Device and method for measuring target position based on observationTechnical Field
The invention belongs to the technical field of measurement, and particularly relates to a device and a method for measuring a target position based on an observation.
Background
In the field geodetic survey work and the like, a target which is not easy to approach needs to be positioned, and in the actual observation of the target which is not easy to approach, observation instruments such as a laser range finder and a thermal infrared imager are mostly adopted. The laser range finder is an instrument for measuring the distance of a target by using a certain parameter of laser, the laser range finder has a range of about 3.5-5000 meters, the distance is detected by calculating the time difference (phase difference) between an emitted light beam and a received light beam reflected by the target, the laser range finder can generally reach the meter level in terms of measurement precision, and some professional measurement-level products can reach the sub-meter level and the millimeter level, but the method can only obtain the distance from an observation platform to the target and cannot obtain the accurate position of the target, and if the accurate position of the target needs to be obtained, the method needs to be realized by means of multi-point measurement, so that the method is troublesome and difficult to realize; in addition, some people additionally integrate equipment such as geomagnetism and a gyroscope to obtain longitude and latitude auxiliary information on the basis of the scheme, so that the position of a target is calculated, and the target is measured.
Disclosure of Invention
The invention aims to provide a device and a method for measuring a target position based on a viewing target, which are used for solving the problem of inaccurate measurement of the target position in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention also provides a device for measuring the target position based on the observing sight, which comprises the following technical scheme:
according to the first device scheme, the device for determining the target position based on the observing and aiming comprises a first satellite navigation differential receiver, a second satellite navigation differential receiver, an aiming device and a laser range finder, wherein the axis of the first satellite navigation differential receiver and the axis of the second satellite navigation differential receiver are parallel to the optical axis of the aiming device and the optical axis of the laser range finder; the laser range finder comprises a first satellite navigation differential receiver and a laser range finder, and is characterized by further comprising a controller, wherein the controller is in communication connection with the first satellite navigation differential receiver and the laser range finder.
And the device scheme II is based on the device scheme I and further comprises a display screen, and the display screen is connected with the controller.
And the controller is a CPU (central processing unit) on the basis of the device scheme I or the device scheme II.
And the display screen is a digital screen on the basis of the device scheme III or the device scheme IV respectively.
And the display screen is a liquid crystal screen on the basis of the device scheme III or the device scheme IV respectively.
The invention also provides a method for measuring the target position based on the observation, which comprises the following technical scheme:
the method scheme I is a method for measuring the position of a target based on an observation, and comprises the following steps:
1) respectively acquiring position information of a first satellite navigation differential receiver and a second satellite navigation differential receiver, and acquiring a distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, a distance between a laser range finder and a target and a distance between the first satellite navigation differential receiver and the laser range finder;
2) according to the acquired position information of the first satellite navigation differential receiver and the second satellite navigation differential receiver and the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, calculating an included angle between a connecting line of the reference point and the moving point and a three-dimensional coordinate system by taking the position of the first satellite navigation differential receiver as the reference point and the position of the second satellite navigation differential receiver as the moving point;
3) and calculating the position of the target in the three-dimensional coordinate system according to the distance between the laser range finder and the target, the distance between the first satellite navigation differential receiver and the laser range finder, and the angle between the connecting line of the reference point and the standard point and the three-dimensional coordinate system.
In a second method, based on the first method, an expression of an included angle between a connecting line of the reference point and the moving point and the three-dimensional coordinate system is as follows:
wherein,alpha is an included angle between a connecting line of the reference point and the moving point and an X axis, β is an included angle between the connecting line of the reference point and the moving point and a Y axis, gamma is an included angle between the connecting line of the reference point and the moving point and a Z axis, L is a distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, and X is a distance between the first satellite navigation differential receiver and the second satellite navigation differential receiverA、YA、ZAThe positions of the reference points on the X-axis, Y-axis and Z-axis, XB、YB、ZBThe positions of the points corresponding to the second satellite navigation differential receiver on the X axis, the Y axis and the Z axis are respectively.
