CN101782642B - Method and device for absolutely positioning measurement target by multi-sensor fusion - Google Patents
Method and device for absolutely positioning measurement target by multi-sensor fusion Download PDFInfo
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Abstract
一种多传感器融合的测量目标绝对定位的方法及装置，属于目标精确测量定位技术领域。通过解析多传感器所测量的信息，将GNS8测量目标的WGS-84大地坐标变换成北京54直角坐标；利用图像解析进行目标识别；计算定位装置与被测量目标之间的距离；利用测量目标时摄像机的俯仰角、方向角、定位装置所处位置和被测量目标之间的距离，可计算出定位装置与被测量目标之间的坐标偏移量，从而获得测量目标的北京54直角坐标。可根据需要将北京54直角坐标变换成WGS-84大地坐标，实现对测量目标的绝对定位，获得被测目标的经度、纬度、高度的绝对定位信息，测量目标的速度信息可通过计算出定位装置和被测量目标之间的距离，GNSS定位时得到被测量目标的位移时间，采取多次计算取平均值的方法来获得。
A method and device for measuring the absolute positioning of a target by multi-sensor fusion, belonging to the technical field of precise target measurement and positioning. By analyzing the information measured by multiple sensors, the WGS-84 geodetic coordinates of the GNS8 measurement target are transformed into Beijing 54 Cartesian coordinates; the target is identified by image analysis; the distance between the positioning device and the measured target is calculated; the camera is used to measure the target The pitch angle, direction angle, distance between the position of the positioning device and the measured target can be used to calculate the coordinate offset between the positioning device and the measured target, so as to obtain the Beijing 54 Cartesian coordinates of the measured target. Beijing 54 Cartesian coordinates can be transformed into WGS-84 geodetic coordinates as required to achieve absolute positioning of the measurement target and obtain absolute positioning information of the longitude, latitude, and height of the measured target. The speed information of the measurement target can be calculated by the positioning device The distance between the measured target and the displacement time of the measured target obtained during GNSS positioning is obtained by taking the average value of multiple calculations.
Description
Technical field
The present invention relates to a kind of method and device of measurement target absolute fix of Multi-sensor Fusion, belong to the accurate measurement and positioning technical field of target.
Background technology
The development of global navigation satellite technology makes the function of GNSS locating device change by to be main body with the satellite navigation to PNT and electronic information technology, Internet technology merge.Make accurate localization, navigation more simply be easy to realize that range of application is more extensive.
Conventional GNSS locating device is realized the location of self by receiving satnav information.In a lot of application scenarios, not only need to obtain the self poisoning information of locating device, and need the locating information of the object around this device.Traditional video range finding can only obtain the speed and the range information of measured target, and can not calculate the absolute fix information of measurement target.The development of sensor technology, the widespread use of embedded system utilizes digital image processing techniques, makes measurement target absolute fix information become effective and feasible.
Comprehensive above technical background analysis can be developed a kind of method and device of measurement target absolute fix of Multi-sensor Fusion, is used for when obtaining device self poisoning information, obtains the absolute fix information that comprises longitude, latitude, height of measurement target.
Summary of the invention
The object of the present invention is to provide a kind of method and device of measurement target absolute fix of Multi-sensor Fusion, take the mode of Multi-sensor Fusion, make full use of the information that GNSS locating device, magnetoresistive transducer, video image are provided, by the calculation process of data, image, be used to realize absolute fix to measurement target.
A kind of device of measurement target absolute fix of Multi-sensor Fusion, comprise three-dimensional position sensing device unit, angular transducer group unit, video subsidiary unit, four parts of embedded information fusion processing unit, it is characterized in that, three-dimensional position sensing device unit is made of the GNSS receiver, angular transducer group unit is made up of magnetoresistive transducer, embedded information fusion processing unit, by data-interface, information analysis, information calculations module and storer are formed, three-dimensional position sensing device unit, angular transducer group unit is connected with embedded information fusion processing unit respectively with video subsidiary unit.
Described three-dimensional position sensing device unit adopts the MAX2769E/WGNSS receiver, is used to obtain location, the timing information of measuring position.
