CN103033182B - Determine the detent mechanism of the 3rd target - Google Patents

Abstract

The invention relates to a fast three-dimensional positioning method for a target, especially a positioning mechanism for determining a third target, which is characterized in that it includes a processor, a wireless communication machine, a space positioning unit, an electronic compass and a gyroscope, an optical target locator, an input The keyboard circuit and output display, the processor is electrically connected with the wireless communication machine, the space positioning unit, the electronic compass, the gyroscope and the optical target locator through the interface, and the keyboard circuit, the output display and the memory are electrically connected through the expansion interface. It provides a positioning mechanism for determining a third target whose distance cannot be measured.

Description

Determine the positioning agency of the third target

technical field

The invention relates to a fast three-dimensional positioning method for a target, which determines a positioning mechanism for a third target.

Background technique

The three-dimensional positioning of moving targets can be done by radio positioning, by emitting radio waves to obtain echo Doppler signals, or by optical theodolite, infrared tracker, global positioning system, radar, etc., to meet different positioning requirements. The global positioning of the moving target is completed by installing a global locator in the moving target, and it is required to obtain the global positioning information of the moving target, which obviously requires measurement or information given by the moving target. The enemy's moving target will not give its own global positioning information, and needs the help of measuring instruments.

This task can be achieved by means of distance measurement from two defined positioning bodies, but only if the information of the two defined positioning bodies is known by one party.

Contents of the invention

The object of the present invention is to provide a positioning mechanism for determining a third target whose target distance cannot be measured.

The purpose of the present invention is achieved in that the positioning mechanism for determining the third target is characterized in that it includes a processor, a wireless communication machine, a space positioning unit, an electronic compass and a gyroscope, an optical target locator, an input keyboard circuit and an output The display and the processor are electrically connected with the wireless communicator, the space positioning unit, the electronic compass, the gyroscope and the optical target locator through the interface, and at the same time are electrically connected with the keyboard circuit, the output display and the memory through the expansion interface.

The optical target locator includes a base body, the base body has a large semicircular cavity, the sphere is positioned by the large semicircular cavity and rotates three-dimensionally in it, the sphere is connected to the rotating body through a connecting rod, and there are electronic compass and gyroscope in the rotating body, when the rotating body rotates , the electronic compass and gyroscope give the orientation information in real time.

There is a parallel telescope in the rotating body, and the target body is searched through the parallel telescope. The target body is either a water surface target or an air target, and the parallel telescope determines a reference point in the target body.

The parallel telescope displays the image in the eyepiece on the monitor through a digital imaging system.

The electronic compass is a three-dimensional electronic compass. It uses a three-axis magnetoresistive sensor to measure the magnetic field of the plane, and two-axis inclination compensation. It can be used for blind area navigation with GPS and three-dimensional positioning with gyroscope.

The advantages of the present invention are: the space positioning information is obtained by the two reference target positioning units and the target angle information is determined by the optical target positioning unit, and wireless communication is carried out to exchange information with each other, and finally the spatial positioning of the target body is calculated by the triangle formula, It realizes the rapid positioning of the target distance that cannot be measured.

Description of drawings

The present invention will be further described below in conjunction with embodiment accompanying drawing:

Fig. 1 is a schematic diagram of an embodiment of the present invention;

Fig. 2 is a circuit block diagram of a first reference target positioning unit or a second reference target positioning unit;

Fig. 3 is a structural diagram of an optical target locator according to an embodiment of the present invention.

In the figure, 1. The first reference target positioning unit; 2. The second reference target positioning unit; 3. Target body; 4. Processor; 5. Communication machine; 6. Space positioning unit; 7. Electronic compass; 8. Gyro instrument; 9. optical target locator; 10. memory; 11. display; 12. keyboard circuit; 13. base; 14. large semicircular cavity; 15. sphere; 16. parallel telescope; 17. water surface; 18. Reference point; 19. Rotating body.

Detailed ways

As shown in Figure 1, the present invention at least includes a first reference target positioning unit 1 and a second reference target positioning unit 2, and the first reference target positioning unit 1 and the second reference target positioning unit 2 determine the first reference target positioning unit 6. The distance L and the spatial three-dimensional coordinates between the reference target positioning unit 1 and the second reference target positioning unit 2 are obtained by the first reference target positioning unit 1 through an optical method. The first reference target positioning unit 1 and the second reference target positioning unit 2 and the target body 3, the angle b between the second reference target positioning unit 2 and the first reference target positioning unit 1 and the target body 3 is obtained by the second reference target positioning unit 2 through an optical method, and the first reference target positioning unit The positioning unit 1 and the second reference target positioning unit 2 perform wireless communication to obtain the spatial three-dimensional coordinates of the other party, and the first reference target positioning unit 1 and the second reference target positioning unit 2 calculate according to the length of one side and the two included angles of the triangle Find out the distance and orientation of the target body 3, and determine its three-dimensional coordinates in space.

The origin of spatial three-dimensional coordinate coordinates O(I1) is the instant location of an object at a certain time point, and I2 is the location of another subsequent time point I1. The plane where I1 and I2 are located is the origin of the Z axis, and the direction is X or Y axis direction, the object moves along the positive axis direction. When the instant position of an object is set as the origin, as time goes by, the object will move away from the origin, and the origin of the coordinates is a static spatial position, which has nothing to do with the movement of the object, and the origin can be calculated by calculation methods Position, that is, the origin of the coordinates can be deduced through the movement and related positions of other objects, and the origin of the coordinate system can be determined more accurately through multiple reference points and verification methods, thereby establishing a single cosmic space coordinate system. Absolute coordinates: the coordinate system whose origin is the stationary point O; relative coordinates: the coordinate system whose origin is the moving I point.

