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

Method and device for obtaining target position information Download PDF

Info

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
Authority
WO
WIPO (PCT)
Prior art keywords
target
reference point
tested
position information
location information
Prior art date
Application number
PCT/CN2015/093710
Other languages
French (fr)
Chinese (zh)
Inventor
吴球
Original Assignee
邦彦技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring 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

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step S4 is specifically: calculating the relative position information ( ⁇ x, ⁇ y, ⁇ h) 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:
  • 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
  • y1 is the latitude of the reference point.
  • step S5 is specifically: calculating position information (x2, y2, h2) of the target to be tested according to the following formula:
  • 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.
  • 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.
  • 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.
  • 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 ( ⁇ x, ⁇ y, ⁇ h) of the reference point to the object to be tested according to the following formula:
  • 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
  • y1 is the latitude of the reference point.
  • 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:
  • the method for acquiring target position information according to the present invention 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.
  • the distance from the two observation points and the angle between the two observation points to the target point 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.
  • 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.
  • FIG. 1 is a schematic flow chart of a method for acquiring target location information according to the present invention
  • FIG. 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
  • FIG. 3 is a schematic diagram of measurement of a reference point to a target to be tested in the method of the present invention
  • FIG. 4 is a schematic structural diagram of an apparatus for acquiring target location information according to the present 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.
  • 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.
  • 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:
  • 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
  • D is a triangle The angle formed by the two sides of the middle test point.
  • 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.
  • 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 ( ⁇ x, ⁇ y, ⁇ h 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.
  • the relative distance value (a, b, c) of the reference point to the measured object can be calculated:
  • 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
  • c is the relative altitude of the reference point to the target to be tested
  • the relative position information ( ⁇ x, ⁇ y, ⁇ h) of the reference point to the target to be tested can be calculated according to the following formula:
  • 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.
  • the specific calculation is performed according to the following formula: Location information:
  • 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.
  • 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.
  • 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 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.
  • 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.

