CN110045403A - A kind of distance measuring method and range unit based on earth coordinates - Google Patents

Abstract

The present invention provides a distance measuring method and a distance measuring device based on a geodetic coordinate system, which solves the technical problem of large over-the-horizon ranging error. The steps include: determining a homologous satellite visible to the first object and the second object; using the homologous satellite to obtain the geodetic coordinates of the first object and the second object at the same time; The relative distance between the first target object and the second target object is formed after the geodetic coordinates are converted into space rectangular coordinates. The positioning system error caused by the random use of visible satellites to perform positioning calculation according to the signal strength is eliminated, thereby improving the ranging accuracy. The optimized coordinate system mapping rule greatly saves computing resources, improves computing efficiency, and realizes quasi-real-time non-visual ranging between cluster devices.

Description

A distance measuring method and distance measuring device based on the geodetic coordinate system

technical field

The invention relates to the technical field of surveying and mapping, in particular to a distance measuring method and a distance measuring device based on a geodetic coordinate system.

Background technique

In the prior art, for different devices, vehicles or units on the ground system, distance calibration is one of the important links in determining the relative positional relationship between the devices, vehicles or units on the ground. The commonly used distance calibration is done by using a laser range finder. This method is easily restricted by factors such as geographical environment, distance and even weather. Under unfavorable conditions such as obscured line of sight or low visibility, laser ranging cannot be carried out, and the laser Ranging mainly relies on manual operation, there are many human subjective factors, and the error is relatively large.

SUMMARY OF THE INVENTION

In view of the above problems, embodiments of the present invention provide a distance measurement method and a distance measurement device based on a geodetic coordinate system, so as to solve the technical problem of a large over-the-horizon distance measurement error.

The distance measuring method based on the geodetic coordinate system according to the embodiment of the present invention includes:

Determine the homologous satellites that are commonly visible to the first target and the second target;

Using the homologous satellite to obtain the geodetic coordinates of the first target object and the second target object at the same time;

The relative distance between the first target object and the second target object is formed after the geodetic coordinates are converted into space rectangular coordinates.

In an embodiment of the present invention, the determining of the homologous satellites that are jointly visible to the first target object and the second target object includes:

The first target object and the second target object obtain satellite information of their respective positions;

The first subject matter and the second subject matter exchange satellite information of their respective locations;

The first target and the second target determine homologous satellites according to homology preference rules.

In an embodiment of the present invention, the satellite information includes:

Satellite ID, determine the signal-to-noise ratio of the broadcast signal of the satellite, determine the pitch angle of the satellite, and the number of observable satellites.

In an embodiment of the present invention, the homology preference rule includes:

Satellite ID: same;

Signal-to-noise ratio of satellite broadcast signals with the same ID: greater than 40dB;

Elevation angle of satellites with the same ID: greater than 35°;

If the number of observable satellites is 4 to 6, only homologous satellites are selected, and when the number of observable satellites is greater than 6, other satellites that meet the conditions of the signal-to-noise ratio and the pitch angle are selected as supplements.

In an embodiment of the present invention, the relative distance between the first target object and the second target object formed after the geodetic coordinates are converted into space rectangular coordinates includes:

Obtain the longitude B _i latitude _{Li and the altitude H i of} the current target location;

Obtain the geodetic curvature radius N of the latitude position of the current target object;

Get the first eccentricity f of the earth;

Get the length a of the semi-major axis of the earth;

The spatial Cartesian coordinates of the current target object are formed according to the following algorithm:

The Euclidean distance is formed according to the spatial Cartesian coordinates of the first object and the second object.

The ranging system based on the geodetic coordinate system according to the embodiment of the present invention includes:

a memory for storing the program code of the processing process in the above-mentioned geodetic coordinate system-based ranging method;

a processor for executing the program code.

The ranging system based on the geodetic coordinate system according to the embodiment of the present invention includes:

A homologous satellite identification device, used to determine the homologous satellites that are commonly visible to the first target object and the second target object;

a satellite signal receiving device, used for obtaining the geodetic coordinates of the first target object and the second target object at the same time by using the homologous satellite;

The coordinate mapping computing device is used for converting the geodetic coordinates into space rectangular coordinates to form the relative distance between the first target object and the second target object.

