CN113252073A - On-site calibration method and device applied to target positioning system - Google Patents

On-site calibration method and device applied to target positioning system Download PDF

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CN113252073A
CN113252073A CN202110513905.9A CN202110513905A CN113252073A CN 113252073 A CN113252073 A CN 113252073A CN 202110513905 A CN202110513905 A CN 202110513905A CN 113252073 A CN113252073 A CN 113252073A
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calibration
target
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coordinate system
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张琬琳
冒莉
晏文靖
丁帮俊
尹剑
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Wuxi Institute of Commerce
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Wuxi Institute of Commerce
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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Abstract

The invention discloses a field calibration method and a device applied to a target positioning system, which are suitable for field calibration of the target positioning system in a test field, wherein the field calibration device mainly comprises a differential GPS, the target positioning system and a calibration calculation module, after a target is searched by using an observation and aiming mirror of the target positioning system, the azimuth angle and the pitch angle output by an aiming line measured by an attitude measurement module in the target positioning system at the moment are recorded, WGS-84 coordinate values of an observation point and a target point are respectively measured by using the differential GPS technology, the purpose of using the differential GPS is to eliminate common errors, and the positioning result is corrected according to the differential correction number, so that the positioning accuracy is improved.

Description

On-site calibration method and device applied to target positioning system
Technical Field
The invention belongs to the technical field related to positioning system calibration, and particularly relates to a field calibration method and device applied to a target positioning system.
Background
The target positioning system generally comprises an attitude measurement module, a GPS receiver, a distance measuring machine and an observing and aiming mirror; in a target positioning system, after a target is detected by an observation mirror, an attitude measurement module is required to measure attitude information of an aiming line, namely an output direction angle and an output pitch angle, so as to solve an accurate coordinate value of the target.
The positioning error of the target positioning system mainly comes from the error of the attitude measurement module, and an IMU unit or a magnetic compass is generally embedded into the target positioning system to form the attitude measurement module so as to obtain the information of a direction angle and a pitch angle; the IMU unit mainly comprises a gyroscope and an accelerometer, the gyroscope and the accelerometer are easy to generate data drift to influence output measurement accuracy, and the magnetic compass is easy to generate larger output errors due to the influence of magnetic interference and external environment factors of real-time working of equipment.
Disclosure of Invention
The invention aims to provide a field calibration method and a field calibration device applied to a target positioning system, which are used for solving the problems of low output precision and large error of an attitude measurement module in the target positioning system in the background technology, can calibrate the field error of the attitude measurement module of the target positioning system in real time, write calibration parameters into the target positioning system and ensure the effective output precision of the target positioning system.
In order to achieve the above object, the present invention provides the following technical solutions.
A field calibration method applied to a target positioning system is characterized in that:
step 1, using the observation point as the measuring point of the differential GPS station to be measured, and measuring the WGS-84 coordinate value (lambda) of the observation pointp，Lp，hp) Outputting the coordinate value of the observation point to a calibration information resolving module;
step 2, taking the target point as the measuring point of the differential GPS station to be measured, and measuring the WGS-84 coordinate value (lambda) of the target pointd，Ld，hd) And the above-mentioned target pointOutputting the coordinate values to a calibration information resolving module, and placing a target object at the target point after the measurement is finished;
step 3, placing a target positioning system at the observation point, rotating an observation mirror in the target positioning system to aim at the target, and defining the clockwise output of the attitude measurement module as positive, which is consistent with the north direction increment definition; the target positioning system outputs the azimuth angle alpha 1 and the pitch angle beta 1 of the observation point measured by the target positioning system relative to the aiming line of the target point to the calibration information resolving module;