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

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

一种获取目标位置信息的方法及装置Method and device for acquiring target location information 技术领域Technical field
本发明涉及目标位置信息测量领域，尤其涉及获取目标位置信息的方法及装置。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.
背景技术Background technique
目标位置信息在定位、导航、测量等领域具有重要作用，当前目标位置信息的获取主要是通过待测目标内置的定位装置如GPS、北斗定位仪，或各种基于无线信号的定位装置，实现目标位置的定位、位置信息获取，但对未具有定位装置的目标却无法获取其位置信息，一般只能通过现场测量、计算后获取其位置信息，不能快速、自动获取位置信息，无法实现对于实时性要求高、不能被被测目标感知的应用，如敌对目标位置信息探测、报告,为第三方打击提供位置信息等。因此，需要开发一种隐蔽性强、实时性高的目标位置信息获取方法及装置。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.
发明内容Summary of the invention
为了解决上述技术问题，本发明的目的是提供一种获取目标位置信息的方法。In order to solve the above technical problems, an object of the present invention is to provide a method of acquiring target location information.
本发明的另一目的是提供一种获取目标位置信息的装置。Another object of the present invention is to provide an apparatus for acquiring target location information.
本发明所采用的技术方案是：一种获取目标位置信息的方法，包括： The technical solution adopted by the present invention is: a method for obtaining target location information, including:
步骤S1:获取参考点的位置信息；Step S1: acquiring location information of the reference point;
步骤S2：测量参考点到待测目标的高度角和方位角；Step S2: measuring the elevation angle and the azimuth angle of the reference point to the target to be tested;
步骤S3：获取参考点到待测目标的直线距离；Step S3: acquiring a linear distance from the reference point to the target to be tested;
步骤S4：根据参考点到待测目标的高度角、方位角以及参考点到待测目标的直线距离计算参考点到待测目标的相对位置信息；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;
步骤S5：根据参考点的位置信息和参考点到待测目标的相对位置信息计算待测目标的位置信息；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;
步骤S6:将所述待测目标的位置信息传送给应用设备。Step S6: transmitting the location information of the target to be tested to the application device.
进一步，利用定位装置获取所述步骤S1中参考点的位置信息(x1，y1，h1)，其中x1代表经度，y1代表纬度，h1代表海拔高度。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.
进一步，所述步骤S3具体为：选取测试点，以所述待测目标、参考点、测试点为三个顶点形成一个三角形；按照以下公式计算所述参考点到待测目标的直线距离L：L＝e/(cosD+sinD*(cosC/sinC))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))
其中，e为所述参考点与测试点的直线距离，C、D为所述三角形中参考点与测试点所在边上的两个内角，C为所述三角形中参考点所在两条边形成的夹角，D为所述三角形中测试点所在两条边形成的夹角。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.
进一步，所述步骤S4具体为：根据三角形的边角关系和经纬度与距离的换算关系，按照以下公式计算参考点到待测目标的相对位置信息(Δx，Δy，Δh)：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)；Δx=L*cosA*cosB/(cosy1*111km);
Δy＝L*cosA*sinB/(111km)； Δy=L*cosA*sinB/(111km);
Δh＝L*sinA；Δh=L*sinA;
其中，A为参考点到待测目标的高度角，B为参考点到待测目标的方位角，L为参考点到待测目标的直线距离，y1为参考点的纬度。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.
进一步，所述步骤S5具体为：按照以下公式计算待测目标的位置信息(x2，y2，h2)：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。X2=x1+Δx; y2=y1+Δy; h2=h1+Δh.
本发明所采用的另一技术方案是：一种获取目标位置信息的装置，包括：Another technical solution adopted by the present invention is: an apparatus for acquiring target location information, including:
第一获取单元：获取参考点的位置信息；a first obtaining unit: acquiring location information of the reference point;
第二获取单元：用于测量参考点到待测目标的高度角和方位角；a second acquiring unit: for measuring a height angle and an azimuth of the reference point to the target to be tested;
第三获取单元：用于获取参考点到待测目标的直线距离；a third obtaining unit: a linear distance for obtaining a reference point to the target to be tested;
第一计算单元：用于根据参考点到待测目标的高度角、方位角以及参考点到待测目标的直线距离计算参考点到待测目标的相对位置信息；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;
第二计算单元：用于根据参考点的位置信息和参考点到待测目标的相对位置信息计算待测目标的位置信息；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;
传输单元：用于将所述待测目标的位置信息传送给应用设备。The transmission unit is configured to transmit the location information of the target to be tested to the application device.
进一步，利用定位装置获取所述第一获取单元中参考点的位置信息(x1，y1，h1)，其中x1代表经度，y1代表纬度，h1代表海拔高度。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.
进一步，所述第三获取单元具体用于：选取测试点，以所述待测目标、参考点、测试点为三个顶点形成一个三角形；按照以下公式计 算所述参考点到待测目标的直线距离L：L＝e/(cosD+sinD*(cosC/sinC))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))
其中，e为所述参考点与测试点的直线距离，C、D为所述三角形中参考点与测试点所在边上的两个内角，C为所述三角形中参考点所在两条边形成的夹角，D为所述三角形中测试点所在两条边形成的夹角。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.
进一步，所述第一计算单元具体用于：根据三角形的边角关系和经纬度与距离的换算关系，按照以下公式计算参考点到待测目标的相对位置信息(Δx，Δy，Δh)：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)；Δx=L*cosA*cosB/(cosy1*111km);
Δy＝L*cosA*sinB/(111km)；Δy=L*cosA*sinB/(111km);
Δh＝L*sinA；Δh=L*sinA;
其中，A为参考点到待测目标的高度角，B为参考点到待测目标的方位角，L为参考点到待测目标的直线距离，y1为参考点的纬度。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.
进一步，所述第二计算单元具体用于：按照以下公式计算待测目标的位置信息(x2，y2，h2)：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。X2=x1+Δx; y2=y1+Δy; h2=h1+Δh.
本发明的第一有益效果是：The first beneficial effect of the present invention is:
本发明一种获取目标位置信息的方法，在获得参考点位置信息基础上，通过使用隐蔽测量手段对被测目标进行测量，获取测量者到被测目标的相对位置信息，通过位置实时计算而快速获取被测目标的绝对位置信息，在被测目标无任何定位装置条件下(或从目标内部获取不到位置信息条件下)，能实时快速获取目标位置信息，同时被测目 标感知不到测量者对其进行位置信息获取；满足对实时性、隐蔽性有要求的定位应用需求，如目标位置信息探测、报告、打击等应用。另外，通过两个观测点间的距离及两个观测点到目标点间的夹角计算参考点到目标的的距离，不需要采用如激光测距仪之类会被被测目标发现的测试手段，实现隐蔽测量。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.
本发明的另一有益效果是：Another beneficial effect of the present invention is:
本发明一种获取目标位置信息的装置，为测量者的提供定位、测量、计算一体化装置，实现对被测目标、隐蔽、快速、实时的定位信息获取。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.
附图说明DRAWINGS
下面结合附图对本发明的具体实施方式作进一步说明：The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings:
图1是本发明一种获取目标位置信息的方法的流程示意图；1 is a schematic flow chart of a method for acquiring target location information according to the present invention;
图2是本发明所述方法中参考点到待测目标距离L测量原理图；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;
图3是本发明所述方法中参考点到待测目标测量示意图；3 is a schematic diagram of measurement of a reference point to a target to be tested in the method of the present invention;
