CN112804637B - 基于两个航空器辅助的建筑物室内目标定位方法 - Google Patents
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Abstract
本发明涉及一种基于两个航空器辅助的建筑物室内目标定位方法,包括以下步骤:两个航空器携带测向设备绕建筑物的***飞行,室内目标携带的定位标签发出信号;两个航空器分别测得信号来源方向在水平面上的投影,两者的交点即为室内目标在水平面上的位置;根据所述室内目标与航空器的气压差,得到该目标所处的高度值,从而得到该目标的位置坐标。本发明不需要部署室内定位基站,不但定位精度高,而且稳定性和抗干扰性好。
Description
技术领域
本发明涉及一种基于两个航空器辅助的建筑物室内目标定位方法,属于无线定位技术领域。
背景技术
公安、应急、消防等部门在建筑物(特别是高层建筑)发生警情、灾情、火情等情况时,需要对进入现场的人员进行实时定位。
现有的室内定位主要方法有Wi-Fi、蓝牙、UWB(Ultra-Wideband,超宽带)等,其中Wi-Fi、蓝牙方法可借助移动设备等现有硬件进行定位,但是定位精度较低,稳定性和抗干扰性也比较差;而UWB定位精度虽然可达10cm级,但信号穿透性比较差,因此需要部署比较多的定位基站,且需要携带特定的UWB标签。可见,现有的室内定位方法均需要提前在室内部署大量定位基站,且对携带的定位设备有特殊要求。但是在灾害现场,即使部署了室内定位基站,也会因损毁导致无法使用。
另外,目前的室外目标定位主要依靠GNSS实现,但是在室内GNSS信号会因建筑物遮蔽导致几乎不可用,导致定位困难。
发明内容
本发明要解决的技术问题是:提供一种可以通过两个航空器的辅助对建筑物室内目标进行准确定位的方法。
为了解决上述技术问题,本发明提出的技术方案是:一种基于两个航空器辅助的建筑物室内目标定位方法,两个航空器分别记作第一航空器和第二航空器,所述第一航空器配备第一GNSS定位装置、第一测向设备和第一气压计,所述第二航空器配备第二GNSS定位装置和第二测向设备,所述第一测向设备和第二测向设备均为一维测向设备;所述室内目标携带有定位标签和第二气压计;所述方法包括以下步骤:
所述第一测向设备接收定位标签发出的信号,所述第一测向设备测得信号来源方向的偏航角为,根据第一航空器的位置坐标,得到第一航空器与室内目标之间的连线在水平面上的投影,记作第一投影线;同样地,所述第二测向设备接收定位标签发出的信号,所述第二测向设备测得信号来源方向的偏航角为,根据第二航空器的位置坐标 ,得到第二航空器与室内目标之间的连线在水平面上的投影,记作第二投影线;
假设所述室内目标的位置坐标为 ,计算第一投影线和第二投影线的交点,得到 ;所述第一气压计测得第一航空器位置的气压值为 ,所述第二气压计测得该室内目标位置的气压值为,根据第一航空器位置的位置坐标、每上升9米大气压降低 的原理以及两个气压值之间的差值,得到该室内目标所处的高度值Zd,从而得到该室内目标的位置坐标。
本发明带来的有益效果是:本发明通过两个航空器辅助对建筑物室内目标定位,不需要部署室内定位基站,相比通过借助移动设备等现有硬件进行定位,不但定位精度高,而且提高了稳定性和抗干扰性,即使在火灾等灾害现场,依然能够对现场人员等室内目标进行准确定位,提高了安全性。
附图说明
图1是本发明实施例的示意图。
附图标记:第一航空器2;第二航空器3;室内目标4;建筑物6。
具体实施方式
实施例
如图1所示,本实施例中通过两个航空器辅助进行室内目标的定位,两个航空器分别记作第一航空器2和第二航空器3,所述第一航空器2配备第一GNSS定位装置(用于实时测量第一航空器的位置)、第一测向设备和气压计(用于实时测量第一航空器位置处的气压);所述第二航空器3配备第二GNSS定位装置(用于实时测量第二航空器的位置)和第二测向设备,所述第一测向设备和第二测向设备可以采用一维测向设备,也可以采用二维测向设备(此时,只使用二维测向设备测得的偏航角,而将俯仰角抛弃不用)。
所述第一航空器、第二航空器均可以采用无人机或载人直升机,优选采用无人机对室内目标进行定位,使用方便且操作更安全。
因为无线电信号辐射是有方向性的,因此通过测向设备可以确定无线电信号辐射源方向。本实施例中第一航空器2和第二航空器3各携带一个一维测向设备,一维测向设备可以使用幅度比较法、多普勒方法、相位干涉方法、相关干涉方法或到达时间差方法等来测量信号来源方向的偏航角,此为现有技术,可参考相关文献,不再赘述。一维测向设备及其天线***可参考《基于瓦森特-瓦特原理的短波测向处理机的设计》(作者:王保锐等,仪器仪表学报,2010,31(8):313-317)。