step 4, determining that the resolving coordinate systems used by the calibration information resolving module in the resolving process are respectively space rectangular coordinate systems (O-X)eYeZeSystem), geographic coordinate system (O-X)tYtZtSystem), aiming coordinate system (O-X)oYoZoIs (ii); O-XeYeZeThe system origin is located at the center of the reference ellipsoid, ZeAxial direction reference ellipsoid north pole, XeThe axis pointing to the point of intersection of the starting meridian plane with the equator, YeThe axis lying on the equatorial plane and being connected to X by the right handeThe axes form an included angle of 90 degrees; O-XtYtZtY of seriestAxial direction to true north of earth, XtAxis and YtThe axis being in the same horizontal plane and being parallel to XtVertical axis, ZtAxis and XtAxis, YtThe axis is vertical and forms a right-hand system; O-XoYoZoUses the center of mass of the target positioning system as the origin and Y along the direction of the distance measuring machineoAxis, XoAxis and YoVertical axis, ZoThe axis is perpendicular to the device and forms a right-hand system;
step 5, the calibration information resolving module enables the coordinate value (lambda) of the observation point in the step 1 to be obtainedp，Lp，hp) And the target point coordinate value (lambda) in step 2d，Ld，hd) Respectively converting the coordinate values into coordinate values (X) of an observation point and a target point under a space rectangular coordinate system1，Y1，Z1) And (X)2，Y2，Z2)；
The conversion relationship from the WGS-84 coordinate system to the space rectangular coordinate system is as follows:
Figure BDA0003061335470000021
wherein, (lambda, L, h) is coordinate value in WGS-84 coordinate system, and main curvature radius
Figure BDA0003061335470000031
Figure BDA0003061335470000032
a is the half axis of the earth reference ellipsoid,
Figure BDA0003061335470000033
b is the short semi-axis of the earth reference ellipsoid, e is the first eccentricity of the reference ellipsoid,
Figure BDA0003061335470000034
step 6, the calibration information resolving module obtains relative increment values (delta X, delta Y and delta Z) of the observation point and the target point in the space rectangular coordinate system according to the conversion result of the step 5,
Figure BDA0003061335470000035
step 7, the calibration information resolving module converts the relative increment (delta X, delta Y, delta Z) of the observation point and the target point in the space rectangular coordinate system into the geographical coordinate system of the observation point to obtain the geographical coordinate system increment (delta Xt, delta Yt, delta Zt),
from O-XeYeZeIs to O-XtYtZtThe conversion relationship of the system is as follows:
Figure BDA0003061335470000036
wherein the content of the first and second substances,
Figure BDA0003061335470000037
step 8, the calibration information resolving module obtains a calibration reference azimuth angle and a calibration reference pitch angle according to the geographic coordinate system increment (delta Xt, delta Yt, delta Zt) calculated in the step 7, and concretely, the geographic coordinate system increment (delta Xt, delta Yt, delta Zt) is O-XtYtZtIs converted to O-XoYoZoIn the system, the calculation relationship is as follows:
calibrating a reference azimuth
Figure BDA0003061335470000038
Calibrating reference pitch angle
Figure BDA0003061335470000039
And 9, calculating calibration correction parameters delta alpha and delta beta of the azimuth angle and the pitch angle by the calibration information resolving module according to the azimuth angle and the pitch angle of the sight line obtained in the step 3 and the calibration reference azimuth angle and the calibration reference pitch angle obtained in the step 8:
Δα＝α0-α1 (6)，
Δβ＝β0-β1 (7)；
and step 10, the calibration information resolving module writes the calibration correction parameters delta alpha and delta beta of the azimuth angle and the pitch angle into a target positioning system through embedded software to finish the parameter calibration of the attitude measurement module.
The invention also provides a device using the field calibration method, which is characterized in that: the system comprises a differential GPS, a target positioning system and a calibration information resolving module;
the differential GPS is used for measuring coordinate values (lambda) of the observation point and the target point in a WGS-84 coordinate systemp，Lp，hp) And (lambda)d，Ld，hd) And output to the calibration information resolving module;
the target positioning system is used for measuring the azimuth angle alpha 1 and the pitch angle beta 1 of the observation point relative to the sight line of the target point and outputting the azimuth angle alpha 1 and the pitch angle beta 1 to the calibration information resolving module;
the calibration information resolving moduleThe block is used for coordinate values (lambda) of the observation point and the target point in the WGS-84 coordinate systemp，Lp，hp) And (lambda)d，Ld，hd) Respectively converted into coordinate values (X1, Y1, Z1) and (X1) in a rectangular space coordinate system2，Y2，Z2) Then, relative increment values (delta X, delta Y and delta Z) of the observation point and the target point in a space rectangular coordinate system are obtained, the (delta X, delta Y and delta Z) is converted into a geographic coordinate system where the observation point is located to obtain geographic coordinate system increments (delta Xt, delta Yt and delta Zt), a calibration reference azimuth angle alpha 0 and a calibration reference pitch angle beta 0 are obtained according to the (delta Xt, delta Yt and delta Zt), and finally azimuth angle and pitch angle calibration correction parameters delta alpha and delta beta are calculated and written into a target positioning system.
