CN113936061A - Marine dynamic target positioning system and positioning method thereof - Google Patents

Marine dynamic target positioning system and positioning method thereof Download PDF

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CN113936061A
CN113936061A CN202111125839.4A CN202111125839A CN113936061A CN 113936061 A CN113936061 A CN 113936061A CN 202111125839 A CN202111125839 A CN 202111125839A CN 113936061 A CN113936061 A CN 113936061A
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measured
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CN113936061B (en
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余毅
郭鑫
张涛
李铭扬
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract

The invention provides a marine dynamic target positioning system and a positioning method thereof, wherein the marine dynamic target positioning system comprises: the system comprises a master control unit, a data processing unit, a positioning unit, a cooperative target, a first camera and a second camera; the sea surface swing error is corrected by utilizing the inclination angle of the sea antenna, so that the technical problem of larger result error caused by the swing of the target position measuring platform on the sea surface is solved; the invention also provides a relative measurement method, and the offshore dynamic target position is positioned by combining with the image interpretation technology, so that the measurement precision of the offshore dynamic target position is improved.

Description

Marine dynamic target positioning system and positioning method thereof
Technical Field
The invention relates to the field of offshore measurement, in particular to an offshore dynamic target positioning system and a positioning method thereof.
Background
With the continuous development of modern economic technology, the marine industry has been expanded from the original marine transportation to the fields of marine resource investigation, marine engineering construction, marine scientific research, marine military and the like. In the research in these fields, high-precision positioning of the offshore target is required, however, in the offshore measurement, the sea surface has large swing, and it is difficult to obtain a high-precision measurement result, so how to improve the positioning precision of the offshore target becomes a primary problem to be researched in the offshore detection field.
At present, in a common radio positioning method, clutter interference is easily generated due to reflection and refraction on the sea, and meanwhile, a sea surface measuring platform swings indefinitely, so that a measuring result is often unsatisfactory, and if the accuracy is improved, more equipment is needed for assistance to eliminate the influence, but the research cost is greatly increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an offshore dynamic target positioning system and a positioning method thereof.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the invention provides an offshore dynamic target positioning system, which comprises: the system comprises a master control unit, a data processing unit, a positioning unit, a cooperative target, a first camera and a second camera;
the first camera and the second camera are used for shooting images of a target to be detected and a cooperative target, and respectively obtaining a first image and a second image which simultaneously comprise the cooperative target and the target to be detected;
the master control unit is used for controlling the cooperation of the cooperative target, the first camera and the second camera;
the positioning unit is used for acquiring geodetic rectangular coordinates of the cooperative target, the first camera and the second camera;
the cooperative target is used for comparing and measuring with the target to be measured;
the data processing unit obtains the position coordinate of the target to be measured by processing the image data collected by the first camera and the second camera and the ground rectangular coordinate collected by the positioning unit;
the data processing unit includes: the device comprises a coordinate conversion module, a first calculation module, a correction module and a second calculation module;
the coordinate conversion module is used for respectively converting the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target acquired by the positioning unit into geocentric rectangular coordinates; the first calculation module is used for calculating the azimuth angle and the pitch angle of the cooperative target relative to the first camera and the second camera respectively; the correction module is used for calculating the inclination angle of the sea antenna and correcting errors generated by sea surface swing; the second calculation module is used for calculating the position coordinates of the target to be measured.
Preferably, the first camera and the second camera both have an automatic tracking function and have a synchronization interface for keeping the first camera and the second camera shooting synchronously;
when the first camera and the second camera shoot synchronously, the shooting focal lengths of the first camera and the second camera are the same; the first camera and the second camera are respectively installed on the two measuring ships.
Preferably, the cooperative target is mounted on a cooperative target vessel.
Preferably, the collaboration targets include: the wireless communication assembly, the control assembly and the lamp group; the wireless communication assembly is used for receiving the control signal of the master control unit and transmitting the control signal to the control assembly; the control assembly is used for controlling the working state of the lamp group; the lamp group is used as a positioning mark of the cooperation target ship in the image.
Preferably, the positioning unit comprises a reference station and at least three differential stations; the reference station is used as a position reference point and is arranged at any fixed position; at least three differential stations are respectively arranged on the two measuring ships and the cooperative target ship; the difference station is used for acquiring the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target in real time.