As shown in Figure 2, the first reference target positioning unit 1 and the second reference target positioning unit 2 have the same structure and are in different spatial positions, the first reference target positioning unit 1 or the second reference target positioning unit 2 or moving target or fixed target. The first reference target positioning unit 1 or the second reference target positioning unit 2 includes a processor 4, a wireless communication machine 5, a space positioning unit 6, an electronic compass 7, a gyroscope 8 and an optical target locator 9, and is also connected for convenience of operation. There is an input keyboard circuit 12, an output display 11, a memory 10 required for processing the collected information, a processor 4 through an interface with a wireless communication machine 5, a spatial positioning unit 6, an electronic compass 7, a gyroscope 8 and an optical target The locator 9 is electrically connected, and at the same time, the keyboard circuit 12, the output display 11 and the memory 10 are electrically connected through the expansion interface.

During work, the first reference target positioning unit 1 searches for the target body through the first optical target locator 9. The first optical target locator 9 is a set of three-dimensional rotating platform with a parallel telescope, and the rotation of the three-dimensional rotating platform drives the parallel telescope to find the target body, make the crosshairs of the parallel telescope fall on the reference point of the target body, a coded information is given on the reference point of the target body, and then the target body 3 is positioned, and the post-positioning processor 4 reads the electronic compass 7 and the gyroscope through the interface The information of the instrument 8 is used to determine the angle a between the first reference target positioning unit 1 and the second reference target positioning unit 2 and the target body 3 through the electronic compass 7 and the gyroscope 8 . At the same time, the second reference target positioning unit 2 also searches for the target body 3 through the optical target locator 9, and drives the parallel telescope to find the target body through the rotation of the three-dimensional rotating platform, so that the crosshairs of the parallel telescope fall on the same reference point of the target body , the same coded information is given on the reference point of the target body, the target body 3 is positioned, and the post-positioning processor 4 reads the information of the electronic compass 7 and the gyroscope 8 through the interface, and determines the second position through the electronic compass 7 and the gyroscope 8 The angle b between the reference target positioning unit 2 and the first reference target positioning unit 1 and the target body 3, the processor of the second reference target positioning unit 2 and the processor of the first reference target positioning unit 1 are exchanged through wireless communication Complementary information, and finally the processor 4 calculates the spatial positioning information of the target object according to the triangle formula.

As shown in Figure 3, provide the embodiment structural diagram of optical target locator 9, comprise seat body 13, seat body 13 has a large semicircular cavity 14, and sphere 15 is positioned by large semicircular cavity 14 and three-dimensionally rotates in it, and sphere 15 is connected to the rotating body 19 through a connecting rod, and the rotating body 19 has an electronic compass 7 and a gyroscope 8. When the rotating body rotates, the electronic compass 7 and the gyroscope 8 give azimuth information in real time. Parallel telescope 16 is arranged in the rotating body 19, and target body 3 is searched by parallel telescope 16, and target body 3 or water surface 17 targets or aerial targets, parallel telescope 16 determines a reference point 18 in the target body 3.

In order to make the image obtained by the parallel telescope 16 easy for human eyes to watch, the parallel telescope 16 displays the image in the eyepiece on the display 11 through a digital imaging system, so that the human eye can cooperate to find the target 3 in a large area.

The electronic compass is a three-dimensional electronic compass. It uses a three-axis magnetoresistive sensor to measure the magnetic field of the plane, and two-axis inclination compensation. It can be used for blind area navigation with GPS and three-dimensional positioning with gyroscope.

The gyroscope can track the position change, get the current location at a certain moment, and then as long as the gyroscope is running, according to mathematical calculations, the trajectory of the action can be known. Therefore, the most common application of the gyroscope is the navigator. When the GPS has no signal, the gyroscope can still continue to accurately navigate through the function of the gyroscope.

The components and structures not described in detail in this embodiment are known components and common structures or common means in this industry, and are not described here one by one.

Claims (3)

1. determine the detent mechanism of the 3rd target, it is characterized in that: comprise processor, wireless communication machine, space orientation unit, electronic compass and gyroscope, optical target positioner, input keyboard circuit and Output Display Unit, processor is electrically connected with wireless communication machine, space orientation unit, electronic compass and gyroscope and optical target positioner by interface, is electrically connected keyboard circuit, Output Display Unit and memory by expansion interface simultaneously; Described optical target positioner comprises pedestal, pedestal has a more than half cylindrical cavity, spheroid locates also Three dimensional rotation within it by more than half cylindrical cavity, spheroid is by connecting link connection of rotating body, electronic compass and gyroscope is had in rotor, when rotor rotates, electronic compass and gyroscope provide azimuth information in real time; Described electronic compass is three-dimensional electronic compass, and it applies three axle magnetoresistive transducer measurement plane terrestrial magnetic field, and double-shaft tilt angle compensates, and GPS cooperation can do blind area navigation, and three-dimensional localization is done in gyro cooperation.

2. the detent mechanism determining the 3rd target according to claim 1, it is characterized in that: in described rotor, have parallel telescope, find objective body by parallel telescope, objective body or waterborne target or aerial target, the reference point in an objective body determined by parallel telescope.

3. the detent mechanism determining the 3rd target according to claim 2, is characterized in that: the image in eyepiece is presented at display by a digital imaging system by described parallel telescope.