In an embodiment of the present invention, the homologous satellite identification device includes:

an independent receiving module, used for the first target object and the second target object to obtain satellite information of their respective positions;

an information exchange module for exchanging the satellite information of the respective positions of the first object and the second object;

The information identification module is used for the first target object and the second target object to determine homologous satellites according to the homology preference rule.

In an embodiment of the present invention, the coordinate mapping computing device includes:

The first feature acquisition module is used to acquire the longitude B _i latitude _{Li and the height H i of} the current target position;

The second feature acquisition module is used to acquire the geodetic radius of curvature N of the latitude position of the current target object;

The third feature acquisition module is used to acquire the first eccentricity f of the earth;

The fourth feature acquisition module is used to acquire the length a of the semi-major axis of the earth;

The coordinate mapping module is used to form the spatial Cartesian coordinates of the current target object according to the following algorithm:

The coordinate calculation module is configured to form the Euclidean distance according to the spatial rectangular coordinates of the first target object and the second target object.

The ranging system based on the geodetic coordinate system according to the embodiment of the present invention includes:

a first processor, configured to complete the above-mentioned distance measuring method based on the geodetic coordinate system at the position of the first target object;

a first memory, configured to store the processing process in the above-mentioned geodetic coordinate system-based ranging method at the position of the first target object;

a first receiver, configured to receive satellite broadcast signals at the position of the first target object to obtain satellite information of the position of the first target object;

a second processor, configured to complete the processing process in the above-mentioned distance measuring method based on the geodetic coordinate system at the position of the second target object;

The second memory is configured to store the processing process in the above-mentioned distance measuring method based on the geodetic coordinate system at the position of the second target object;

a second receiver, configured to receive satellite broadcast signals at the position of the second target object to obtain satellite information of the position of the second target object;

A data exchange link for forming a data link between the first processor and the second processor on demand.

The distance measuring method and distance measuring device based on the geodetic coordinate system according to the embodiment of the present invention use homologous satellites to obtain common measurement datums at different positions, so that two units far apart can lock the same set of satellite numbers, and use the same satellite number under the same satellite conditions. The distance calculation of the single-point positioning results at the same time can partially eliminate the position measurement error caused by factors such as satellite clock error and ephemeris parameters, and eliminate the positioning system error caused by random use of visible satellites to perform positioning calculation according to signal strength. Improve ranging accuracy. The optimized coordinate system mapping rules are used to realize the migration of coordinate information to a coordinate system that is conducive to the use of computing resources, which greatly saves computing resources and improves computing efficiency. down to seconds. It is of great significance to improve the performance and response time of the ground system.

Description of drawings

FIG. 1 is a schematic flowchart of a distance measuring method based on a geodetic coordinate system according to an embodiment of the present invention.

FIG. 2 is a schematic flowchart of acquiring a homologous satellite in a ranging method based on a geodetic coordinate system according to an embodiment of the present invention.

FIG. 3 is a schematic flowchart of an optimized coordinate transformation in a distance measuring method based on a geodetic coordinate system according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of a ranging system based on a geodetic coordinate system according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a deployment architecture of functional modules in a processor of a ranging system based on a geodetic coordinate system according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer and more comprehensible, the present invention will be further described below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

A ranging method based on a geodetic coordinate system according to an embodiment of the present invention is shown in FIG. 1 . In Figure 1, this embodiment includes:

Step 100: Determine homologous satellites that are commonly visible to the first target and the second target.

The subject matter can be geographically dispersed equipment, a sub-system of equipment, or a subsystem of a larger system.

Determined by the GNSS (Global Navigation Satellite System) construction mechanism, several identical satellites can be observed at two distant first and second target positions on the earth's surface in the same hemisphere, and broadcasts from these same satellites can be received. signal, these same satellites act as homologous satellites. The broadcast signals of the homologous satellites may form the same signal reference and time reference for calculating the coordinate positions of the first object and the second object.

Step 200: Obtain the geodetic coordinates of the first target object and the second target object at the same time using the homologous satellite.