图4是本发明一种获取目标位置信息的装置的结构示意图。4 is a schematic structural diagram of an apparatus for acquiring target location information according to the present invention.
具体实施方式detailed description
以下结合附图对发明的原理和特征进行描述，所举实例只用于解释发明，并非用于限定本发明的范围。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.
图1为本发明一种获取目标位置信息的方法，如图1所示，本发明一种获取目标位置信息的方法，包括：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:
步骤S1:选取参考点，获取参考点的位置信息，在本实施例中具 体为通过参考点自带的定位装置测出参考点的位置信息(x1，y1，h1)，其中x1代表经度，y1代表纬度，h1代表海拔高度。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.
步骤S2：测量参考点到待测目标的高度角和方位角；(高度角：从一点至观测目标的方向线与水平面间的夹角，方向线在水平面之上称为“仰角”，之下称为“俯角”；方位角又称地平经度，是从某点的指北方向线起，依顺时针方向到目标方向线之间的水平夹角)；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);
步骤S3：获取参考点到待测目标的直线距离，在本实施例中具体为：图2为本发明所述方法中参考点到待测目标距离L测量原理图；如图2所示，为了获取参考点到待测目标的距离L,除参考点外，再取一个测试点，以待测目标、参考点、测试点为三个顶点形成一个三角形；通过根据三角形的边角关系，按照以下公式计算参考点到待测目标的直线距离L：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))L=e/(cosD+sinD*(cosC/sinC))
其中，e为参考点与测试点的直线距离，C、D为三角形中参考点与测试点所在边上的两个内角，C为三角形中参考点所在两条边形成的夹角，D为三角形中测试点所在两条边形成的夹角。在本实施例中通过测量者通过具有GPS测距、方位测量的综合测量仪测出图2中C、D角和参考点到测试点间的直线距离e。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.
步骤S4：根据参考点到待测目标的高度角、方位角以及参考点到待测目标的直线距离计算参考点到待测目标的相对位置信息；图3是本发明所述方法中参考点到待测目标测量示意图，如图3所示，以参考点为原点，沿经度方向为x轴，沿纬度方向为y轴，沿海拔高度 方向为z轴建立空间直角坐标系，图3中标识出了参考点到被测目标的直线距离L、高度角A、方位角B、参考点到被测目标的相对位置(Δx，Δy，Δh)。根据三角形的边角关系和经纬度与距离的换算关系计算参考点到待测目标的相对位置信息。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.
首先，根据三角形的边角关系，可以计算得到参考点到被测目标的相对距离值(a,b,c):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；a=L*cosA*cosB;
b＝L*cosA*sinB；b=L*cosA*sinB;
c＝L*sinA。c=L*sinA.
其中，a为参考点到待测目标在经度方向上的距离，b为参考点到待测目标在纬度方向上的距离，c为参考点到待测目标的相对海拔高度；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;
因纬度线上每度经度对应距离约为111kmCOSy,其中y为纬度，因此纬度线上的距离为a对应经度差的换算公式为Δx’＝a/111km*COSy(度)；经度线上距离为b对应纬度差换算公式是Δy’＝b/(111km)(度)；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);
因而，可以按照以下公式计算参考点到待测目标的相对位置信息(Δx，Δy，Δh)：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)；Δx=a/(cosy1*111km);
Δy＝b/(111km)；Δy=b/(111km);
Δh＝c；Δh=c;
即： which is:
Δx＝L*cosA*cosB/(cosy1*111km)；Δx=L*cosA*cosB/(cosy1*111km);
Δy＝L*cosA*sinB/(111km)；Δy=L*cosA*sinB/(111km);
Δh＝L*sinA。Δh=L*sinA.
其中，y1为参考点的纬度，在本实施例中测量者携带具有GPS测距、方位测量的综合测量仪，测出高度角A、方位角B。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.
步骤S5：根据参考点的位置信息和参考点到待测目标的相对位置信息计算待测目标的位置信息(x2，y2，h2)，在本实施例中具体为：按照以下公式计算待测目标的位置信息：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；X2=x1+Δx; y2=y1+Δy; h2=h1+Δh;
步骤S6:将所述待测目标的位置信息传送给应用设备。Step S6: transmitting the location information of the target to be tested to the application device.
本发明所述方法通过两个观测点间的距离及两个观测点到目标点间的夹角计算参考点到目标的的距离，不需要采用如激光测距仪之类会被被测目标发现的测试手段，实现隐蔽测量，当前测量方位角和距离的设备非常普及，一般移动智能终端都配置有，本发明所述方法可与智能终端很强的处理能力相结合，实现实时对测量的数据进行计算获取最终结果并通过网络将结果传送到第三方或应用设备，第三方或应用设备也能实时获取被测目标的位置信息；在实际中，可应用于对敌对目标位置信息探测、报告,为第三方打击提供位置信息。本发明所述方法具有实现简单，使用价值高等优点。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.