Further, the coordinate values (lambda) of the observation point and the target point in the WGS-84 coordinate system are describedp，Lp，hp) And (lambda)d，Ld，hd) Respectively converted into coordinate values (X) under a space rectangular coordinate system1，Y1，Z1) And (X)2，Y2，Z2) The conversion relationship is as follows:
Figure BDA0003061335470000051
wherein, (lambda, L, h) is coordinate value in WGS-84 coordinate system, and main curvature radius
Figure BDA0003061335470000052
Figure BDA0003061335470000053
a is the half axis of the earth reference ellipsoid,
Figure BDA0003061335470000054
b is the short semi-axis of the earth reference ellipsoid, e is the first eccentricity of the reference ellipsoid,
Figure BDA0003061335470000055
further, the obtaining of the relative increment values (Δ X, Δ Y, Δ Z) of the observation point and the target point in the spatial rectangular coordinate system specifically includes:
Figure BDA0003061335470000056
further, the conversion relationship of the geographic coordinate system increment (Δ Xt, Δ Yt, Δ Zt) obtained by converting (Δ X, Δ Y, Δ Z) into the geographic coordinate system in which the observation point is located is:
Figure BDA0003061335470000057
wherein the content of the first and second substances,
Figure BDA0003061335470000058
further, the obtaining of the calibration reference azimuth angle α 0 and the calibration reference pitch angle β 0 according to (Δ Xt, Δ Yt, Δ Zt) specifically includes:
calibrating a reference azimuth
Figure BDA0003061335470000059
Calibrating reference pitch angle
Figure BDA00030613354700000510
Further, the calculating of the azimuth angle and pitch angle calibration correction parameters Δ α and Δ β specifically includes:
Δα＝α0-α1，
Δβ＝β0-β1。
compared with the prior art, the invention provides a field calibration method and a field calibration device applied to a target positioning system, and the field calibration method and the field calibration device have the following beneficial effects:
different from the prior art that the calibration parameters are widely debugged and written before the system leaves factory, the invention can complete the calibration of the output parameters of the attitude measurement module with the largest influence on the error of the target positioning system in real time at the target positioning site at any time, correct the error of the magnetic compass caused by the self drift of the gyroscope and the accelerometer and the influence of external factors in time, further correct the calculation error of the target positioning system caused by the error, solve the problems of detection failure and the like caused by the instability of the system parameters in the process of target detection of the target positioning system in the field, finally improve the output precision and reduce the output error.
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FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention;
FIG. 2 is a schematic diagram of the use of the apparatus of the present invention.
Detailed Description
The invention provides a technical scheme, as shown in fig. 1, a preferred embodiment of the on-site calibration device comprises a differential GPS, a target positioning system and a calibration information resolving module; FIG. 2 is a schematic diagram of the field calibration device according to the present invention: the position 1 is a position point for erecting a differential GPS system reference station, is fixedly arranged on a tripod beyond two meters away from an observation point and a target point, and has the function of positioning a single point to determine the coordinate value of the reference station as a known coordinate point of the reference station; and the position 2 and the position 3 are position points of a station to be detected of a differential GPS, meanwhile, the position 2 is used as an observation point of a target positioning system, the position 3 is used as a target point, the function is that the target positioning system carries out target positioning and aiming at the target point at the observation point, after the target positioning system is started, an eyepiece of the target positioning system aims at a target, and an included angle alpha 1 between an aiming line and the true north direction and an included angle beta 1 between the aiming line and the horizontal direction are measured according to a built-in attitude measurement module of the target positioning system.