Preferably, the master control unit comprises a wireless communication component for transmitting the control command; the master control unit controls the cooperation of the cooperation target, the first camera and the second camera through a control instruction of the wireless communication component.
The invention provides a marine dynamic target positioning method, which comprises the following steps:
s1, the master control unit controls the first camera and the second camera to turn to the cooperative target and the sea area where the target to be detected is located;
s2, the master control unit controls the lamp group of the cooperative target to be started, and controls the first camera and the second camera to shoot images of the target to be detected and the cooperative target in real time by adopting the same focal length, so as to respectively obtain a first image and a second image which simultaneously comprise the cooperative target and the target to be detected; simultaneously, the positioning unit starts to record the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target in real time;
s3, the first camera and the second camera respectively transmit the first image and the second image to the data processing unit; meanwhile, the positioning unit transmits the acquired geodetic rectangular coordinates of the first camera, the second camera and the cooperative target to the data processing unit;
and S4, the data processing unit performs data processing by using a relative measurement method and calculates the position coordinates of the target to be measured.
Preferably, in step S4, the relative measurement method includes the steps of:
s401, the coordinate conversion module converts the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target acquired by the positioning unit into geocentric rectangular coordinates;
s402, a first calculation module calculates the azimuth angle and the pitch angle of the cooperative target relative to a first camera and a second camera respectively; the correction module calculates the inclination angle of the sea antenna and corrects errors generated by sea surface swing;
the calculation formula of the sea-sky-line inclination angle beta is as follows:
Figure BDA0003278692780000031
wherein a is the pixel difference of any two points on the sea-sky line in the horizontal direction in the first image or the second image; b is the pixel difference of two points on the sea antenna in the vertical direction;
the correction formula for correcting the error caused by sea surface swing is as follows:
Figure BDA0003278692780000032
wherein theta is the intermediate process quantity, beta is the sea-sky-line inclination angle, (x)t′，yt') is the rough horizontal miss distance and the rough vertical miss distance of the object to be measured relative to the cooperative object in the image, (x)t，yt) Correcting errors generated by sea surface swing to obtain horizontal miss distance and vertical miss distance of the target to be detected in the image relative to the cooperative target;
according to the correction formula, the correction modules respectively calculate to obtain (x)t1，yt1) And (x)t2，yt2)；(xt1，yt1) For the horizontal miss distance and the vertical miss distance of the object to be measured with respect to the cooperative object in the first image, (x)t2，yt2) The horizontal miss distance and the vertical miss distance of the target to be detected relative to the cooperative target in the second image are obtained;
the first calculation module calculates the formula of the azimuth angle and the pitch angle of the cooperation target relative to the first camera and the second camera respectively as follows:
Figure BDA0003278692780000041
wherein (X)1,Y1,Z1) Is the geocentric rectangular coordinate of the first camera, (X)2,Y2,Z2) Is the geocentric rectangular coordinate of the second camera, (X)3,Y3,Z3) As a ground center rectangular coordinate of the cooperative target, EC1Pitch angle for the first camera for the cooperative target, AC1Azimuth angle of the cooperative target to the first camera, EC2For the pitch angle of the co-operating target to the second camera, AC2For a second camera for a cooperative targetThe azimuth of (d);
s403, the second calculation module is according to (x)t1，yt1) And (x)t2，yt2) Respectively calculating the azimuth angle A of the target to be measured relative to the first camera and the second camera1、A2And a pitch angle E1、E2The formula is as follows:
Figure BDA0003278692780000042
Figure BDA0003278692780000051
wherein alpha is1And alpha2For the alternative process quantities in the calculation, f is the focal length of the first and second cameras when capturing the images, E1For the pitch angle of the object to be measured relative to the first camera, A1Azimuth angle of the object to be measured with respect to the first camera, E2For the pitch angle of the object to be measured relative to the second camera, A2The azimuth angle of the target to be detected relative to the second camera;
s404, the second calculation module passes through the azimuth angle A1、A2And a pitch angle E1、E2Calculating to obtain the geocentric rectangular coordinate of the target to be measured, and then obtaining a station center coordinate with the cooperative target as an origin through coordinate conversion;
the calculation formula of the x coordinate and the z coordinate in the geocentric rectangular coordinates (x, y, z) of the target to be measured is as follows:
Figure BDA0003278692780000052
the calculation formula of the y coordinate in the geocentric rectangular coordinates (x, y, z) of the target to be measured is as follows:
Figure BDA0003278692780000053
the invention can obtain the following technical effects:
the sea surface swing error is corrected by utilizing the inclination angle of the sea antenna, so that the technical problem of larger result error caused by the swing of the target position measuring platform on the sea surface is solved; the invention also provides a relative measurement method, and the offshore dynamic target position is positioned by combining with the image interpretation technology, so that the measurement precision of the offshore dynamic target position is improved.