图4是本发明一种获取目标位置信息的装置的结构示意图，如图4所示，本发明一种获取目标位置信息的装置，包括：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:
第一获取单元：用于获取参考点的位置信息；在本实施例中通过 定位装置获取参考点的位置信息(x1，y1，h1)，其中其中x1代表经度，y1代表纬度，h1代表海拔高度。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.
第二获取单元：用于测量参考点到待测目标的高度角和方位角；a second acquiring unit: for measuring a height angle and an azimuth of the reference point to the target to be tested;
第三获取单元：用于获取参考点到待测目标的直线距离；第三获取单元具体用于：选取测试点，以待测目标、参考点、测试点为三个顶点形成一个三角形；按照以下公式计算参考点到待测目标的直线距离L：L＝e/(cosD+sinD*(cosC/sinC))；其中，e为参考点与测试点的直线距离，C、D为三角形中参考点与测试点所在边上的两个内角，C为三角形中参考点所在两条边形成的夹角，D为三角形中测试点所在两条边形成的夹角。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.
第一计算单元：用于根据参考点到待测目标的高度角、方位角以及参考点到待测目标的直线距离计算参考点到待测目标的相对位置信息，具体为根据三角形的边角关系和经纬度与距离的换算关系，按照以下公式计算参考点到待测目标的相对位置信息(Δx，Δy，Δh)：Δx＝L*cosA*cosB/(cosy1*111km)；Δy＝L*cosA*sinB/(111km)；Δh＝L*sinA；其中，A为参考点到待测目标的高度角，B为参考点到待测目标的方位角，L为参考点到待测目标的直线距离，y1为参考点的纬度。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.
第二计算单元：用于根据参考点的位置信息和参考点到待测目标的相对位置信息计算待测目标的位置信息，在本实施例中具体为：按照以下公式计算待测目标的位置信息：x2＝x1+Δx；y2＝y1+Δy；h2＝h1+Δh； 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;
传输单元：用于将所述待测目标的位置信息传送给应用设备。The transmission unit is configured to transmit the location information of the target to be tested to the application device.
本发明所述装置通过提供给测量者的定位、测量、计算一体化装置，实现对被测目标、隐蔽、快速、实时的定位信息获取。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.
以上是对本发明的较佳实施进行了具体说明，但本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做作出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。 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. 一种获取目标位置信息的方法，其特征在于：包括：A method for obtaining target location information, comprising:
    步骤S1：获取参考点的位置信息；Step S1: acquiring location information of the reference point;
    步骤S2：测量参考点到待测目标的高度角和方位角；Step S2: measuring the elevation angle and the azimuth angle of the reference point to the target to be tested;
    步骤S3：获取参考点到待测目标的直线距离；Step S3: acquiring a linear distance from the reference point to the target to be tested;
    步骤S4：根据参考点到待测目标的高度角、方位角以及参考点到待测目标的直线距离计算参考点到待测目标的相对位置信息；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;
    步骤S5：根据参考点的位置信息和参考点到待测目标的相对位置信息计算待测目标的位置信息；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;
    步骤S6:将所述待测目标的位置信息传送给应用设备。Step S6: transmitting the location information of the target to be tested to the application device.
  2. 根据权利要求1所述一种获取目标位置信息的方法，其特征在于：利用定位装置获取所述步骤S1中参考点的位置信息(x1，y1，h1)，其中x1代表经度，y1代表纬度，h1代表海拔高度。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. 根据权利要求2所述一种获取目标位置信息的方法，其特征在于：所述步骤S3具体为：选取测试点，以所述待测目标、参考点、测试点为三个顶点形成一个三角形；按照以下公式计算所述参考点到待测目标的直线距离L：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))L=e/(cosD+sinD*(cosC/sinC))