A field calibration method applied to a target positioning system is characterized in that:
step 1, using the observation point as the measuring point of the differential GPS station to be measured, and measuring the WGS-84 coordinate value (lambda) of the observation pointp，Lp，hp) Outputting the coordinate value of the observation point to a calibration information resolving module;
step 2, taking the target point as the measuring point of the differential GPS station to be measured, and measuring the WGS-84 coordinate value (lambda) of the target pointd，Ld，hd) And the above-mentioned target pointOutputting the coordinate values to a calibration information resolving module, and placing a significant target object at the target point after the measurement is finished;
step 3, placing a target positioning system at the observation point, rotating an observation mirror in the target positioning system to aim at the obvious target, and defining the clockwise output of the attitude measurement module as positive, which is consistent with the north direction increment definition; the target positioning system outputs the azimuth angle alpha 1 and the pitch angle beta 1 of the observation point measured by the target positioning system relative to the aiming line of the target point to the calibration information resolving module;
step 4, determining that the resolving coordinate systems used by the calibration information resolving module in the resolving process are respectively space rectangular coordinate systems (O-X)eYeZeSystem), geographic coordinate system (O-X)tYtZtSystem), aiming coordinate system (O-X)oYoZoIs (ii); O-XeYeZeThe system origin is located at the center of the reference ellipsoid, ZeAxial direction reference ellipsoid north pole, XeThe axis pointing to the point of intersection of the starting meridian plane with the equator, YeThe axis lying on the equatorial plane and being connected to X by the right handeThe axes form an included angle of 90 degrees; O-XtYtZtY of seriestAxial direction to true north of earth, XtAxis and YtThe axis being in the same horizontal plane and being parallel to XtVertical axis, ZtAxis and XtAxis, YtThe axis is vertical and forms a right-hand system; O-XoYoZoUses the center of mass of the target positioning system as the origin and Y along the direction of the distance measuring machineoAxis, XoAxis and YoVertical axis, ZoThe axis is perpendicular to the device and forms a right-hand system;
step 5, the calibration information resolving module enables the coordinate value (lambda) of the observation point in the step 1 to be obtainedp，Lp，hp) And the target point coordinate value (lambda) in step 2d，Ld，hd) Respectively converting the coordinate values into coordinate values (X) of an observation point and a target point under a space rectangular coordinate system1，Y1，Z1) And (X)2，Y2，Z2)；
The conversion relationship from the WGS-84 coordinate system to the space rectangular coordinate system is as follows:
Figure BDA0003061335470000071
wherein, (lambda, L, h) is coordinate value in WGS-84 coordinate system, and main curvature radius
Figure BDA0003061335470000072
Figure BDA0003061335470000081
a is the half axis of the earth reference ellipsoid,
Figure BDA0003061335470000082
b is the short semi-axis of the earth reference ellipsoid, e is the first eccentricity of the reference ellipsoid,
Figure BDA0003061335470000083
step 6, the calibration information resolving module obtains relative increment values (delta X, delta Y and delta Z) of the observation point and the target point in the space rectangular coordinate system according to the conversion result of the step 5,
Figure BDA0003061335470000084
step 7, the calibration information resolving module converts the relative increment (delta X, delta Y, delta Z) of the observation point and the target point in the space rectangular coordinate system into the geographical coordinate system of the observation point to obtain the geographical coordinate system increment (delta Xt, delta Yt, delta Zt),
from O-XeYeZeIs to O-XtYtZtThe conversion relationship of the system is as follows:
Figure BDA0003061335470000085
wherein the content of the first and second substances,
Figure BDA0003061335470000086
step 8, the calibration information resolving module obtains a calibration reference azimuth angle and a calibration reference pitch angle according to the geographic coordinate system increment (delta Xt, delta Yt, delta Zt) calculated in the step 7, and concretely, the geographic coordinate system increment (delta Xt, delta Yt, delta Zt) is O-XtYtZtIs converted to O-XoYoZoIn the system, the calculation relationship is as follows:
calibrating a reference azimuth
Figure BDA0003061335470000087
Calibrating reference pitch angle
Figure BDA0003061335470000088
And 9, calculating calibration correction parameters delta alpha and delta beta of the azimuth angle and the pitch angle by the calibration information resolving module according to the azimuth angle and the pitch angle of the sight line obtained in the step 3 and the calibration reference azimuth angle and the calibration reference pitch angle obtained in the step 8:
Δα＝α0-α1 (6)，
Δβ＝β0-β1 (7)；
and step 10, the calibration information resolving module writes the calibration correction parameters delta alpha and delta beta of the azimuth angle and the pitch angle into a target positioning system through embedded software to finish the parameter calibration of the attitude measurement module.
