CN104360362A - Method and system for positioning observed object via aircraft - Google Patents

Abstract

The invention discloses a method for positioning an observed object. The method includes: acquiring object-targeted input data generated by an aircraft at every moment, wherein the input data include object image data and/or object ranging data; creating a sorting sequence by the input data; if two input data meeting preset conditions exist in the sorting sequence, using a first positioning algorithm for computing and outputting a positioning result, and otherwise, using a second positioning algorithm for computing and outputting the positioning result, wherein the first positioning algorithm is a two-point positioning method, the second positioning algorithm is an n-point positioning algorithm, and n is greater than or equal to 3. The invention further discloses a system for positioning the observed object. By the method and system, highly real-time and automatic positioning of the observed object can be realized.

Description

Utilize the method and system that aircraft positions observed object

Technical field

The invention belongs to observed object positioning field, relate to a kind of method and system utilizing aircraft to position measured target, particularly utilize unmanned plane to observe target and the method and system of locating.

Background technology

At present, no matter at military domain or civil area, the sector application of the unmanned plane of China is all day by day expanded and gos deep into, such as military target search, petroleum pipe line monitoring, power-line patrolling, forestry fire prevention early warning, agricultural investigation etc.In these sector applications, unmanned plane, as a kind of extension of remote sensing application platform, for responsible collection target information, use for follow-up remotely-sensed data, and the location of target information is the prerequisite and the basis that generate available geographical information data.

Unmanned aerial vehicle remote sensing Target self-determination location side conventional at present method masterhave based on reconnaissance platforms three-dimensional coordinate, video camera axial angle and terrain elevation data target localization, based on figureas the object localization method of sequence, based on multiframe figureas the object localization method of common ground, the localization method crossed based on photogrammetric front, based on the auxiliary object localization method etc. of earth's surface coupling.

Target localization based on reconnaissance platforms three-dimensional coordinate, video camera axial angle and terrain elevation data is traditional autonomous locator meams, by investigating the orientation at the axial angle determination target place of position of platform and video camera, then the target three-dimensional coordinate under utilizing digital elevation information to resolve this orientation, positioning precision is except the positioning error by investigation platform (aircraft), except axial angle error effect, also can be subject to the Accuracy of digital elevation model itself.

Based on figurethe localization method of picture sequence is when not having locating device or location occur rough error and even lost efficacy in Reconnaissance system, when controlling extremely poor by building altogether verticalline equation of condition degradation model completes target localization, and its data basis is except investigation figurepicture also comprises digital terrain figure.Its principle is by digital terrain figureand investigation figurereference mark of the same name chosen by picture, recovers by collinear condition degeneration equation attitude of photographing.Set up investigation on this basis figurepicture target and digital terrain figurethe unified relationship of upper target, realize target is located.

Based on multiframe figurethe object localization method of picture common ground utilizes reconnaissance platforms to obtain at least 3 frames figurepicture and these figurethe three-dimensional localization precision of terrain object is improved as the common ground information of upper more than at least 6.This technology does not rely on video camera axial angle and landform altitude information, eliminates two error sources in photogrammetric survey method, and investigation platform error becomes the principal element affecting target location accuracy.Its groundwork process is: the investigation platform that GPS/INS is housed flies over from overhead, target area, obtains a series of figurepicture, and by GPS/INS data and figurepicture data down transmission, to ground control station, chooses at least 3 frame non-colinear target areas on ground figurepicture, and therefrom determine at least 6 common ground, utilize three-dimensional coordinate computation model to ask for three coordinates of target and common ground.

Based on the localization method that photogrammetric front crosses, need to take from multiple observation station for target, utilize the position and attitude data of aircraft and camera system to calculate the elements of exterior orientation of multiframe image, carry out photogrammetric space intersection, calculate the volume coordinate of impact point.

Based on the object localization method that earth's surface coupling is auxiliary, in advance the atural object image store below the aircraft utilizing Aeronautics and Astronautics remote sensing to obtain in ground-based computer supporting database.During the scope of fly past precalculated position, immediately measure local atural object image, actual measurement figureand benchmark figurecarry out relevant matches, the position of aircraft can be obtained.The object that location parameter obtains supports inertial navigation system, carries out position correction, ensures the accuracy of location compute time space yardstick.