Determined by the GNSS (Global Navigation Satellite System) operating mechanism, satellite trajectories are formed in an orderly manner in real time. The longitude, latitude and altitude position information (ie geodetic coordinates) of the first target object and the second target object settled by using the homologous satellite broadcast signal at the same time can be obtained by using the satellite receiving device.

Step 300: After converting the geodetic coordinates into the space rectangular coordinates, the relative distance between the first target object and the second target object is formed.

There is a coordinate mapping relationship between coordinate systems describing the same geographic location. Using better coordinate mapping rules can eliminate the interference of specific physical factors of geographic location on coordinate mapping, obtain accurate position mapping between coordinate systems, realize the mapping conversion from surface coordinates to rectangular coordinates, and use the obtained rectangular coordinates to quickly complete the calculation of straight-line distances Obtain the relative distance of the first target and the second target.

The distance measuring method based on the geodetic coordinate system of the embodiment of the present invention uses homologous satellites to obtain common measurement datums at different positions, and eliminates the positioning system error caused by randomly using visible satellites to perform positioning calculation according to signal strength. The optimized coordinate system mapping rules are used to realize the migration of coordinate information to a coordinate system that is conducive to the use of computing resources, which greatly saves computing resources and improves computing efficiency. down to seconds.

The acquisition of homologous satellites in the ranging method based on the geodetic coordinate system according to an embodiment of the present invention is shown in FIG. 2 . In Figure 2, acquiring homologous satellites includes:

Step 110: The first target object and the second target object obtain satellite information of their respective positions.

The first target object and the second target object can obtain the broadcast signals of satellites that can be received at the current location by using the satellite signal receiving devices carried by them. The satellite information is interpreted based on the broadcast signal of each satellite.

Step 120: The first object and the second object exchange satellite information of their respective locations.

The satellite information obtained by exchanging the respective positions of the first object and the second object includes, but is not limited to, the satellite identification ID, determining the signal-to-noise ratio of the broadcast signal of the satellite, determining the pitch angle of the satellite, and the number of observable satellites.

Step 130: The first target and the second target determine homologous satellites according to the homology preference rule.

Homologous preference rules include:

Satellite ID: same (i.e. homologous satellite);

Signal-to-noise ratio of satellite broadcast signals with the same ID: greater than 40dB;

Elevation angle of satellites with the same ID: greater than 35°;

If the number of observable satellites is between 4 and 6, only homologous satellites are selected, and when the number of observable satellites is greater than 6, other satellites that meet the above signal-to-noise ratio and pitch angle conditions can be selected as supplements.

The process of determining homologous satellites includes the mutual confirmation of homologous satellites and the negotiation process of data exchange.

The ranging method based on the geodetic coordinate system according to the embodiment of the present invention obtains homologous satellites with related satellite information at different positions by comparing satellite information received at different positions, thereby ensuring signal consistency in the system measurement process.

The optimization of coordinate transformation in the geodetic coordinate system-based ranging method according to an embodiment of the present invention is shown in FIG. 3 . The optimization process in Figure 3 includes:

Step 310: Acquire the longitude B _i latitude _{Li and the altitude H i of} the current target location.

It is obtained through calculation by satellite signal receiving equipment.

Step 320: Obtain the radius of curvature N of the ground at the latitude position of the current target object.

According to the data obtained by the satellite signal receiving equipment and the equivalent ellipsoid of the earth.

Step 330: Obtain the first eccentricity f of the earth.

Obtained from the equivalent ellipsoid of the Earth.

Step 340: Obtain the length a of the semi-major axis of the earth.

Obtained from the equivalent ellipsoid of the Earth.

Step 350: Form the spatial Cartesian coordinates of the current target object according to the following algorithm:

Step 360: Form the Euclidean distance according to the spatial rectangular coordinates of the first target object and the second target object.

Euclidean distance That is, the relative distance between the first target object and the second target object.

The distance measuring method based on the geodetic coordinate system according to the embodiment of the present invention realizes high-speed and accurate distance calculation through the precise calculation type coordinates obtained by the optimized coordinate system mapping rule.