A device using the field calibration method is characterized in that: the system comprises a differential GPS, a target positioning system and a calibration information resolving module.
The differential GPS is used for measuring coordinate values (lambda) of the observation point and the target point in a WGS-84 coordinate systemp，Lp，hp) And (lambda)d，Ld，hd) And output to the calibration information resolving module;
the target positioning system is used for measuring the azimuth angle alpha 1 and the pitch angle beta 1 of the observation point relative to the sight line of the target point and outputting the azimuth angle alpha 1 and the pitch angle beta 1 to the calibration information resolving module;
the calibration information resolving moduleCoordinate values (lambda) in WGS-84 for observing and target pointsp，Lp，hp) And (lambda)d，Ld，hd) Respectively converted into coordinate values (X) under a space rectangular coordinate system1，Y1，Z1) And (X)2，Y2，Z2) Then, relative increment values (delta X, delta Y and delta Z) of the observation point and the target point in a space rectangular coordinate system are obtained, the (delta X, delta Y and delta Z) is converted into a geographic coordinate system where the observation point is located to obtain geographic coordinate system increments (delta Xt, delta Yt and delta Zt), a calibration reference azimuth angle alpha 0 and a calibration reference pitch angle beta 0 are obtained according to the (delta Xt, delta Yt and delta Zt), and finally azimuth angle and pitch angle calibration correction parameters delta alpha and delta beta are calculated and written into a target positioning system.
Further, the coordinate values (lambda) of the observation point and the target point in the WGS-84 coordinate system are describedp，Lp，hp) And (lambda)d，Ld，hd) Respectively converted into coordinate values (X) under a space rectangular coordinate system1，Y1，Z1) And (X)2，Y2，Z2) The conversion relationship is as follows:
Figure BDA0003061335470000091
wherein, (lambda, L, h) is coordinate value in WGS-84 coordinate system, and main curvature radius
Figure BDA0003061335470000101
Figure BDA0003061335470000102
a is the half axis of the earth reference ellipsoid,
Figure BDA0003061335470000103
b is the short semi-axis of the earth reference ellipsoid, e is the first eccentricity of the reference ellipsoid,
Figure BDA0003061335470000104
further, the obtaining of the relative increment values (Δ X, Δ Y, Δ Z) of the observation point and the target point in the spatial rectangular coordinate system specifically includes:
Figure BDA0003061335470000105
further, the conversion relationship of the geographic coordinate system increment (Δ Xt, Δ Yt, Δ Zt) obtained by converting (Δ X, Δ Y, Δ Z) into the geographic coordinate system in which the observation point is located is:
Figure BDA0003061335470000106
wherein the content of the first and second substances,
Figure BDA0003061335470000107
further, the obtaining of the calibration reference azimuth angle α 0 and the calibration reference pitch angle β 0 according to (Δ Xt, Δ Yt, Δ Zt) specifically includes:
calibrating a reference azimuth
Figure BDA0003061335470000108
Calibrating reference pitch angle
Figure BDA0003061335470000109
Further, the calculating of the azimuth angle and pitch angle calibration correction parameters Δ α and Δ β specifically includes:
Δα＝α0-α1，
Δβ＝β0-β1。

Claims (10)

1. a field calibration method applied to a target positioning system is characterized in that:
step 1, using the observation point as the measuring point of the differential GPS station to be measured, and measuring the WGS-84 coordinate value (lambda) of the observation pointp，Lp，hp) And coordinate values of the observation pointsOutputting the data to a calibration information resolving module;