Sum up the above localization method adopted in unmanned plane, can find, existing method, mostly for single specific data mode, uses single data model to calculate data source, but does not consider dynamic and the complicacy of data acquisition in unmanned plane during flying process.And the optimization lacked data source, cannot automatically choosing by algorithm realization data source.Further, when locating, owing to being difficult to reach balance in high precision and real-time, therefore, the pursuit of existing method to precision causes the disappearance of real-time, and most methods uses the change of script artificial process, at most that a kind of ' fast ' calculates, and non real-time.Meanwhile, the acquisition of positioning result also depends on outside geographic information data, as elevation model, digital terrain figuredeng, the data precision of positioning result not only depends on that observational error is also limited to dependence data.

Therefore, need a kind of real-time high and automatic method of locating can be carried out to measured target.

Summary of the invention

The present invention in order to solve at least one problem above-mentioned and/or deficiency, and provides following at least one advantage.

On the one hand, provide a kind of aircraft observed object localization method, comprising:

Obtain the input data in each moment for target that aircraft produces, described input data comprise target figurepicture data and/or object ranging data;

Utilize described input data configuration sorting sequence;

When meeting two described input data of predetermined condition if exist in described sorting sequence, the first location algorithm is utilized to carry out calculating and exporting positioning result, otherwise, utilize the second location algorithm to carry out calculating and exporting positioning result; Described first location algorithm is two-point locating algorithm; Described second location algorithm is n point location algorithm, n >=3.

Further, also comprise: utilize described positioning result oppositely to calculate described aircraft and the relative cruising height data of described target at current time, and for the relative cruising height data of the storage that corrects current time.

Further, the constitution step of described sorting sequence comprises:

Utilize the input data of One-Point Location algorithm to described each moment to calculate, obtain One-Point Location result;

If described One-Point Location result does not meet preset accuracy requirement, then the input data in this moment are deleted from described sorting sequence.

Further, described predetermined condition is, there are two input data, and the angle obtained between the observation station of these two described input data and described target is greater than 85 ° and is less than 95 ° in described sorting sequence.

On the other hand, provide a kind of aircraft observed object positioning system, comprising:

Data acquisition module, for obtaining the input data of aircraft for each moment of target, described input data comprise target figurepicture data and/or object ranging data;

Sequence structure module, for according to described input data configuration sorting sequence;

Positioning calculation module, to position target for utilizing the described input data in described sorting sequence and calculates and export positioning result; Wherein, when meeting two described input data of predetermined condition if exist in described sorting sequence, the first location algorithm is utilized to carry out calculating and exporting positioning result, otherwise, utilize the second location algorithm to carry out calculating and exporting positioning result; Described first location algorithm is two-point locating algorithm; Described second location algorithm is n point location algorithm, n >=3.

Utilize input data to the automatic location of observed object by present invention achieves, on the one hand, in position fixing process, by judging the quality of data of input data, corresponding location algorithm can be selected to calculate for judged result, not only ensure that the validity of target localization result, and improve the positioning precision to target.For in the position fixing process of target, the cooperation of the first location algorithm and the second location algorithm can ensure the result of target localization within the acceptable range all the time.Another side, the precision that the present invention further inputs data is screened, and deletes the data not meeting positioning requirements at any time, ensure that the reliability of input Data Source.Again on the one hand, utilize the positioning result produced upgrade parameters such as the cruising height data needed for location and optimize, achieve the correction to aircraft load data, avoid the diffusion of the error that may occur.

Accompanying drawing explanation

figure1 is observed object positioning system signal in the embodiment of the present invention figure;

figure2 is sequence structure module signal in the embodiment of the present invention figure;

figure3 is observed object localization method flow process in the embodiment of the present invention figure;

figure4 is data screening flow process in the embodiment of the present invention figure.

Embodiment

Hereinafter, with reference to attached figuremore fully embodiments of the invention are described, attached figurein embodiments of the invention have been shown.But embodiments of the invention can be implemented in many different forms, and should originally not be interpreted as being limited to the embodiment listed at this.On the contrary, provide these exemplary embodiments, make the disclosure be thoroughly, and scope of the present invention is fully conveyed to those skilled in the art, attached figurein, for clarity, the size in layer and region and relative size can be exaggerated.To omit the detailed description of known function and structure to avoid the subject matter of fuzzy embodiment.Attached figurein identical label be used for representing identical element.