In a third method, on the basis of the second method, the expression of the position of the target in the three-dimensional coordinate system is as follows:
X0＝(SL+d)sinα
Y0＝(SL+d)sinβ
Z0＝(SL+d)sinγ
wherein, X0Is the position of the target on the X-axis, Y0Is the position of the target on the Y axis, Z0The position of the target on the Z axis is shown, SL is the distance between the laser range finder and the target, and d is the distance between the first satellite navigation differential receiver and the laser range finder.
And on the basis of the method scheme I, the method scheme II or the method scheme III, the target position is displayed after the target position is calculated.
The invention has the beneficial effects that:
the invention adopts the integrated sighting device, the two satellite navigation differential receivers and the laser range finder, the sighting device is used for observing and sighting the target, the laser range finder is used for measuring the distance between an observation point and the target, the satellite navigation differential receiver is used for measuring the three-dimensional position of the sighting device, and the position of the target is calculated according to the data.
Drawings
FIG. 1 is a block diagram of a device for observing the precise position of a target;
FIG. 2 is a schematic view showing the installation of the main components of the observation target device;
fig. 3 is a schematic diagram of the viewing device to target critical measurement values.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings:
a device for measuring a target position based on a sight comprises a sight, a laser range finder, a first satellite navigation differential receiver (corresponding to a differential receiver A in the figure 1), a second satellite navigation differential receiver (corresponding to a differential receiver B in the figure 1), a controller and a display screen integrated in the controller, wherein the controller is connected with the first satellite navigation differential receiver and the laser range finder through communication interfaces. The sighting device in the embodiment comprises an optical sighting device, an electro-optical sighting device or a laser sighting device; the satellite navigation differential receiver is an instrument for receiving satellite signals of a global positioning system (GPS or Beidou and other satellite positioning systems) and determining the ground space position, the global positioning navigation positioning signals are information resources which can be shared by countless users, the satellite navigation differential receiver adopts a differential technology, the differential technology is a technology for improving the positioning precision of a radio navigation system, positioning errors of known positions are determined, and then the errors or correction factors are sent to users using the same radio navigation system signal source in the same geographic area, the differential technology comprises position difference, pseudo-range difference and carrier wave corresponding differential technology, the relative positioning precision of meter level, sub-meter level and centimeter level can be respectively obtained, and the satellite navigation differential receiver can be applied to a high-precision positioning system.
As shown in fig. 2, the installation structure diagram includes a first satellite navigation differential receiver 1 (corresponding to a differential receiver a in the diagram), a second satellite navigation differential receiver 2 (corresponding to a differential receiver B in the diagram) arranged at a set position away from the first satellite navigation differential receiver, a sighting device 3, and a laser distance meter 4, wherein an axis formed by connecting the first satellite navigation differential receiver and the second satellite navigation differential receiver is parallel to an optical axis of the sighting device and an optical axis of the laser distance meter; in order to ensure the accuracy of the relative measurement, the distance L between the first satellite navigation differential receiver and the second satellite navigation differential receiver is kept at 1 meter or more than 1 meter, but the distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver can also be less than 1 meter, and is determined according to the performance requirement of the specifically selected satellite navigation differential receiver. The length of sight can be shorter, as long as guarantee satellite navigation differential receiver installing support do not influence the line of sight can, suppose that first satellite navigation differential receiver to laser range finder's distance is d, first satellite navigation differential receiver to laser range finder's distance d can be isometric with two above-mentioned satellite navigation differential receiver's distance L, also can be 0, directly place immediately under first satellite navigation differential receiver promptly, after the device of sight is accomplished, can directly measure the size of L and d, L and d are fixed physical dimension value.
The sighting device is used for observing and aiming a target, no electrical interface is arranged between the sighting device and other functional modules, the laser range finder is used for measuring the distance from an observation point to the target, the two satellite navigation differential receivers are used for measuring the three-dimensional position under the coordinate of the sighting device, and the coordinate is a geodetic coordinate system or other coordinate systems. When an observer aims at a target by using the sighting device, the laser detector measures the distance from an observation point to the target, the first satellite navigation differential receiver and the second satellite navigation differential receiver measure the position information of the observer and finally the calculated position of the target needs to be displayed on the display screen when the position of the target is calculated. The controller of this embodiment is any one of CPU, singlechip, DSP, ARM, and the display screen of this embodiment is a digital screen or a liquid crystal display, and as other implementation manners, the display screen may also select other devices with display functions.
as shown in fig. 3, the position of the first satellite navigation differential receiver is taken as a point coordinate a, the position of the second satellite navigation differential receiver is taken as a point coordinate B, S is the distance from the target on the extension line of the point B of the point a to the point B after the target is aimed at, and if the distance from the laser range finder to the target is SL, S is SL + d-L, and α, β, and γ are respectively included angles between the connecting line of the two points A, B and the Y axis, the X axis, and the Z axis in the coordinate system.