step 2, taking the target point as the measuring point of the differential GPS station to be measured, and measuring the WGS-84 coordinate value (lambda) of the target pointd，Ld，hd) Outputting the coordinate value of the target point to a calibration information resolving module, and placing a target object at the target point after the measurement is finished;
step 3, placing a target positioning system at the observation point, rotating an observation mirror in the target positioning system to aim at the target, and defining the clockwise output of the attitude measurement module as positive, which is consistent with the north direction increment definition; the target positioning system outputs the azimuth angle alpha 1 and the pitch angle beta 1 of the observation point measured by the target positioning system relative to the aiming line of the target point to the calibration information resolving module;
step 4, determining that the resolving coordinate systems used by the calibration information resolving module in the resolving process are respectively space rectangular coordinate systems (O-X)eYeZeSystem), geographic coordinate system (O-X)tYtZtSystem), aiming coordinate system (O-X)OYOZOIs (ii); O-XeYeZeThe system origin is located at the center of the reference ellipsoid, ZeAxial direction reference ellipsoid north pole, XeThe axis pointing to the point of intersection of the starting meridian plane with the equator, YeThe axis lying on the equatorial plane and being connected to X by the right handeThe axes form an included angle of 90 degrees; O-XtYtZtY of seriestAxial direction to true north of earth, XtAxis and YtThe axis being in the same horizontal plane and being parallel to XtVertical axis, ZtAxis and XtAxis, YtThe axis is vertical and forms a right-hand system; O-XOYOZOUses the center of mass of the target positioning system as the origin and Y along the direction of the distance measuring machineOAxis, XOAxis and YOVertical axis, ZOThe axis is perpendicular to the device and forms a right-hand system;
step 5, the calibration information resolving module enables the coordinate value (lambda) of the observation point in the step 1 to be obtainedp，Lp，hp) And the target point coordinate value (lambda) in step 2d，Ld，hd) Respectively converted into the coordinates of an observation point and a target point under a space rectangular coordinate systemValue (X)1，Y1，Z1) And (X)2，Y2，Z2)；
Step 6, the calibration information resolving module obtains relative increment values (delta X, delta Y and delta Z) of the observation point and the target point in the space rectangular coordinate system according to the conversion result of the step 5,
Figure FDA0003061335460000021
step 7, a calibration information resolving module converts the relative increment (delta X, delta Y, delta Z) of the observation point and the target point in the space rectangular coordinate system into a geographical coordinate system in which the observation point is positioned to obtain a geographical coordinate system increment (delta Xt, delta Yt, delta Zt);
step 8, the calibration information resolving module obtains a calibration reference azimuth angle alpha 0 and a calibration reference pitch angle beta 0 according to the geographic coordinate system increment (delta Xt, delta Yt, delta Zt) calculated in the step 7;
and 9, calculating calibration correction parameters delta alpha and delta beta of the azimuth angle and the pitch angle by the calibration information resolving module according to the azimuth angle and the pitch angle of the sight line obtained in the step 3 and the calibration reference azimuth angle and the calibration reference pitch angle obtained in the step 8:
Δα＝α0-α1，
Δβ＝β0-β1；
and step 10, the calibration information resolving module writes the calibration correction parameters delta alpha and delta beta of the azimuth angle and the pitch angle into a target positioning system through embedded software to finish the parameter calibration of the attitude measurement module.