Described angular transducer group unit is made up of 1 two axle horizontal magnetoresistive transducer HMC1022,2 three magnetoresistive transducer HMC1023, wherein 1 three magnetoresistive transducer is used to obtain the angle of relative direct north and the angle of relative ground perpendicular, two axle horizontal magnetoresistive transducers and other 1 three magnetoresistive transducer are respectively applied for the variation of the deflection and the angle of pitch of tracking camera.
Described video subsidiary unit adopts colored dome type camera of WV-224 Panasonic and KV-515CZ-L laser integral intelligent high speed The Cloud Terrace, be used to take monitor video, carry out Target Recognition, follow the tracks of, adjust the position of The Cloud Terrace according to the needs of location survey, obtain the location desired data.
Described embedded information fusion processing unit adopts the ARM9 chip; Wherein the information analysis module comprises data parsing part and image analysis part; Data interface module is used to finish the reception to every information; Data parsing in the information analysis module partly is used to finish parsing and the extraction to the GNSS locating information, and image analysis partly is used to finish the identification to measured target, calculates the distance between measuring position and the measurement target; The information calculations module is calculated data that sensor groups is surveyed, information analysis gained data, finishes the absolute fix of measurement target, obtain to comprise the absolute fix information of longitude, latitude, height, and the velocity information of measurement target is calculated; Storer is used to store the absolute fix information of measurement target, is used for the calculating of measurement target speed.
The method of the measurement target absolute fix of Multi-sensor Fusion, method is as follows:
1) data interface module receives the metrical information of multisensor respectively, GNSS location, timing information, the angle information of magnetoresistive transducer group, video information.
2) the data parsing extracting section GNSS locating information in the information analysis module, obtain the WGS-84 terrestrial coordinate of locating device present position, image analysis utilizes image processing algorithm to finish identification to measured target, extracts the distance D between locating device and the measurement target.
The angle of pitch α of video camera and deflection β when 3) calculating measurement target according to the angle information in the step 1, and according to step 2 calculated distance D, calculate offset coordinates (the Δ z between locating device and the measured target, Δ x, Δ y), WGS-84 terrestrial coordinate with the locating device in the step 2 is converted to Beijing 54 rectangular coordinates again, thereby obtains Beijing 54 rectangular coordinates of measurement target.
4) before Beijing 54 rectangular coordinates with measurement target are converted to the WGS-84 terrestrial coordinate, whether decision measures the speed of measured target as required, if do not need, carries out coordinate transform, obtains longitude, latitude, the absolute fix information highly of measured target; If need, adjustment takes measurement of an angle, and follows the tracks of measured target, carries out the measurement of absolute fix information again, returns step 1.
5) utilize the measurement target elements of a fix, calculate the distance between locating device and the measured target, obtain the displacement time of measured target during the GNSS location, take repeatedly to calculate the method for averaging, obtain final speed, Beijing 54 rectangular coordinates of the target that will measure for the last time are converted to the absolute fix information that comprises longitude, latitude, height that the WGS-84 coordinate obtains measurement target simultaneously.
Advantage of the present invention and good effect are:
1, the present invention utilizes multi-sensor fusion technology, obtain location, angle, range information, carry out message pick-up, analysis, processing, calculating by embedded information fusion processing unit, obtain the absolute position and the velocity information of measurement target rapidly, realize absolute fix, can be used for motion detecting and intelligent-tracking.
2, the present invention has the function of quick location, can be used with electronic warning equipment, realizes the remote alarms function, also functions such as candid photograph, video recording can be set as required. and solution of emergent event has huge effect.
3, the present invention obtains the absolute fix of measurement target, makes it can be applicable to fields such as electronics mapping, navigation, monitoring, has more vast market prospect.
Description of drawings
The apparatus structure block diagram of the absolute fix of the measurement target of Fig. 1 Multi-sensor Fusion of the present invention;
The connection block diagram of each intermodule of device of the absolute fix of the measurement target of Fig. 2 Multi-sensor Fusion of the present invention;
The method flow diagram of the absolute fix of the measurement target of Fig. 3 Multi-sensor Fusion of the present invention;
Fig. 4 measurement target coordinate Calculation of the present invention three dimensions synoptic diagram.