The data that the present invention is applicable to utilize aircraft to obtain position target and obtain positioning result.Can for having people's aircraft or unmanned aerial vehicle, this aircraft is configured with device for obtaining position of aircraft attitude and for obtaining measured target figurethe video capturing device of picture and/or obtain the distance measuring equipment of relative distance between aircraft and target.There is between this aircraft and ground control equipment remote measurement transmission channel, for the data in aircraft are passed through this remote measurement transmission channel to ground control equipment, and completed the calculating of target localization by ground control equipment.

This aircraft can adopt the form of unmanned plane in an embodiment, and unmanned plane belongs to unpiloted aircraft, it is configured with the load of specific function, in flight course, completes observation mission.When utilizing unmanned plane to carry out observation time to target, unmanned plane in flight course, can utilize the camera with specific precision of configuration to carry out imaging to target, thus can obtain target figurepicture data, meanwhile, if this unmanned plane is also configured with distance measuring equipment, then can utilize distance measuring equipment to find range to measured target further, thus obtain the relative distance between unmanned plane and measured target.The data that unmanned plane utilizes load to obtain and various flying quality pass by telemeter channel, to the positioning calculation process of target, calculate acquisition by ground control equipment according to the data received.

As figureshown in 1, it is unmanned plane observed object positioning system signal in the embodiment of the present invention figure.

Reference figure1, in this observed object positioning system, comprise data acquisition module, sequence structure module, positioning calculation module.

The Various types of data that data acquisition module is passed down by telemeter channel for obtaining unmanned plane, except for positioning except all kinds of flying qualities of calculating observed object, mainly comprising in the data obtained and not carrying out observing the target obtained to target in the same time figurepicture data and/or object ranging data.Because unmanned plane completes the observation to target in flight course, therefore, can think as a rule, correspond to not in the same time, the position of unmanned plane is also different.Equally, those skilled in the art can know, utilize a unmanned plane to position in the data do not obtained in the same time and calculate and utilize the aircraft of multiple unmanned plane or other types to position to calculate in the data that synchronization diverse location obtains to have identical being correlated with.For realizing the acquisition of unmanned plane through telemeter channel down-transmitting data, can know, data acquisition module is further connected with corresponding communication module, the data in telemeter channel is carried out reception and goes forward side by side after row relax, output to data acquisition module to utilize communication module.

Sequence structure module is for the basis at data acquisition module, and first store the input data obtained, namely these input data comprise target figurepicture data and/or object ranging data.For meeting the requirement of target localization real-time, arranging by the maximal sequence length pre-set storing in sequence structure module, utilizing and can store 50 groups of input data or corresponding sequence length storage space is set according to concrete system configuration and real-time demand.With further reference to figure2, be the signal of sequence structure module figure, figurein 2, sequence structure module comprises memory module and data screening module, memory module is for storing input data and forming input Data classification sequence, data screening module is screened the input data stored in memory module, for proposing the input data that can not meet positioning accuracy request, the screening process of this data screening module to input data can with reference to following description.

Positioning calculation module utilizes the sorting sequence in sequence structure module to carry out the positioning calculation of target according to location algorithm, thus obtains and export target localization result.In the embodiment of the present invention, at least two kinds of positioning calculation algorithms can be adopted to position calculating to target, in system normal course of operation, the data volume stored in sequence structure module meets predetermined quantitative requirement, and have at least 2 when meeting the input data of predetermined condition, can preferentially adopt the first location algorithm to position target to resolve, this first location algorithm is two-point locating algorithm.When in positioning calculation process, when no longer there are 2 the input data meeting above-mentioned predetermined condition, at least 3 location input data in sorting sequence can be utilized, adopt the second location algorithm to position calculating to target.Equally, when regain in sequence structure module meet 2 of predetermined condition input data time, the first location algorithm can be switched back further and utilize current 2 of meeting predetermined condition to input data to position and resolve.By adopting this two kinds of location algorithms, can locate in real time target, the Computing Principle of these two kinds of algorithms and the location condition set by system can with reference to following descriptions.

With further reference to figure1, on the basis of above-mentioned each module, system in this enforcement also can comprise reference data update module, this module is in running status all the time in the positioning calculation process of system, for oppositely calculating the positioning result of current output, to utilize the relative cruising height data extrapolated the more relative cruising height data that store of row current time, to ensure that the data used in positioning result process meet the accuracy requirement of location.

As figure3, be observed object localization method flow process in the embodiment of the present invention figure.