2. The field calibration method applied to the target positioning system according to claim 1, wherein: the conversion relationship from the WGS-84 coordinate system to the spatial rectangular coordinate system in step 5 is:
Figure FDA0003061335460000022
wherein (lambda, L, h) is in WGS-84 coordinate systemCoordinate value, principal radius of curvature
Figure FDA0003061335460000023
Figure FDA0003061335460000024
a is the half axis of the earth reference ellipsoid,
Figure FDA0003061335460000025
b is the short semi-axis of the earth reference ellipsoid, e is the first eccentricity of the reference ellipsoid,
Figure FDA0003061335460000026
3. the field calibration method applied to the target positioning system according to claim 1, wherein: in the step 7, the catalyst is prepared from O-XeYeZeIs to O-XtYtZtThe conversion relationship of the system is as follows:
Figure FDA0003061335460000031
wherein the content of the first and second substances,
Figure FDA0003061335460000032
4. the field calibration method applied to the target positioning system according to claim 1, wherein: the calibration information calculation module in step 8 obtains a calibration reference azimuth angle α 0 and a calibration reference pitch angle β 0 according to the geographic coordinate system increment (Δ Xt, Δ Yt, Δ Zt) calculated in step 7, specifically, the geographic coordinate system increment (Δ Xt, Δ Yt, Δ Zt) is calculated from O-XtYtZtIs converted to O-XOYOZOIn the system, the calculation relationship is as follows:
calibrating a reference azimuth
Figure FDA0003061335460000033
Calibrating reference pitch angle
Figure FDA0003061335460000034
5. The on-site calibration apparatus using the on-site calibration method applied to the target positioning system of any one of claims 1 to 4, wherein: the system comprises a differential GPS, a target positioning system and a calibration information resolving module;
the differential GPS is used for measuring coordinate values (lambda) of the observation point and the target point in a WGS-84 coordinate systemp，Lp，hp) And (lambda)d，Ld，hd) And output to the calibration information resolving module;
the target positioning system is used for measuring the azimuth angle alpha 1 and the pitch angle beta 1 of the observation point relative to the sight line of the target point and outputting the azimuth angle alpha 1 and the pitch angle beta 1 to the calibration information resolving module;
the calibration information resolving module is used for solving the coordinate values (lambda) of the observation point and the target point in a WGS-84 coordinate systemp，Lp，hp) And (lambda)d，Ld，hd) Respectively converted into coordinate values (X) under a space rectangular coordinate system1，Y1，Z1) And (X)2，Y2，Z2) Then, relative increment values (delta X, delta Y and delta Z) of the observation point and the target point in a space rectangular coordinate system are obtained, the (delta X, delta Y and delta Z) is converted into a geographic coordinate system where the observation point is located to obtain geographic coordinate system increments (delta Xt, delta Yt and delta Zt), a calibration reference azimuth angle alpha 0 and a calibration reference pitch angle beta 0 are obtained according to the (delta Xt, delta Yt and delta Zt), and finally azimuth angle and pitch angle calibration correction parameters delta alpha and delta beta are calculated and written into a target positioning system.
6. The field calibration device of claim 5, wherein: the observation point and the target point are arranged in a WGS-84 coordinate systemCoordinate value of (A)p，Lp，hp) And (lambda)d，Ld，hd) Respectively converted into coordinate values (X) under a space rectangular coordinate system1，Y1，Z1) And (X)2，Y2，Z2) The conversion relationship is as follows:
Figure FDA0003061335460000041
wherein, (lambda, L, h) is coordinate value in WGS-84 coordinate system, and main curvature radius
Figure FDA0003061335460000042
Figure FDA0003061335460000043
a is the half axis of the earth reference ellipsoid,
Figure FDA0003061335460000044
b is the short semi-axis of the earth reference ellipsoid, e is the first eccentricity of the reference ellipsoid,
Figure FDA0003061335460000045
7. the field calibration device of claim 5, wherein: the specific steps of obtaining the relative increment values (Δ X, Δ Y, Δ Z) of the observation point and the target point in the rectangular spatial coordinate system are as follows:
Figure FDA0003061335460000046
8. the field calibration device of claim 5, wherein: the conversion relation of the geographical coordinate system increment (Δ Xt, Δ Yt, Δ Zt) obtained by converting (Δ X, Δ Y, Δ Z) to the geographical coordinate system in which the observation point is located is as follows:
Figure FDA0003061335460000047
wherein the content of the first and second substances,
Figure FDA0003061335460000048
9. the field calibration device of claim 5, wherein: the obtaining of the calibration reference azimuth angle α 0 and the calibration reference pitch angle β 0 according to (Δ Xt, Δ Yt, Δ Zt) is specifically:
calibrating a reference azimuth
Figure FDA0003061335460000051
Calibrating reference pitch angle
Figure FDA0003061335460000052
10. The field calibration device of claim 5, wherein: the calculation of the calibration correction parameters delta alpha and delta beta of the azimuth angle and the pitch angle specifically comprises the following steps:
Δα＝α0-α1，
Δβ＝β0-β1。
CN202110513905.9A 2021-05-12 2021-05-12 On-site calibration method and device applied to target positioning system Pending CN113252073A (en)

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