    其中，e为所述参考点与测试点的直线距离，C、D为所述三角形中参考点与测试点所在边上的两个内角，C为所述三角形中参考点所在两条边形成的夹角，D为所述三角形中测试点所在两条边形成的夹角。 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. 根据权利要求3所述一种获取目标位置信息的方法，其特征在于：所述步骤S4具体为：根据三角形的边角关系和经纬度与距离的换算关系，按照以下公式计算参考点到待测目标的相对位置信息(△x，△y，△h)：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)；△x=L*cosA*cosB/(cosy1*111km);
    △y＝L*cosA*sinB/(111km)；Δy=L*cosA*sinB/(111km);
    △h＝L*sinA；△h=L*sinA;
    其中，A为参考点到待测目标的高度角，B为参考点到待测目标的方位角，L为参考点到待测目标的直线距离，y1为参考点的纬度。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. 根据权利要求4所述一种获取目标位置信息的方法，其特征在于：所述步骤S5具体为：按照以下公式计算待测目标的位置信息(x2，y2，h2)：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+△x；y2＝y1+△y；h2＝h1+△h。X2=x1+Δx; y2=y1+Δy; h2=h1+Δh.
  6. 一种获取目标位置信息的装置，其特征在于：包括：An apparatus for acquiring target location information, comprising:
    第一获取单元：获取参考点的位置信息；a first obtaining unit: acquiring location information of the reference point;
    第二获取单元：用于测量参考点到待测目标的高度角和方位角；a second acquiring unit: for measuring a height angle and an azimuth of the reference point to the target to be tested;
    第三获取单元：用于获取参考点到待测目标的直线距离；a third obtaining unit: a linear distance for obtaining a reference point to the target to be tested;
    第一计算单元：用于根据参考点到待测目标的高度角、方位角以及参考点到待测目标的直线距离计算参考点到待测目标的相对位置信息；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;
    第二计算单元：用于根据参考点的位置信息和参考点到待测目 标的相对位置信息计算待测目标的位置信息；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;
    传输单元：用于将所述待测目标的位置信息传送给应用设备。The transmission unit is configured to transmit the location information of the target to be tested to the application device.
  7. 根据权利要求6所述一种获取目标位置信息的装置，其特征在于：利用定位装置获取所述第一获取单元中参考点的位置信息(x1，y1，h1)，其中x1代表经度，y1代表纬度，h1代表海拔高度。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. 根据权利要求7所述一种获取目标位置信息的装置，其特征在于：所述第三获取单元具体用于：选取测试点，以所述待测目标、参考点、测试点为三个顶点形成一个三角形；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
    按照以下公式计算所述参考点到待测目标的直线距离L：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))L=e/(cosD+sinD*(cosC/sinC))
    其中，e为所述参考点与测试点的直线距离，C、D为所述三角形中参考点与测试点所在边上的两个内角，C为所述三角形中参考点所在两条边形成的夹角，D为所述三角形中测试点所在两条边形成的夹角。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. 根据权利要求8所述一种获取目标位置信息的装置，其特征在于：所述第一计算单元具体用于：根据三角形的边角关系和经纬度与距离的换算关系，按照以下公式计算参考点到待测目标的相对位置信息(△x，△y，△h)：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)；△x=L*cosA*cosB/(cosy1*111km);
    △y＝L*cosA*sinB/(111km)；Δy=L*cosA*sinB/(111km);
    △h＝L*sinA； △h=L*sinA;
    其中，A为参考点到待测目标的高度角，B为参考点到待测目标的方位角，L为参考点到待测目标的直线距离，y1为参考点的纬度。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. 根据权利要求9所述一种获取目标位置信息的装置，其特征在于：所述第二计算单元具体用于：按照以下公式计算待测目标的位置信息(x2，y2，h2)：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+△x；y2＝y1+△y；h2＝h1+△h。 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)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410614135.7 2014-11-03
CN201410614135.7A CN104457736A (en) 2014-11-03 2014-11-03 Method and device for acquiring target location information

