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CN112346099A - A real-time object localization method - Google Patents

A real-time object localization method Download PDF

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Publication number
CN112346099A
CN112346099A CN202011262057.0A CN202011262057A CN112346099A CN 112346099 A CN112346099 A CN 112346099A CN 202011262057 A CN202011262057 A CN 202011262057A CN 112346099 A CN112346099 A CN 112346099A
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Prior art keywords
satellite
coordinates
coordinate
coordinate system
current
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潘小刚
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Beijing Shouqi Zhixing Technology Co Ltd
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Beijing Shouqi Zhixing Technology Co Ltd
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Priority to CN202011262057.0A priority Critical patent/CN112346099A/en
Publication of CN112346099A publication Critical patent/CN112346099A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system

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

Abstract

The invention discloses a real-time object positioning method, which relates to the technical field of GPS positioning, and is characterized in that a three-dimensional coordinate system is constructed by taking the position of a first satellite as a coordinate origin, the coordinate of a second satellite and the coordinate of a third satellite are respectively obtained in the three-dimensional coordinate system, the current coordinate of an object to be positioned in the three-dimensional coordinate system is calculated in real time according to the coordinate of the first satellite, the coordinate of the second satellite, the coordinate of the third satellite and the current distance between the first satellite, the second satellite and the object to be positioned, and the object to be positioned is positioned in real time according to the current coordinate of the object to be positioned in the three-dimensional coordinate system.

Description

Real-time object positioning method
Technical Field
The invention relates to the technical field of GPS positioning, in particular to a real-time object positioning method.
Background
The existing scheme mainly adopts a trilateration positioning algorithm to position an object in real time, and has the defect that the scheme is only suitable for positioning the object on the ground in real time and cannot realize positioning the object in the air (such as an airplane, an unmanned aerial vehicle and the like).
Disclosure of Invention
In order to solve the defects of the prior art, the embodiment of the invention provides a real-time object positioning method, which comprises the following steps:
constructing a three-dimensional coordinate system by taking the position of the first satellite as a coordinate origin;
respectively acquiring the coordinates of a second satellite and the coordinates of a third satellite in the three-dimensional coordinate system;
calculating the current coordinate of the object to be positioned under the three-dimensional coordinate system in real time according to the coordinate of the first satellite, the coordinate of the second satellite, the coordinate of the third satellite and the distances between the current objects to be positioned of the first satellite, the second satellite and the third satellite;
and positioning the object to be positioned in real time according to the current coordinate of the object to be positioned in the three-dimensional coordinate system.
Preferably, calculating the current coordinate of the object to be positioned in the three-dimensional coordinate system in real time according to the coordinate of the first satellite, the coordinate of the second satellite, the coordinate of the third satellite, and the current distances between the first satellite, the second satellite, and the third satellite and the object includes:
according to the formula
Figure BDA0002774968630000021
Calculating and calculating the coordinates (x, y, z) of the object to be positioned under the three-dimensional coordinate system, wherein (m, n, o) is the coordinates of the second satellite, (p, q, r) is the coordinates of the third satellite, and d is the coordinates of the second satellite1、d2And d3The distances between the first satellite, the second satellite and the third satellite and the object to be positioned are respectively the current distances.
The real-time object positioning method provided by the embodiment of the invention has the following beneficial effects:
by constructing the three-dimensional coordinate system, not only can the objects on the ground be positioned in real time, but also the objects in the air can be positioned, and the applicability is strong.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The method for positioning the object in real time provided by the embodiment of the invention comprises the following steps:
s101, constructing a three-dimensional coordinate system by taking the position of the first satellite as a coordinate origin;
s102, respectively acquiring the coordinate of a second satellite and the coordinate of a third satellite in a three-dimensional coordinate system;
s103, calculating the current coordinate of the object to be positioned under the three-dimensional coordinate system in real time according to the coordinate of the first satellite, the coordinate of the second satellite, the coordinate of the third satellite and the distances between the current objects to be positioned of the first satellite, the second satellite and the third satellite;
and S104, positioning the object to be positioned in real time according to the current coordinate of the object to be positioned in the three-dimensional coordinate system.
Optionally, the calculating, in real time, the current coordinate of the object to be positioned in the three-dimensional coordinate system according to the coordinate of the first satellite, the coordinate of the second satellite, the coordinate of the third satellite, and the current distances between the first satellite, the second satellite, and the third satellite and the object includes:
according to the formula
Figure BDA0002774968630000031
Calculating and calculating the coordinates (x, y, z) of the object to be positioned under the three-dimensional coordinate system, wherein (m, n, o) is the coordinate of the second satellite, (p, q, r) is the coordinate of the third satellite, and d1、d2And d3The distances between the first satellite, the second satellite and the third satellite and the object to be positioned are respectively the current distances.
In particular, d1、d2And d3Can be represented by the formula
Figure BDA0002774968630000032
Calculated, wherein v is the transmission speed of the electromagnetic wave and is 3 × 108M/s, t is the time interval from the transmission of an electromagnetic wave signal from the satellite to the return of the electromagnetic wave signal to the satellite.
The object real-time positioning method provided by the embodiment of the invention is characterized in that a three-dimensional coordinate system is constructed by taking the position of a first satellite as a coordinate origin, the coordinate of a second satellite and the coordinate of a third satellite are respectively obtained in the three-dimensional coordinate system, the current coordinate of an object to be positioned in the three-dimensional coordinate system is calculated in real time according to the coordinate of the first satellite, the coordinate of the second satellite, the coordinate of the third satellite and the current distance between the first satellite, the second satellite and the object to be positioned and the distance between the first satellite, the second satellite and the third satellite and the object to be positioned, and the object to be positioned is positioned in real time according to the current coordinate of the object to be positioned in the three-dimensional coordinate system, so that not only the object on the ground can be positioned in real time, but.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (4)