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FIG. 1 is a schematic structural diagram of an offshore dynamic target positioning system according to an embodiment of the invention;
FIG. 2 is a flow chart of a method of offshore dynamic target positioning according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an error in the miss distance of an object to be measured due to sea surface swing according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the sea-antenna tilt angle according to an embodiment of the invention.
Wherein the reference numerals include: the system comprises a target 1 to be measured, a first camera 2, a second camera 3, a cooperative target 4 and a sea antenna 5.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same reference numerals are used for the same blocks. In the case of the same reference numerals, their names and functions are also the same. Therefore, detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
The specific operation of the present invention will be described in detail with reference to fig. 1 to 4:
FIG. 1 shows a specific structure of an offshore dynamic target positioning system;
as shown in fig. 1, the present invention provides a marine dynamic target positioning system and a positioning method thereof, including: the system comprises a first camera 2, a second camera 3, a cooperative target 4, a master control unit, a data processing unit and a positioning unit;
the first camera 2 and the second camera 3 are used for acquiring images including the cooperation target 4 and the target 1 to be detected, and respectively obtaining a first image and a second image including the cooperation target 4 and the target 1 to be detected.
As shown in fig. 1, the first camera 2 and the second camera 3 are both provided with an automatic tracking function and a synchronization interface for keeping the first camera 2 and the second camera 3 shooting synchronously; when the first camera 2 and the second camera 3 shoot synchronously, the shooting focal lengths of the first camera 2 and the second camera 3 are the same; the first camera 2 and the second camera 3 are mounted on two measuring boats, respectively.
The cooperative target 4 is used for comparison measurement with the target 1 to be measured. As shown in fig. 1, the cooperation target 4 is installed on the cooperation target 4 ship.
The cooperation target 4 includes: the wireless communication assembly, the control assembly and the lamp group; the wireless communication assembly is used for receiving the control signal of the master control unit and transmitting the control signal to the control assembly; the control assembly is used for controlling the lamp bank to work; the lamp group serves as a positioning mark of the cooperation target 4 ship in the image. In one embodiment of the invention, the lamp group is an LED lamp group.
The master control unit is used for controlling the cooperation of the cooperative target 4, the first camera 2 and the second camera 3; the master control unit comprises a wireless communication component for transmitting a control instruction; the master control unit controls the cooperation of the cooperation target 4, the first camera 2 and the second camera 3 through a control instruction of the wireless communication component.
The positioning unit is used to acquire the geodetic rectangular coordinates of the cooperative target 4, the first camera 2 and the second camera 3. The positioning unit comprises a reference station and at least three differential stations; the reference station is used as a position reference point and is arranged at any fixed position; at least three differential stations are respectively arranged on the two measuring ships and the cooperative target ship; the differencing station is used to acquire in real time the geodetic rectangular coordinates of the first camera 2, the second camera 3 and the cooperative target 4, the geodetic rectangular coordinates being of the form (B, L, H).
In one embodiment of the invention, the positioning unit adopts a mode of combining BDS and GPS, the reference station is installed at a land fixed point (if the point has geodetic measurement results, the reference station is used, and if the point does not have geodetic measurement results, the average value of data accumulated in the working process of the reference station is used); the positioning unit can output and record positioning data for post difference in real time; the positioning unit comprises 3 differential stations, and the 3 differential stations are respectively arranged on the two measuring ships and the cooperative target ship.
The data processing unit obtains the position coordinates of the target 1 to be measured by processing the image data collected by the first camera 2 and the second camera 3 and the ground rectangular coordinates collected by the positioning unit.