Reference figure3, will the flow process in the embodiment of the present invention, observed object positioned be described in detail.In step 301, corresponding to the operation that data acquisition module carries out, by the Various types of data that telemeter channel passes down, classification is carried out to unmanned plane and receives, and structure input data output in sequence structure module.Except preceding aim in input data figureas outside data and/or object ranging data, also comprise unmanned plane load data, the data such as the parameter of unmanned plane load data pack load sensor, the attitude parameter of the relative aircraft of load.The attitude parameter of aircraft can be the position and attitude data of aircraft under the inertial coordinates system of local.Simultaneously, for completing, target localization to be resolved according to one skilled in the art will appreciate that, also needing the demarcation information of input in advance or setting unmanned plane gondola load, it comprises the focal length of imaging sensor, the size of imaging pixel, the distortion parameter of imaging sensor, the reference system etc. of aircraft INS.For each algorithm that auxiliary final target localization resolves, use northeastit coordinate system is as the inertial reference system of aspect during location, and the object of input or setting aircraft INS reference system is the conversion completing attitude parameter between different coordinates when data input.The attitude parameter of conversion comprises the course angle of aircraft, roll angle and the angle of pitch.

In step 302, carry out formation of structure sorting sequence by sequence structure module to input data, sorting sequence i.e. different pieces of information needed for variant algorithm, utilizes memory module to store list entries.Input data are except target figureas outside data and/or object ranging data, corresponding to the first location algorithm (i.e. two-point locating algorithm), except needs each observation station vector angle the angle of pitch (θ) and roll angle (γ), the distance of the position angle (A2) of gondola, the angle of pitch (α 2) and laser ranging, also needs the relative position of aircraft, therefore needs to store when unmanned plane corresponds to two to be engraved in northeastcoordinate under it coordinate.Corresponding to the second location algorithm (i.e. n point location algorithm, n>=3), need the course angle of each observation station unmanned plane the angle of pitch (θ) and roll angle (γ), the position angle (A2), the angle of pitch (α 2) etc. of gondola.

With further reference to figure4, in position fixing process, consider data precision requirement, utilize figurethe flow process of data screening shown in 4 figure, in data screening module, the data in memory module are screened, data screening module utilizes the input data of One-Point Location algorithm to each moment to calculate, from sorting sequence first input data acquisition, when data source is required to meet, continue to carry out backstage computing, the One-Point Location result of One-Point Location algorithm is carried out the basis stored in optimizing as follow-up data, judge according to the input data precision of One-Point Location result to correspondence simultaneously, if default accuracy requirement can be met, then retain this input data, if default accuracy requirement can not be met, then delete these input data in a storage module.

One-Point Location algorithm adopts the method for photogrammetric collinearity equation, this algorithm is by setting up the transformational relation of sensing station attitude information in the GPS/IMU information of aircraft and gondola and airphoto model, recover the parameter of collinearity condition equation in photographic imagery model, by collinearity condition equation and terrain clearance information, recover the coordinate information of target.

Collinearity condition equation is as follows:

$X=(Z-Z_s)\frac{a_1^{\′}(x-x_0)+a_2^{\′}(y-y_0)-a_3^{\′}f}{c_1^{\′}(x-x_0)+c_2^{\′}(y-y_0)-c_3^{\′}f}+X_s$

$Y=(Z-Z_s)\frac{b_1^{\′}(x-x_0)+b_2^{\′}(y-y_0)-b_3^{\′}f}{c_1^{\′}(x-x_0)+c_2^{\′}(y-y_0)-c_3^{\′}f}+Y_s$

Each observation station IMU information is the course angle of unmanned plane the angle of pitch (θ) and roll angle (γ), the position angle (A2) of gondola, the angle of pitch (α 2).

A ₁', a ₂', a ₃', b ₁', b ₂', b ₃', c ₁', c ₂', c ₃' be collinearity condition equation parameter, that corresponding is matrix R=R ₁r ₂every, namely

$R=\left[\begin{array}{ccc}{a_1}^{\′}& {a_2}^{\′}& {a_3}^{\′}\\ {b_1}^{\′}& {b_2}^{\′}& {b_3}^{\′}\\ {c_1}^{\′}& {c_2}^{\′}& {c_3}^{\′}\end{array}\right]=R_1\·R_2$

R ₁, R ₂as follows with the conversion relation of IMU information:

$R_2=\left[\begin{array}{ccc}{\cos A}_2& \cos {\mathrm{\α}}_2\sin A_2& -{\sin \mathrm{\α}}_2\sin A_2\\ -\sin A_2& \cos {\mathrm{\α}}_2\cos A_2& -\sin {\mathrm{\α}}_2\cos A_2\\ 0& {\sin \mathrm{\α}}_2& {\cos \mathrm{\α}}_2\end{array}\right]$

When locator data is ranging information, collinearity equation is simplified, sets up equation as follows:

$\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]=R\·\begin{array}{c}\left[\begin{array}{c}0\\ 0\\ -\mathrm{dis}\end{array}\right]=\left[\begin{array}{ccc}{a}_1^{\′}& a_2^{\′}& a_3^{\′}\\ b_1^{\′}& b_2^{\′}& b_3^{\′}\\ c_1^{\′}& c_2^{\′}& c_3^{\′}\end{array}\right]\end{array}\·\left[\begin{array}{c}0\\ 0\\ -\mathrm{dis}\end{array}\right]$

Wherein dis is range finding distance, and X, Y, Z are target location coordinate.

With further reference to figure3, in step 303, position algorithm for measured target by positioning calculation module is first-selected judge adoptable, then, in step 304, utilize the target location algorithm determined to carry out resolving acquisition positioning result.Step 303 and step 304, after each positioning calculation completes, repeat.Wherein, in positioning calculation module, the first location algorithm is two-point locating algorithm, and the second location algorithm is 3 and above location algorithm.

Corresponding to step 303, when in sorting sequence, there are two and two or more input data, and two angles of line between observation station and target meeting these input data of acquisition are greater than 45 ° and are less than 125 °, when being especially greater than 85 ° and being less than 95 °, adopt two-point locating algorithm, for this location algorithm, embodiment of the present invention employing and many observation stations, multiframe Kinematic Positioning are different with One-Point Location mathematical model, error simulation result is different, can effectively supplementing and correction data as positioning result.

First location algorithm according to whether comprising object ranging data, can be divided into 2 ranging localization algorithms and two frames figurepicture location algorithm.

In 2 ranging localization algorithms, first location model obtains earth observation angle information, in conjunction with the position of ranging information and observation station aircraft, completes the projection earthward of range laser light, is calculated the locus of targets by the joints of two range findings on ground.Earth observation angle information is calculated as ε by the attitude angle of aircraft and gondola:

ε＝arccos(cosα ₂cosγcosθ-cosA ₂sinα ₂sinγ+sinA ₂sinα ₂cosγsinθ)

d＝dis·sin(ε)

In conjunction with the position calculation range finding projection d of distance on ground of aircraft after ε obtains, just can the ground coordinate of intersection calculation target, this can be reduced on a same plane problem that two justify intersection points, and principle repeats no more simply here.

At two frames figurein picture location algorithm, two frames figurepicture location uses and 2 geometry location models crossing identical, but the calculating of observed bearing information is more complicated, except the attitude angle of aircraft and gondola also needs to consider figurepicture information.Its earth observation angle ε is:

$\mathrm{\ϵ}=\arccos \left(\frac{R_{31}\·x+R_{32}\·y+R_{33}\·(-f)}{-f}\right)$

d＝Hr·tan(ε)

Wherein

$R=R_1\·R_2=\left[\begin{array}{ccc}{R}_{11}& R_{12}& R_{13}\\ R_{21}& R_{22}& R_{23}\\ R_{31}& R_{32}& R_{33}\end{array}\right]$

Hr is terrain clearance, i.e. the difference of the geodetic altitude of aircraft and target.

Here the calculating of dimensional information i.e. projector distance, because the range finding distance of aircraft and target, uses the terrain clearance of observation station aircraft to carry out trigonometric tangential and calculates acquisition.Thereafter resolve identical with ranging localization.

When in data ordered series of numbers, temporarily there is not satisfied first location algorithm required input data time, start the second location algorithm, the second location algorithm require to input in grouped data sequence data amount check more than or equal three time.Namely when existence more than three or three input data, the second location algorithm adopted is the above Kinematic Positioning location algorithm of three frames and three frames, the sky three that this algorithm relies on multiple aerial observation data resolves, and carries out real-time DYNAMIC ADJUSTMENT, first calculates the light path of every frame during photography

$\widehat{v_j}=R_j^{-1}{x}_j$

Wherein R _jfamily name is the comprehensive rotation matrix pointing out unmanned plane and gondola in a jth observation, consistent with above mentioned single frames account form.X _jfor a jth observation station figuretarget location on picture frame.Location can be reduced to be asked from the nearest optimum point of all light path of photography, uses least-squares calculation.Optimal value p is:

$p={\left[\underset{j}{\mathrm{\Σ}}(I-{\hat{v}}_j{{\hat{v}}_j}^T)\right]}^{-1}\left[\underset{j}{\mathrm{\Σ}}(I-{\hat{v}}_j{{\hat{v}}_j}^T)c_j\right]$

C _jbe the photocentre position of load of photographing in unmanned plane gondola, can be reduced to the locus of aircraft, I is a unit matrix.