所述室内目标4携带有第二气压计,用于测量室内目标4位置处的气压值。定位标签有非合作式定位标签与合作式定位标签两种,其中非合作式定位标签只能发射无编码的无线信号,即可以在任何单频点上发送无线电信号,类似于对讲机等,因此只能用于检测信号方向,而在传输第二气压计测得的气压值时,需要通过其他现有的通讯方式将气压值传输至数据处理终端。而合作式定位标签在非合作式定位标签的基础上增加了信号调制功能,首先将定位标签与第二气压计连接,这样就可以在定位标签发射的信号中调制编码ID、气压值等信息,而所述第一、第二测向设备具有相对应的信号解调制功能,可以直接通过第一、第二测向设备接收测得的气压值,然后由第一、第二测向设备将相关数据传输至数据处理终端,更加方便管理,因此本实施例优选合作式定位标签。信号调制和解调制均为现有技术,不再赘述。
本实施例中的基于两个航空器辅助的建筑物室内目标定位方法,包括以下步骤:
所述第一航空器2、第二航空器3绕建筑物6的***飞行,所述定位标签发出信号;所述第一GNSS定位装置实时获得第一航空器的位置坐标,并发送至数据处理终端;所述第二GNSS定位装置实时获得第二航空器的位置坐标,并发送至数据处理终端。
所述第一测向设备接收定位标签发出的信号,所述第一测向设备测得信号来源方向的偏航角为,并发送至数据处理终端,数据处理终端根据第一航空器的位置坐标,得到第一航空器与室内目标之间的连线在水平面上的投影,记作第一投影线;同样地,所述第二测向设备接收定位标签发出的信号,所述第二测向设备测得信号来源方向的偏航角为,并发送至数据处理终端,数据处理终端根据第二航空器的位置坐标,得到第二航空器与室内目标之间的连线在水平面上的投影,记作第二投影线。
所述第一气压计测得第一航空器位置的气压,并发送至数据处理终端,所述第二气压计测得该室内目标位置的气压为 ,并发送至数据处理终端。数据处理终端根据每上升 9米大气压降低 的原理、两个气压值之差以及第一航空器的位置坐标,得到该室内目标所处的高度值Zd,从而得到该室内目标的位置坐标,完成该室内目标的定位。
本实施例第一航空器、第二航空器和室内目标的定位标签测得的各种数据均传送至(优选无线传输方式)数据处理终端,由数据处理终端进行定位运算。
本发明不局限于上述实施例所述的具体技术方案,除上述实施例外,本发明还可以有其他实施方式。对于本领域的技术人员来说,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等形成的技术方案,均应包含在本发明的保护范围之内。
Claims (6)
1.一种基于两个航空器辅助的建筑物室内目标定位方法,两个航空器分别记作第一航空器和第二航空器,所述第一航空器配备第一GNSS定位装置、第一测向设备和第一气压计,所述第二航空器配备第二GNSS定位装置和第二测向设备;所述室内目标携带有定位标签和第二气压计;所述方法包括以下步骤:
所述第一测向设备接收定位标签发出的信号,所述第一测向设备测得信号来源方向的偏航角为,根据第一航空器的位置坐标,得到第一航空器与室内目标之间的连线在水平面上的投影,记作第一投影线;同样地,所述第二测向设备接收定位标签发出的信号,所述第二测向设备测得信号来源方向的偏航角为,根据第二航空器的位置坐标,得到第二航空器与室内目标之间的连线在水平面上的投影,记作第二投影线;
3.根据权利要求1或2所述的基于两个航空器辅助的建筑物室内目标定位方法,其特征在于:所述第一航空器、第二航空器均为无人机或载人直升机。
4.根据权利要求1或2所述的基于两个航空器辅助的建筑物室内目标定位方法,其特征在于:所述定位标签与第二气压计相连接,所述定位标签具有信号调制功能,所述定位标签发射的信号中调制有第二气压计测得的气压值;所述第一、第二测向设备均具有相对应的信号解调制功能。
5.根据权利要求1或2所述的基于两个航空器辅助的建筑物室内目标定位方法,其特征在于:所述第一、第二测向设备使用幅度比较法、多普勒方法、相位干涉方法、相关干涉方法或到达时间差方法测量信号来源方向的偏航角。
6.根据权利要求1或2所述的基于两个航空器辅助的建筑物室内目标定位方法,其特征在于:所述第一测向设备和第二测向设备均为一维测向设备。
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