The data processing unit includes: the device comprises a coordinate conversion module, a first calculation module, a correction module and a second calculation module;
the coordinate conversion module is used for respectively converting the geodetic rectangular coordinates of the first camera 2, the second camera 3 and the cooperative target 4 acquired by the positioning unit into the geocentric rectangular coordinates; the first calculation module is used for calculating the azimuth angle and the pitch angle of the cooperation target 4 relative to the first camera 2 and the second camera 3 respectively; the correction module is used for calculating the inclination angle of the sea antenna and correcting errors generated by sea surface swing; the second calculation module is used for calculating the position coordinates of the object 1 to be measured.
FIG. 2 shows a detailed flow of a marine dynamic target positioning method;
as shown in fig. 2, the method for positioning an offshore dynamic target provided by the present invention, which uses the offshore dynamic target positioning system provided by the present invention to realize positioning, comprises the following steps:
s1, respectively setting working parameters of the first camera 2, the second camera 3 and the cooperative target 4 according to actual measurement requirements, and controlling the first camera 2 and the second camera 3 to turn to the cooperative target 4 and the sea area where the target 1 to be measured is located by the master control unit;
s2, the master control unit controls the lamp group of the cooperative target 4 to be started, controls the first camera 2 and the second camera 3 to shoot images of the target 1 to be detected and the cooperative target 4 in real time by adopting the same focal length, and respectively obtains a first image and a second image which simultaneously comprise the cooperative target 4 and the target 1 to be detected; simultaneously, the positioning unit starts to record the geodetic rectangular coordinates of the first camera 2, the second camera 3 and the cooperative target 4 in real time;
s3, the first camera 2 and the second camera 3 transmit the collected image data to the data processing unit; meanwhile, the positioning unit transmits the acquired geodetic rectangular coordinates of the first camera 2, the second camera 3 and the cooperative target 4 to the data processing unit;
s4, the data processing unit performs data processing by using a relative measurement method, and calculates the position coordinates of the object 1.
The relative measurement method comprises the following steps:
s401, the coordinate conversion module converts the geodetic rectangular coordinates of the first camera 2, the second camera 3 and the cooperation target 4 acquired by the positioning unit into the geocentric rectangular coordinates.
The rectangular earth coordinate system is a coordinate system established by taking a reference ellipsoid as a datum plane in geodetic survey. The location of the ground point is represented by a geodetic latitude, a geodetic longitude and a geodetic height. The geodetic latitude, geodetic longitude and geodetic height are each represented by the capital english letter B, L, H. Ground point geodetic latitude B: 0 ° -90 °, ground point geodetic longitude L: 0 degree to 360 degrees or 0 degree to plus or minus 180 degrees, ground point ground height H: may be positive or negative.
The earth center rectangular coordinate system is an inertial coordinate system, the origin is selected at the earth center, the X axis points to the original meridian along the equatorial plane, the Z axis points to the north pole along the earth rotation axis, and the Y axis is vertical to the X axis in the equatorial plane and forms a right-hand coordinate system.
The coordinate conversion module converts the geodetic rectangular coordinates of the first camera 2, the second camera 3 and the cooperative target 4 measured by the positioning unit into the geocentric rectangular coordinates according to the following formula:
under the same reference ellipsoid, the conversion formula of the geodetic rectangular coordinates (B, L, H) and the geocentric rectangular coordinates (X, Y, Z) is as follows:
Figure BDA0003278692780000091
wherein: n is the curvature radius of the ellipsoidal unitary mortise ring,
Figure BDA0003278692780000092
Figure BDA0003278692780000093
a is the longer half axis of the earth ellipsoid: a 6378137m
b is the minor semi-axis of the earth ellipsoid: 6356752m
e is the first eccentricity: e 1/298.257
Using the above-mentioned conversion relationship between the earth rectangular coordinate and the geocentric rectangular coordinate, the geocentric rectangular coordinate (X) of the first camera 2 in the geocentric rectangular coordinate system at that time is calculated1,Y1,Z1) The geocentric rectangular coordinates (X) of the second camera 32,Y2,Z2) The geocentric rectangular coordinates (X) of the cooperative target 43,Y3,Z3)。
S402, a first calculation module calculates the azimuth angle and the pitch angle of the cooperation target 4 relative to the first camera 2 and the second camera 3 respectively; the correction module calculates the inclination angle of the sea-sky-line and corrects errors generated by sea surface swing.