Wherein, 101, video subsidiary unit, 102, three-dimensional position sensing device unit, 103, angular transducer group unit, 104, embedded information fusion processing unit, 201, data interface module, 202, the data parsing part in the information analysis module, 203, the image analysis part in the information analysis module, 204, information calculations module, 205, storer, 206, two axle horizontal magnetoresistive transducers, three magnetoresistive transducers 207.
Embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is further described, present embodiment is illustrative, rather than determinate, can not limit protection scope of the present invention according to following examples.
Embodiment:
A kind of method and device of measurement target absolute fix of Multi-sensor Fusion, device as depicted in figs. 1 and 2, comprise three-dimensional position sensing device unit 102, angular transducer group unit 103, video subsidiary unit 101,104 4 parts of embedded information fusion processing unit, it is characterized in that, three-dimensional position sensing device unit 102 is made of the GNSS receiver, angular transducer group unit 103 is made up of magnetoresistive transducer, embedded information fusion processing unit 104 is by data-interface, information analysis, information calculations module and storer are formed, three-dimensional position sensing device unit 102, angular transducer group unit 103 is connected with embedded information fusion processing unit 104 respectively with video subsidiary unit 101.
Described three-dimensional position sensing device unit 102 adopts the MAX2769E/WGNSS receiver, is used to obtain location, the timing information of measuring position.
Described angular transducer group unit 103 is made up of 1 two axle horizontal magnetoresistive transducer HMC1022,2 three magnetoresistive transducer HMC1023, wherein 1 three magnetoresistive transducer is used to obtain the angle of relative direct north and the angle of relative ground perpendicular, two axle horizontal magnetoresistive transducers and other 1 three magnetoresistive transducer are respectively applied for the variation of the deflection and the angle of pitch of tracking camera.
Described video subsidiary unit 101 adopts colored dome type camera of WV-224 Panasonic and KV-515CZ-L laser integral intelligent high speed The Cloud Terrace, be used to take monitor video, carry out Target Recognition, follow the tracks of, adjust the position of The Cloud Terrace according to the needs of location survey, obtain the location desired data.
Described embedded information fusion processing unit 104 adopts the ARM9 chip; Wherein the information analysis module comprises data parsing part and image analysis part; Data interface module is used to finish the reception to every information; Data parsing in the information analysis module partly is used to finish parsing and the extraction to the GNSS locating information, and image analysis partly is used to finish the identification to measured target, calculates the distance between measuring position and the measurement target; The information calculations module is calculated data that sensor groups is surveyed, information analysis gained data, finishes the absolute fix of measurement target, obtain to comprise the absolute fix information of longitude, latitude, height, and the velocity information of measurement target is calculated; Storer is used to store the absolute fix information of measurement target, is used for the calculating of measurement target speed.
The method of location may further comprise the steps as shown in Figure 3:
1) data interface module receives the metrical information of multisensor respectively, and the angle information of GNSS locating information, magnetoresistive transducer group, video information are that next step information analysis is ready.
2) the data parsing extracting section GNSS locating information in the information analysis module obtains locating device present position WGS-84 terrestrial coordinate A (B
WGS84, L
WGS84, H
WGH84), the image analysis in the information analysis module partly utilizes image processing algorithm to finish identification to measured target, extracts the distance D between locating device and the measurement target.
The angle of pitch α of video camera and deflection β when 3) calculating measurement target according to the angle information in the step 1, and according to step 2 calculated distance D, calculate offset coordinates (the Δ z between locating device and the measured target, Δ x, Δ y), again according to the WGS-84 terrestrial coordinate A (B of the locating device in the step 2
WGS84, L
WGS84, H
WGH84) be converted to Beijing 54 rectangular coordinate A (x
BJ54, y
BJ54, z
BJ54), thereby obtain measurement target Beijing 54 rectangular coordinate B (x '
BJ54, y '
BJ54, z '
BJ54).Calculate synoptic diagram as shown in Figure 4.