Locator data is 3 and above distance measuring type location Calculation of range finding, is actually the intersection point calculating multiple Spatial Sphere, and mathematical principle is clear and definite, and its solution formula repeats no more here.

To the positioning result of the target obtained through above-mentioned algorithm, carry out coordinate conversion further, such as, by the target localization result under the inertial coordinates system that obtains under real-time conditions, be scaled to unmanned plane and locate earth coordinates used, and export terminal in real time.

Correspond to the global position system different from unmanned plane, as the Big Dipper, GPS, GLONASS etc., localization method can support that different terrestrial coordinate converting system intrinsic coordinates conversions calculates the conversion between earth coordinates.

Above-mentioned algorithm or system can, according to the configuration of ground control equipment, be stored in the internal memory of ground control equipment individual, and after being called by the arithmetic element of ground control equipment, read, thus complete the status to target to response input data.

Although illustrate and describe the present invention with reference to specific embodiment of the present invention, but those skilled in the art will appreciate that when not departing from the spirit and scope of the present invention be defined by the claims, the various changes of form and details aspect can be made wherein.

Claims (8)

1. an observed object localization method, is characterized in that, comprising:

Obtain the input data in each moment for target that aircraft produces, described input data comprise destination image data and/or object ranging data;

Utilize described input data configuration sorting sequence;

When meeting two described input data of predetermined condition if exist in described sorting sequence, the first location algorithm is utilized to carry out calculating and exporting positioning result, otherwise, utilize the second location algorithm to carry out calculating and exporting positioning result; Described first location algorithm is two-point locating algorithm; Described second location algorithm is n point location algorithm, n >=3.

2. method as claimed in claim 1, is characterized in that, also comprise: utilize described positioning result oppositely to calculate described aircraft and the relative cruising height data of described target at current time, and for the relative cruising height data of the storage that corrects current time.

3. method as claimed in claim 1 or 2, it is characterized in that, the constitution step of described sorting sequence comprises:

Utilize the input data of One-Point Location algorithm to described each moment to calculate, obtain One-Point Location result;

If described One-Point Location result does not meet preset accuracy requirement, then the input data in this moment are deleted from described sorting sequence.

4. method as claimed in claim 1, it is characterized in that, described predetermined condition is, there are two input data, and the angle obtained between the observation station of these two described input data and described target is greater than 85 ° and is less than 95 ° in described sorting sequence.

5. an aircraft observed object positioning system, is characterized in that, comprising:

Data acquisition module, for obtaining the input data of aircraft for each moment of target, described input data comprise destination image data and/or object ranging data;

Sequence structure module, for according to described input data configuration sorting sequence;

Positioning calculation module, to position target for utilizing the described input data in described sorting sequence and calculates and export positioning result; Wherein, when meeting two described input data of predetermined condition if exist in described sorting sequence, the first location algorithm is utilized to carry out calculating and exporting positioning result, otherwise, utilize the second location algorithm to carry out calculating and exporting positioning result; Described first location algorithm is two-point locating algorithm; Described second location algorithm is n point location algorithm, n >=3.

6. system as claimed in claim 5, it is characterized in that, reference data update module, for oppositely calculating described aircraft and the relative cruising height data of described target at current time, and for the relative cruising height data of the storage that corrects current time according to described positioning result.

7. system as described in claim 5 or 6, is characterized in that, described sequence structure module comprises, memory module and data screening module, described memory module, for storing described input data; Described data screening module utilizes the input data of One-Point Location algorithm to described each moment to calculate, and obtains One-Point Location result; If described One-Point Location result does not meet preset accuracy requirement, then the input data in this moment are deleted from described memory module.

8. system as claimed in claim 5, is characterized in that, described predetermined condition is there are two input data in described sequence structure module, and the angle obtained between the observation station of these two described input data and described target is greater than 85 ° and is less than 95 °.