Fig. 4 shows the specific position of the sea-antenna tilt angle β;
the correction module calculates the inclination angle of the sea-sky-line, and the formula for correcting the error generated by sea surface swing is as follows:
as shown in fig. 4, the sea-sky-line tilt angle β is calculated as follows:
Figure BDA0003278692780000094
wherein a is a pixel difference between any two points on the sea-sky-line 5 in the horizontal direction in the first image or the second image; b is the pixel difference of two points on the sea-sky-line 5 in the vertical direction;
fig. 3 shows the errors of the vertical miss distance and the horizontal miss distance of the object 1 to be measured with respect to the cooperative object 4 due to sea surface swing;
as shown in fig. 3, due to the sea surface swaying, roll angles are generated by two measuring ships, which is also an important factor causing sea surface dynamic target measurement errors. In the invention, the sea surface swing can cause the imaging of the object 1 to be measured and the cooperative object 4 in the image on the image surface to tilt, the tilt angle is beta, the vertical miss distance and the horizontal miss distance of the object 1 to be measured relative to the cooperative object 4, which are obtained by directly reading the image, are not real miss distances and cannot be directly calculated, so the tilt distance of the sea antenna 5 in the image is firstly calculated by a correction module to obtain a beta value for correcting the sea surface swing error.
As shown in fig. 3, the correction formula for correcting the error due to the sea surface swing is as follows:
Figure BDA0003278692780000101
wherein theta is the intermediate process quantity, beta is the sea-sky-line inclination angle, (x)t′，yt') is the rough horizontal miss distance and the rough vertical miss distance of the object 1 to be measured relative to the cooperative object 4 in the image, (x)t，yt) The horizontal miss distance and the vertical miss distance of the target 1 to be measured relative to the cooperative target 4 in the image are obtained after the error generated by sea surface swing is corrected;
the correction module calculates the rough horizontal miss distance and the rough vertical miss distance (x) of the object 1 to be measured relative to the cooperative object 4 in the image (the first image or the second image)t′，yt') the principle is as follows:
in the first image, the centroid of the imaging of the object 1 to be measured is taken as a designated target point, the centroid of the imaging of the cooperative target 4 is taken as an original point, the horizontal direction is taken as an X axis, the vertical direction is taken as a Y axis, and the rough horizontal miss distance X of the object 1 to be measured relative to the centroid of the imaging of the cooperative target 4 is calculated according to the number of pixel points deviating from the original pointt1' and the coarse vertical miss distance yt1', is marked as (x)t1′，yt1′)；
Similarly, in the second image, the centroid of the imaging of the target 1 to be measured is taken as the designated target point, the centroid of the imaging of the cooperative target 4 is taken as the origin, the horizontal direction is taken as the X axis, the vertical direction is taken as the Y axis, and the rough horizontal miss distance X of the target 1 to be measured relative to the centroid of the imaging of the cooperative target 4 is calculated according to the number of pixel points deviating from the origint2' and the coarse vertical miss distance yt2', is marked as (x)t2′，yt2′)。
To obtain (x)t1′，yt1') and (x)t2′，yt2') after that, according to the correction formula, the correction module respectively calculates to obtain (x)t1，yt1) And (x)t2，yt2)；
(xt1，yt1) For the horizontal miss amount and the vertical miss amount of the object 1 to be measured with respect to the cooperative object 4 in the first image, (x)t2，yt2) The horizontal miss distance and the vertical miss distance of the object 1 to be measured with respect to the cooperative object 4 in the second image are shown.
The first calculation module calculates the formula of the azimuth and the elevation of the cooperation target 4 with respect to the first camera 2 and the second camera 3, respectively, as follows:
Figure BDA0003278692780000111
wherein (X)1,Y1,Z1) Is the geocentric rectangular coordinate of the first camera 2, (X)2,Y2,Z2) Is the geocentric rectangular coordinate of the second camera 3, (X)3,Y3,Z3) As the centroid rectangular coordinate of the cooperative target 4, EC1For the pitch angle of the cooperative target 4 to the first camera 2, AC1Azimuth angle of the cooperative target 4 to the first camera 2, EC2For the pitch angle of the cooperative target 4 to the second camera 3, AC2The azimuth angle of the cooperative target 4 to the second camera 3.