1.一种物体实时定位方法，其特征在于，包括：1. a kind of object real-time positioning method, is characterized in that, comprises: 以第一卫星所在的位置为坐标原点，构建三维坐标系；Taking the position of the first satellite as the coordinate origin, construct a three-dimensional coordinate system; 在所述三维坐标系下，分别获取第二卫星的坐标、第三卫星的坐标；In the three-dimensional coordinate system, the coordinates of the second satellite and the coordinates of the third satellite are obtained respectively; 根据所述第一卫星的坐标、所述第二卫星的坐标、所述第三卫星的坐标及所述第一卫星、所述第二卫星、所述第三卫星当前与待定位物体的距离，实时计算所述待定位物体当前在所述三维坐标系下的坐标；According to the coordinates of the first satellite, the coordinates of the second satellite, the coordinates of the third satellite, and the current distances between the first satellite, the second satellite, and the third satellite and the object to be positioned, Calculate the current coordinates of the object to be positioned in the three-dimensional coordinate system in real time; 根据所述待定位物体当前在所述三维坐标系下的坐标，实时对所述待定位物体进行定位。According to the current coordinates of the object to be positioned in the three-dimensional coordinate system, the object to be positioned is positioned in real time. 2.根据权利要求1所述的物体实时定位方法，其特征在于，根据所述第一卫星的坐标、所述第二卫星的坐标、所述第三卫星的坐标及所述第一卫星、所述第二卫星、第三卫星与物体当前的距离，实时计算所述待定位物体当前在所述三维坐标系下的坐标包括：2 . The method for real-time object positioning according to claim 1 , wherein, according to the coordinates of the first satellite, the coordinates of the second satellite, the coordinates of the third satellite, and the coordinates of the first satellite, the The current distance between the second satellite, the third satellite and the object, and the real-time calculation of the current coordinates of the object to be located in the three-dimensional coordinate system includes: 根据公式
Figure FDA0002774968620000011
计算计算所述待定位物体当前在所述三维坐标系下的坐标(x,y,z)，其中，(m,n,o)为所述第二卫星的坐标，(p,q,r)为所述第三卫星的坐标，d1、d2及d3分别为所述第一卫星、所述第二卫星、所述第三卫星与所述待定位物体当前的距离。According to the formula
Figure FDA0002774968620000011
Calculate the current coordinates (x, y, z) of the object to be positioned in the three-dimensional coordinate system, where (m, n, o) are the coordinates of the second satellite, (p, q, r) are the coordinates of the third satellite, and d 1 , d 2 and d 3 are the current distances between the first satellite, the second satellite, the third satellite and the object to be positioned, respectively. 3.一种计算机程序产品，其特征在于，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如权利要求1-2所述的方法。3. A computer program product, characterized in that the computer program product comprises a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer , causing the computer to perform the method of claims 1-2. 4.一种非暂态计算机可读存储介质，其特征在于，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令使所述计算机执行如权利要求1-2所述的方法。4. A non-transitory computer-readable storage medium, characterized in that the non-transitory computer-readable storage medium stores computer instructions, the computer instructions cause the computer to perform the method according to claims 1-2 .
CN202011262057.0A 2020-11-12 2020-11-12 A real-time object localization method Pending CN112346099A (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103901456A (en) * 2014-04-14 2014-07-02 东南大学 System and method for indoor positioning of GPS terminal
CN108680939A (en) * 2018-05-16 2018-10-19 北京邮电大学 A kind of secondary satellite localization method, device and electronic equipment

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103901456A (en) * 2014-04-14 2014-07-02 东南大学 System and method for indoor positioning of GPS terminal
CN108680939A (en) * 2018-05-16 2018-10-19 北京邮电大学 A kind of secondary satellite localization method, device and electronic equipment

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
东南大学等: "《"三合一"电子公路技术及应用》", 30 September 2020, 东南大学出版社, pages: 183 - 184 *
完颜雪市子: "gps为什么有3颗卫星连接后才能导航？", pages 1, Retrieved from the Internet <URL:https://zhidao.baidu.com/question/311671677142248204.html> *

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