The method for determining the target position based on the observation comprises the following steps:
1) the first satellite navigation differential receiver and the second satellite navigation differential receiver are in communication connection and respectively correspond to a differential receiver A and a differential receiver B in the figure 1, the differential receiver A is regarded as a reference station, the differential receiver B is regarded as a mobile station, and the differential receiver A measures differential observed quantity information X of the three-axis position of the differential receiver A by satellite positioningA、YA、ZAAnd the measured differential observation information is sent to a differential receiver B in real time, the differential receiver B receives the differential measurement information and performs difference according to the differential measurement information to obtain position information with extremely high precision compared with the differential receiver A, and the position information can reach the level of cm.
2) After real-time processing, obtaining self three-axis position information XB、YB、ZBAnd the triaxial position information is sent to a differential receiver A, therefore, the differential receiver A not only obtains the self position information through positioning, but also obtains the position information of the differential receiver B from the differential receiver B in real time, then the differential receiver A sends the position information of the two differential receivers to a CPU processing module in real time to measure the sizes of L and d and also write the sizes of the L and d directly, and after the CPU module obtains the information, the CPU module calculates and measures the sizes of the L and dThe location of the target.
3) According to the acquired position information X of the first satellite navigation differential receiverA、YA、ZAAnd position information X of a second satellite navigation differential receiverB、YB、ZBAnd the distance L between the first satellite navigation differential receiver and the second satellite navigation differential receiver is calculated by the CPU control module by taking the position of the first satellite navigation differential receiver as a reference point A and the position of the second satellite navigation differential receiver as a moving point B, and calculating an included angle between a connecting line of the reference point A and the moving point B and the three-dimensional coordinate system, wherein an expression of the included angle between the connecting line of the reference point and the moving point and the three-dimensional coordinate system, namely the included angle between the connecting line of the point A and the point B and the three-dimensional coordinate system is expressed as:
wherein alpha is an included angle between a connecting line of the point A and the point B and an X axis, β is an included angle between the connecting line of the point A and the point B and a Y axis, gamma is an included angle between the connecting line of the point A and the point B and a Z axis, L is a distance between the first satellite navigation differential receiver and the second satellite navigation differential receiver, and X is an included angle between the connecting line of the point A and the point B and the X axisA、YA、ZAThe positions of the reference points on the X-axis, Y-axis and Z-axis, XB、YB、ZBThe positions of the points corresponding to the second satellite navigation differential receiver on the X axis, the Y axis and the Z axis are respectively.
4) According to the distance SL between the laser range finder and the target, the distance d between the first satellite navigation differential receiver and the laser range finder and the datum pointAnd the angle between the connecting line of the moving point and the three-dimensional coordinate system, and the position X of the target in the three-dimensional coordinate system is calculated by the CPU control module0、Y0、Z0And obtaining the accurate position of the target, wherein the expression of the position of the target in the three-dimensional coordinate system is as follows:
X0＝(SL+d)sinα
Y0＝(SL+d)sinβ
Z0＝(SL+d)sinγ
wherein, X0Is the position of the target on the X-axis, Y0Is the position of the target on the Y axis, Z0The position of the target on the Z axis is shown, SL is the distance between the laser range finder and the target, and d is the distance between the first satellite navigation differential receiver and the laser range finder.
5) After the three-dimensional coordinate position of the target is calculated, the three-dimensional coordinate position is displayed on a display screen for related personnel to check, and can be converted into a three-axis position or a longitude and latitude coordinate under any coordinate system according to a coordinate conversion formula.
The specific embodiments are given above, but the present invention is not limited to the above-described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.