4) with Beijing 54 rectangular coordinate B of measurement target (x '
BJ54, y '
BJ54, z '
BJ54) be converted to WGS-84 terrestrial coordinate B (B '
WGS84, L '
WGS84, H '
WGH84) preceding, whether decision measures the speed of measured target as required, if do not need, carries out coordinate transform, obtains longitude, latitude, the absolute fix information highly of measured target; If need, adjustment takes measurement of an angle, and follows the tracks of measured target, carries out the measurement of absolute fix information again, returns step 1.
5) utilize the measurement target elements of a fix, calculate the distance between locating device and the measured target, obtain the displacement time of measured target during the GNSS location, take repeatedly to calculate the method for averaging, obtain final speed, Beijing 54 rectangular coordinates of the target that will measure for the last time are converted to the absolute fix information that comprises longitude, latitude, height that the WGS-84 coordinate obtains measurement target simultaneously.
The image processing method that image analysis partly utilizes in the step 2 is described below: the deflection of fixed cameras and the angle of pitch, adjust focal length, obtain the image of the different fog-levels of two width of cloth same distance, gray level image is changed into gradient image, the size of utilization marginarium in the invariance principle compute gradient image and the ratio of whole video in window district size are calculated distance between measuring position and the measurement target according to the radiometer of two width of cloth images again.
The GNSS coordinate method of converting of locating device present position is as follows in the step 3: the conversion method of coordinate is more, here select single stage method for use, that is: in the conversion of planar point position, at first the WGS-84 geocentric coordinate is projected to interim transverse Mercator projection, making it to be consistent by translation, rotation and change of scale then with the true projection of calculating. simple one dimension height fitting is then adopted in the elevation conversion, and the method can be carried out the conversion of coordinate and elevation under the situation of having only a common point.
Beijing 54 rectangular coordinate B of measurement target B in the step 3 (x '
BJ54, y '
BJ54, z '
BJ54) computation process following (as shown in Figure 4):
1, according to angle of elevation alpha and deflection β, distance D can get the offset coordinates (Δ z, Δ x, Δ y) between locating device and the measurement target: Δ z=Dsin α, Δ y=Dcos α cos β, Δ x=Dcos α sin β;
2, by Beijing 54 rectangular coordinate A (x of locating device
BJ54, y
BJ54, z
BJ54) in conjunction with offset coordinates can calculate measurement target Beijing 54 rectangular coordinate B (x '
BJ54, y '
BJ54, z '
BJ54):
x′
BJ54＝x
BJ54+Δx，y′
BJ54＝y
BJ54+Δy，z′
BJ54＝z
BJ54+Δz。
This method is applicable to general hardware configuration facility, such as the embedded electronic computer system, has provided the typical hardware structured flowchart of realizing this method among Fig. 1.This block diagram mainly comprises three parts: video subsidiary unit 101, three-dimensional position sensing device unit 102, angular transducer group unit 103, embedded information fusion processing unit 104 connection diagrams are as shown in Figure 2.Two axle horizontal magnetoresistive transducers 206, three magnetoresistive transducers 207, GNSS receiver 102, video subsidiary unit 101, through data interface module 201 with the data and the image information input information disposal system of gathering; The data parsing part 202 of signal in the information analysis module, image analysis part 203 in the information analysis module, obtain the WGS-84 terrestrial coordinate of measuring position, after carrying out Target Recognition, obtain the distance between locating device and the measurement target, information calculations module 204 is carried out the calculating of measurement target absolute fix information and speed according to method step before this, storer 205 is used to store the absolute fix information that comprises longitude, latitude, height of measurement target, is used for the calculating of measurement target speed.
Above-mentioned part is preferred embodiment of the present invention, is not to be used for limiting practical range of the present invention.Every equivalence of doing according to content of the present invention changes and modifies, and all should belong to content of the present invention.