Publications (1)

Publication Number Publication Date
WO2016070796A1 true WO2016070796A1 (en) 2016-05-12

Family

ID=52904172

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/093710 WO2016070796A1 (en) 2014-11-03 2015-11-03 Method and device for obtaining target position information

Country Status (2)

Country Link
CN (1) CN104457736A (en)
WO (1) WO2016070796A1 (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104457736A (en) * 2014-11-03 2015-03-25 深圳市邦彦信息技术有限公司 Method and device for acquiring target location information
CN105115473B (en) * 2015-09-14 2017-09-26 四川大学 The measuring method of underground chamber cross section 3 D deformation
CN106705950A (en) * 2015-11-12 2017-05-24 天津三星电子有限公司 Method for determining geographic position of target object, and electronic device
CN105547282B (en) * 2015-12-10 2019-04-02 科盾科技股份有限公司 One kind being used for running fix mesh calibration method and measuring device
CN105571636B (en) * 2015-12-10 2017-10-27 科盾科技股份有限公司 One kind is used to position mesh calibration method and measuring apparatus
CN105547241B (en) * 2015-12-20 2018-10-19 上海华测导航技术股份有限公司 A kind of measurement method with laser range finder receiver
CN105652303B (en) * 2016-01-04 2018-08-17 中国科学院、水利部成都山地灾害与环境研究所 A kind of mountain area field sampling based on mobile electronic devices such as Pad does not contact localization method quickly
CN105698733B (en) * 2016-01-22 2018-11-30 福建天晴数码有限公司 House interior shape measurement method
CN108012324B (en) * 2016-10-26 2021-01-12 华为技术有限公司 Method for obtaining position relation and method, equipment and system for finding object
WO2018076191A1 (en) * 2016-10-26 2018-05-03 深圳前海达闼云端智能科技有限公司 Smart patrol device, cloud control device, patrol method, control method, robot, controller, and non-transient computer readable storage medium
CN106973140B (en) * 2017-04-05 2020-07-10 中国联合网络通信集团有限公司 Communication method and system, communication terminal, communication conversion device and mobile switching center
CN107389027B (en) * 2017-07-27 2019-08-13 中铁大桥局集团第二工程有限公司 A kind of quick accurate positioning method of gravity anchor waterborne
CN107561558A (en) * 2017-09-30 2018-01-09 中国建筑局（集团）有限公司 Method for carrying out engineering measurement by adopting mobile terminal with GPS positioning function
CN107917713A (en) * 2017-10-19 2018-04-17 深圳市金立通信设备有限公司 A kind of method, terminal and computer-readable medium for calculating air line distance
CN109358525A (en) * 2018-12-26 2019-02-19 深圳Tcl新技术有限公司 Control method, smart home system and the storage medium of smart home device
CN113038362B (en) * 2021-02-09 2022-10-11 华为技术有限公司 Ultra-wideband positioning method and system
US11953614B2 (en) * 2021-11-05 2024-04-09 Getac Technology Corporation Method for measuring coordinate position and portable electronic device using the same
CN117391877A (en) * 2023-12-07 2024-01-12 武汉大千信息技术有限公司 Method for quickly generating suspicious personnel relationship network

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4115771A (en) * 1976-05-11 1978-09-19 Litchstreet Co. Passive ATCRBS using signals of remote SSR
US4713767A (en) * 1984-05-09 1987-12-15 Toyota Jidosha Kabushiki Kaisha Apparatus for calculating position of vehicle
CN101808359A (en) * 2009-02-12 2010-08-18 大唐移动通信设备有限公司 Method and device for positioning terminal in long-term evolution system
CN102137183A (en) * 2010-01-26 2011-07-27 株式会社泛泰 Mobile communication terminal and method
CN102564417A (en) * 2011-12-30 2012-07-11 中国测绘科学研究院 Non-contact dynamic and active positioning method
CN102749613A (en) * 2012-06-20 2012-10-24 暨南大学 Indoor positioning method on basis of rotary antenna
CN103293511A (en) * 2012-11-06 2013-09-11 白中泽 Method and system for point-to-point positioning of unmanned aerial vehicle
CN103399319A (en) * 2013-07-22 2013-11-20 山东神戎电子股份有限公司 Space target positioning method applicable to video monitoring
CN103926010A (en) * 2014-04-18 2014-07-16 山东神戎电子股份有限公司 Multifunctional dual-spectrum portable observation instrument
CN104375135A (en) * 2014-11-05 2015-02-25 江苏舟航网络科技有限公司 Radio frequency positioning method, device and system
CN104457736A (en) * 2014-11-03 2015-03-25 深圳市邦彦信息技术有限公司 Method and device for acquiring target location information

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101726294A (en) * 2008-10-22 2010-06-09 北京中诚业昌科贸有限公司 Method and system for positioning
CN102749659B (en) * 2012-07-20 2015-01-07 湖北久之洋红外系统股份有限公司 Multifunctional photoelectric detection instrument and target position observing and determining method implemented by same
CN103033181B (en) * 2012-12-11 2016-02-17 中船重工西安东仪科工集团有限公司 Determine the optical target positioner of the 3rd target
CN103063211A (en) * 2013-01-04 2013-04-24 哈尔滨伟方智能科技开发有限责任公司 Positioning method and device based on photoelectric induction

