D is the angle formed by the two sides of the test point in the triangle.
  4. The method for acquiring target position information according to claim 3, wherein the step S4 is specifically: calculating a reference point to the target to be tested according to the corner relationship of the triangle and the conversion relationship between the latitude and longitude and the distance according to the following formula Relative position information (△x, △y, △h):
    △x=L*cosA*cosB/(cosy1*111km);
    Δy=L*cosA*sinB/(111km);
    △h=L*sinA;
    Where A is the height angle of the reference point to the target to be tested, B is the azimuth angle of the reference point to the target to be tested, L is the linear distance of the reference point to the target to be tested, and y1 is the latitude of the reference point.
  5. The method for acquiring target location information according to claim 4, wherein the step S5 is specifically: calculating location information (x2, y2, h2) of the target to be tested according to the following formula:
    X2=x1+Δx; y2=y1+Δy; h2=h1+Δh.
  6. An apparatus for acquiring target location information, comprising:
    a first obtaining unit: acquiring location information of the reference point;
    a second acquiring unit: for measuring a height angle and an azimuth of the reference point to the target to be tested;
    a third obtaining unit: a linear distance for obtaining a reference point to the target to be tested;
    a first calculating unit: configured to calculate relative position information of the reference point to the target to be tested according to the height angle of the reference point to the target to be measured, the azimuth angle, and the straight line distance of the reference point to the target to be tested;
    Second calculation unit: for position information and reference points according to the reference point to the object to be measured Calculating the position information of the target to be tested by the relative position information of the target;
    The transmission unit is configured to transmit the location information of the target to be tested to the application device.
  7. The device for acquiring target position information according to claim 6, wherein the position information (x1, y1, h1) of the reference point in the first acquiring unit is acquired by using a positioning device, wherein x1 represents longitude and y1 represents Latitude, h1 represents altitude.
  8. The apparatus for acquiring target location information according to claim 7, wherein the third obtaining unit is specifically configured to: select a test point, and form the target, the reference point, and the test point into three vertices. a triangle
    Calculate the linear distance L of the reference point to the target to be tested according to the following formula:
    L=e/(cosD+sinD*(cosC/sinC))
    Where e is the linear distance between the reference point and the test point, C and D are the two internal angles on the side of the reference point and the test point in the triangle, and C is formed by the two sides of the reference point in the triangle. The angle, D is the angle formed by the two sides of the test point in the triangle.
  9. The apparatus for acquiring target position information according to claim 8, wherein the first calculating unit is specifically configured to calculate a reference point according to a corner relationship of the triangle and a conversion relationship between the latitude and longitude and the distance according to the following formula: Relative position information of the target to be measured (△x, △y, △h):
    △x=L*cosA*cosB/(cosy1*111km);
    Δy=L*cosA*sinB/(111km);
    △h=L*sinA;
    Where A is the height angle of the reference point to the target to be tested, B is the azimuth angle of the reference point to the target to be tested, L is the linear distance of the reference point to the target to be tested, and y1 is the latitude of the reference point.
  10. The apparatus for acquiring target location information according to claim 9, wherein the second calculating unit is specifically configured to: calculate location information (x2, y2, h2) of the target to be tested according to the following formula:
    X2=x1+Δx; y2=y1+Δy; h2=h1+Δh.
PCT/CN2015/093710 2014-11-03 2015-11-03 Method and device for obtaining target position information WO2016070796A1 (en)

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