Claims (1)
1. the method for the measurement target absolute fix of a Multi-sensor Fusion, device comprises three-dimensional position sensing device unit, angular transducer group unit, video subsidiary unit, four parts of embedded information fusion processing unit, three-dimensional position sensing device unit is made of the GNSS receiver, angular transducer group unit is made up of magnetoresistive transducer, embedded information fusion processing unit, by data-interface, information analysis, information calculations module and storer are formed, three-dimensional position sensing device unit, angular transducer group unit is connected with embedded information fusion processing unit respectively with video subsidiary unit; Described three-dimensional position sensing device unit adopts the MAX2769E/WGNSS receiver; Described angular transducer group unit is made up of 1 two axle horizontal magnetoresistive transducer HMC1022,2 three magnetoresistive transducer HMC1023; Described video subsidiary unit adopts colored dome type camera of WV-224 Panasonic and KV-515CZ-L laser integral intelligent high speed The Cloud Terrace; Described embedded information fusion processing unit adopts the ARM9 chip; It is characterized in that localization method is as follows:
1) data interface module receives the metrical information of multisensor respectively, GNSS locating information, the angle information of magnetoresistive transducer group, video information;
2) the data parsing extracting section GNSS locating information in the information analysis module, obtain the WGS-84 terrestrial coordinate of locating device present position, image analysis in the information analysis module partly utilizes image processing algorithm to finish identification to measured target, calculates the distance D between locating device present position and the measured target;
The angle of pitch α of video camera and deflection β when 3) calculating measurement target according to the angle information in the step 1, and according to step 2 calculated distance D, calculate the offset coordinates between locating device and the measured target, WGS-84 terrestrial coordinate with the locating device in the step 2 is converted to Beijing 54 rectangular coordinates again, thereby obtains Beijing 54 rectangular coordinates of measurement target;
4) before Beijing 54 rectangular coordinates with measurement target are converted to the WGS-84 terrestrial coordinate, whether decision measures the speed of measured target as required, if do not need, carries out coordinate transform, obtains longitude, latitude, the absolute fix information highly of measured target; If need, adjustment takes measurement of an angle, and follows the tracks of measured target, carries out the measurement of absolute fix information again, returns step 1;
5) utilize the measurement target elements of a fix, calculate the distance between locating device and the measured target, obtain the displacement time of measured target during the GNSS location, take repeatedly to calculate the method for averaging, obtain final speed, Beijing 54 rectangular coordinates of the target that will measure for the last time are converted to the absolute fix information that comprises longitude, latitude, height that the WGS-84 coordinate obtains measurement target simultaneously.
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| CN103438904B (en) * | 2013-08-29 | 2016-12-28 | 深圳市宇恒互动科技开发有限公司 | A kind of inertial positioning method and system using vision auxiliary corrective |
| CN104777452B (en) * | 2015-04-09 | 2017-05-17 | 北京科技大学 | Positioning system and positioning method of mobile equipment |
| CN105628024B (en) * | 2015-12-29 | 2018-09-04 | 中国电子科技集团公司第二十六研究所 | Single positioning navigator based on Multi-sensor Fusion and positioning navigation method |
| CN105892498B (en) * | 2016-04-01 | 2018-11-13 | 南京工程学院 | Target based on three axis holders is stared and pan control system |
| CN107607933B (en) * | 2017-08-24 | 2019-07-26 | 中国电子科技集团公司第五十四研究所 | A kind of long-range unmanned aerial vehicle's high-precision locating method based on pitch angle iteration |
| CN107682663A (en) * | 2017-09-04 | 2018-02-09 | 佛山佳牧乐科技有限公司 | A kind of distribution network monitoring system |
| CN109633541B (en) * | 2019-01-23 | 2023-08-11 | 中国科学院上海微系统与信息技术研究所 | A magnetic source positioning device and a magnetic source positioning method |
| CN114396940A (en) * | 2021-12-09 | 2022-04-26 | 浙江大华技术股份有限公司 | Target positioning method and device of monitoring equipment |
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| CN101619976B (en) * | 2008-07-01 | 2016-01-20 | 联想(北京)有限公司 | A kind of position positioning retrieval device and method |
| CN101616225B (en) * | 2009-08-06 | 2011-05-18 | 陈新琴 | Terminal service method for providing geographic information tags for digital photos |
| CN201654235U (en) * | 2010-03-09 | 2010-11-24 | 山东大学 | A device for measuring the absolute positioning of a target based on multi-sensor fusion |
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