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4115771A (en) * 1976-05-11 1978-09-19 Litchstreet Co. Passive ATCRBS using signals of remote SSR
US4713767A (en) * 1984-05-09 1987-12-15 Toyota Jidosha Kabushiki Kaisha Apparatus for calculating position of vehicle
CN101808359A (en) * 2009-02-12 2010-08-18 大唐移动通信设备有限公司 Method and device for positioning terminal in long-term evolution system
CN102137183A (en) * 2010-01-26 2011-07-27 株式会社泛泰 Mobile communication terminal and method
CN102564417A (en) * 2011-12-30 2012-07-11 中国测绘科学研究院 Non-contact dynamic and active positioning method
CN102749613A (en) * 2012-06-20 2012-10-24 暨南大学 Indoor positioning method on basis of rotary antenna
CN103293511A (en) * 2012-11-06 2013-09-11 白中泽 Method and system for point-to-point positioning of unmanned aerial vehicle
CN103399319A (en) * 2013-07-22 2013-11-20 山东神戎电子股份有限公司 Space target positioning method applicable to video monitoring
CN103926010A (en) * 2014-04-18 2014-07-16 山东神戎电子股份有限公司 Multifunctional dual-spectrum portable observation instrument
CN104457736A (en) * 2014-11-03 2015-03-25 深圳市邦彦信息技术有限公司 Method and device for acquiring target location information
CN104375135A (en) * 2014-11-05 2015-02-25 江苏舟航网络科技有限公司 Radio frequency positioning method, device and system

Also Published As

Publication number Publication date
CN104457736A (en) 2015-03-25

Similar Documents

Publication Publication Date Title
WO2016070796A1 (en) Method and device for obtaining target position information
Zhu et al. Three-dimensional VLC positioning based on angle difference of arrival with arbitrary tilting angle of receiver
CN104076348B (en) Radar beyond visual range base line passive cooperative localization method
CN106772290B (en) A kind of complete polarization bistatic radar target dynamic analogue echoes method
CN106772228B (en) Aerial target radiation source localization method based on arriving signal intensity
CN105044667B (en) A kind of double star tracking of moving target, device and system
CN107192377A (en) Method, device and the aircraft of long-range measurement object coordinates
CN103017740A (en) Method and system for positioning monitoring target by using video monitoring devices
CN107192330A (en) Method, device and the aircraft of long-range measurement object coordinates
Long et al. Single UWB anchor aided PDR heading and step length correcting indoor localization system
CN108738132A (en) A kind of three base station movement communication positioning methods based on TDOA
CN105627916B (en) A method of it establishing tracker geographic coordinate system and six degree of freedom measures
Si et al. An adaptive weighted Wi-Fi FTM-based positioning method in an NLOS environment
US10184799B2 (en) Systems and methods for targeting objects of interest in denied GPS environments
CN104199074A (en) GNSS (global navigation satellite system) handheld terminal and remote locating method
CN109407089B (en) A kind of spaceborne wide swath interference imaging altimeter baseline angle estimation method of bilateral view
Tsaregorodtsev et al. Ultra-Wideband Motion Capture Radio System
KR101480834B1 (en) Target motion analysis method using target classification and ray tracing of underwater sound energy
Hejazi et al. Lower bound of error in aoa based passive source localization using single moving platform
KR20180096105A (en) Apparatus and method for obtaining coordinate target
Sugimoto et al. An accurate and compact 3D tracking system using a single camera and ultrasound
CN104101881A (en) Laser ranging and MEMS (Micro Electro Mechanical Systems)/GPS (Global Positioning System) based target navigation and mapping error angle estimation method
TWI431251B (en) Distance measuring equipment and measuring method thereof
Bing et al. Image position analysis of motion errors for missile-borne SAR based on diving model
KR20140002334A (en) Apparatus, system and method for estimating 3-dimension location of target in gps signal poor region

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15856674

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15856674

Country of ref document: EP

Kind code of ref document: A1