An embodiment of the present invention is a ranging system based on a geodetic coordinate system, including:

a memory for storing the program code of the processing process in the above-mentioned geodetic coordinate system-based ranging method;

The processor is used for executing the program code of the processing procedure in the above-mentioned distance measuring method based on the geodetic coordinate system.

The processor can adopt DSP (Digital Signal Processing) digital signal processor, FPGA (Field-Programmable Gate Array), MCU (Microcontroller Unit) system board, SoC (system on a chip) system board or include I/ O's PLC (Programmable Logic Controller) minimum system.

A ranging system based on the geodetic coordinate system according to an embodiment of the present invention is shown in FIG. 4 . In Figure 4, this embodiment includes:

The first processor 1 is configured to complete the above-mentioned distance measuring method based on the geodetic coordinate system at the position of the first target object;

The first memory 2 is used to store the program code of the processing process in the above-mentioned distance measuring method based on the geodetic coordinate system at the position of the first target object;

The first receiver 3 is configured to receive satellite broadcast signals at the position of the first target object to obtain satellite information of the position of the first target object;

The second processor 4 is configured to complete the above-mentioned distance measuring method based on the geodetic coordinate system at the position of the second target object;

The second memory 5 is used to store the program code of the processing process in the above-mentioned distance measuring method based on the geodetic coordinate system at the second target object position;

The second receiver 6 is configured to receive satellite broadcast signals at the second target object position to obtain satellite information of the second target object position;

A data exchange link 7 is used to form a data link between the first processor and the second processor as required. The data link is a bidirectional link.

The geodetic coordinate system-based ranging system of the embodiment of the invention uses general technical components to establish a complete data processing hardware foundation for satellite signal reception, satellite information identification, satellite information exchange, homologous WeChat confirmation and coordinate mapping distance calculation. The ranging system has low structural cost and high reliability.

A ranging system based on a geodetic coordinate system according to an embodiment of the present invention is shown in FIG. 5 . In Figure 5, the processor is deployed:

Homologous satellite identification device 10 for determining the visible homologous satellites of the first target object and the second target object;

The satellite signal receiving device 20 is used to obtain the geodetic coordinates of the first target object and the second target object at the same time by using a homologous satellite;

The coordinate mapping calculation device 30 is configured to convert the geodetic coordinates into space rectangular coordinates to form the relative distance between the first target object and the second target object.

As shown in FIG. 5 , in an embodiment of the present invention, the homologous satellite identification device 10 includes:

The independent receiving module 11 is used for the first target object and the second target object to obtain satellite information of their respective positions;

The information exchange module 12 is used for the first object and the second object to exchange satellite information of their respective positions;

The information identification module 13 is used for exchanging satellite information between the first object and the second object, and determining the homologous satellite according to the homology preference rule.

As shown in FIG. 5, in an embodiment of the present invention, the coordinate mapping calculation device 30 includes:

The first feature acquisition module 31 is used to acquire the longitude B _i latitude _{Li and the height H i of} the current target location;

The second feature acquisition module 32 is used to acquire the geodetic radius of curvature N of the latitude position of the current target object;

The third feature acquisition module 33 is used to acquire the first eccentricity f of the earth;

The fourth feature acquisition module 34 is used to acquire the length a of the semi-major axis of the earth;

The coordinate mapping module 35 is used to form the spatial Cartesian coordinates of the current target object according to the following algorithm:

The coordinate calculation module 36 is configured to form the Euclidean distance according to the spatial rectangular coordinates of the first target object and the second target object.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. a distance measuring method based on the geodetic coordinate system, is characterized in that, comprises: Determine the homologous satellites that are commonly visible to the first target and the second target; Using the homologous satellite to obtain the geodetic coordinates of the first target object and the second target object at the same time; The relative distance between the first target object and the second target object is formed after the geodetic coordinates are converted into space rectangular coordinates. 2. The distance measuring method based on the geodetic coordinate system as claimed in claim 1, wherein the determining of the common visible homologous satellites of the first target object and the second target object comprises: The first target object and the second target object obtain satellite information of their respective positions; The first subject matter and the second subject matter exchange satellite information of their respective locations; The first target and the second target determine homologous satellites according to homology preference rules. 3. The distance measuring method based on the geodetic coordinate system as claimed in claim 2, wherein the satellite information comprises: Satellite ID, determine the signal-to-noise ratio of the broadcast signal of the satellite, determine the pitch angle of the satellite, and the number of observable satellites. 4. The distance measuring method based on the geodetic coordinate system according to claim 3, wherein the homology preference rule comprises: Satellite ID: same; Signal-to-noise ratio of satellite broadcast signals with the same ID: greater than 40dB; Elevation angle of satellites with the same ID: greater than 35°; If the number of observable satellites is between 4 and 6, only homologous satellites are selected, and when the number of observable satellites is greater than 6, other satellites that meet the conditions of the signal-to-noise ratio and the pitch angle are selected as supplements. 5. The distance measuring method based on the geodetic coordinate system according to claim 1, characterized in that, after the geodetic coordinates are converted into space rectangular coordinates, the distance between the first target object and the second target object is formed. Relative distances include: Obtain the longitude B _i latitude _{Li and the altitude H i of} the current target location; Obtain the geodetic curvature radius N of the latitude position of the current target object; Get the first eccentricity f of the earth; Get the length a of the semi-major axis of the earth; The spatial Cartesian coordinates of the current target object are formed according to the following algorithm: The Euclidean distance is formed according to the spatial Cartesian coordinates of the first object and the second object. 6. A distance measuring system based on a geodetic coordinate system, comprising: A memory, for storing the program code of the processing process in the method for measuring distance based on the geodetic coordinate system as described in any one of claims 1 to 5; a processor for executing the program code. 7. A distance measuring system based on a geodetic coordinate system, characterized in that, comprising: A homologous satellite identification device, used to determine the homologous satellites that are commonly visible to the first target object and the second target object; a satellite signal receiving device, used for obtaining the geodetic coordinates of the first target object and the second target object at the same time by using the homologous satellite; The coordinate mapping computing device is configured to convert the geodetic coordinates into space rectangular coordinates to form the relative distance between the first target object and the second target object. 8. The ranging system based on the geodetic coordinate system according to claim 7, wherein the homologous satellite identification device comprises: an independent receiving module, used for the first target object and the second target object to obtain satellite information of their respective positions; an information exchange module for exchanging the satellite information of the respective positions of the first object and the second object; The information identification module is used for the first target object and the second target object to determine homologous satellites according to the homology preference rule. 9. The distance measuring system based on the geodetic coordinate system according to claim 7, wherein the coordinate mapping computing device comprises: The first feature acquisition module is used to acquire the longitude B _i latitude _{Li and the height H i of} the current target position; The second feature acquisition module is used to acquire the geodetic radius of curvature N of the latitude position of the current target object; The third feature acquisition module is used to acquire the first eccentricity f of the earth; The fourth feature acquisition module is used to acquire the length a of the semi-major axis of the earth; The coordinate mapping module is used to form the spatial Cartesian coordinates of the current target object according to the following algorithm: The coordinate calculation module is configured to form the Euclidean distance according to the spatial rectangular coordinates of the first target object and the second target object. 10. A distance measuring system based on a geodetic coordinate system, characterized in that it comprises: a first processor, configured to complete the geodetic coordinate-based ranging method according to any one of claims 1 to 5 at the position of the first target object; a first memory, configured to store a processing procedure in the geodetic coordinate system-based ranging method according to any one of claims 1 to 5 at the position of the first target object; a first receiver, configured to receive satellite broadcast signals at the position of the first target object to obtain satellite information of the position of the first target object; a second processor, configured to complete the processing process in the geodetic coordinate system-based ranging method according to any one of claims 1 to 5 at the position of the second target object; The second memory is configured to store the processing process in the geodetic coordinate system-based ranging method according to any one of claims 1 to 5 in the second target object position; a second receiver, configured to receive satellite broadcast signals at the position of the second target object to obtain satellite information of the position of the second target object; A data exchange link for forming a data link between the first processor and the second processor on demand.