S403, the second calculation module is according to (x)t1，yt1) And (x)t2，yt2) Separately calculating the relative positions of the object 1 to be measured with respect to the firstAzimuth angle a of camera 2 and second camera 31、A2And a pitch angle E1、E2The formula is as follows:
Figure BDA0003278692780000112
wherein alpha is1And alpha2For the alternative process quantities in the calculation, f is the focal length at which the first camera 2 and the second camera 3 capture images, E1For the pitch angle of the object 1 to be measured relative to the first camera 2, A1For the azimuth angle of the object 1 to be measured relative to the first camera 2, E2For the pitch angle of the object 1 to be measured relative to the second camera 3, A2The azimuth angle of the object 1 to be measured with respect to the second camera 3.
S404, the second calculation module passes through the azimuth angle A1、A2And a pitch angle E1、E2And calculating to obtain the geocentric rectangular coordinate of the target 1 to be measured, and then obtaining the station center coordinate with the cooperative target 4 as the origin through coordinate conversion.
(A1,E1)，(A2,E2) The direction of the target 1 to be measured relative to the first camera 2 and the second camera 3 is uniquely determined, the two cameras are used as starting points, rays emitted to the two directions intersect at one point, the point is the position point of the target 1 to be measured, the geocentric rectangular coordinate of the position point is the specific position of the target 1 to be measured, the geocentric rectangular coordinate of the target 1 to be measured is obtained through calculation, further, the coordinate conversion is carried out, the station center system coordinate of the target 1 to be measured with the position point of the cooperative target 4 as the origin is obtained, and finally the direction and the distance of the target 1 to be measured relative to the cooperative target 4 are determined.
The formula for calculating the geocentric rectangular coordinate of the target 1 to be measured is as follows:
Figure BDA0003278692780000121
solving a quadratic equation of a first order in the formula, and calculating to obtain an x coordinate and a z coordinate in the geocentric rectangular coordinates (x, y, z) of the target 1 to be measured;
the formula for calculating the y coordinate in the geocentric rectangular coordinates (x, y, z) of the object 1 to be measured is as follows:
Figure BDA0003278692780000122
at this point, the second calculation module calculates to obtain the geocentric rectangular coordinates (x, y, z) of the target 1 to be measured, and then obtains the station center coordinates with the cooperative target 4 as the origin through coordinate conversion (in the prior art).
The invention has the following beneficial effects: proved by verification, when the observation distance is within the range of 1-5 kilometers, the measurement error can be controlled within 5 meters by using the method, so that the positioning precision of the marine dynamic target can be effectively improved.
In summary, the invention provides a marine dynamic target positioning system and a positioning method thereof. The sea surface swing error is corrected by utilizing the inclination angle of the sea antenna, so that the technical problem of larger result error caused by the swing of the target position measuring platform on the sea surface is solved; the invention also provides a relative measurement method, and the offshore dynamic target position is positioned by combining with the image interpretation technology, so that the measurement precision of the offshore dynamic target position is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be taken as limiting the invention. Variations, modifications, substitutions and alterations of the above-described embodiments may be made by those of ordinary skill in the art without departing from the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (8)

1. An offshore dynamic target positioning system, comprising: the system comprises a master control unit, a data processing unit, a positioning unit, a cooperative target, a first camera and a second camera;
the first camera and the second camera are used for shooting images of a target to be detected and the cooperative target, and respectively obtaining a first image and a second image which simultaneously comprise the cooperative target and the target to be detected;
the master control unit is used for controlling the cooperation target, the first camera and the second camera to work in a matched mode;
the positioning unit is used for acquiring geodetic rectangular coordinates of the cooperation target, the first camera and the second camera;
the cooperative target is used for comparing and measuring with the target to be measured;
the data processing unit is used for processing the image data collected by the first camera and the second camera and the ground rectangular coordinate collected by the positioning unit to obtain the position coordinate of the target to be measured;
the data processing unit includes: the device comprises a coordinate conversion module, a first calculation module, a correction module and a second calculation module;
the coordinate conversion module is used for respectively converting the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target acquired by the positioning unit into geocentric rectangular coordinates; the first calculation module is used for calculating the azimuth angle and the pitch angle of the cooperation target relative to the first camera and the second camera respectively; the correction module is used for calculating the inclination angle of the sea antenna and correcting errors generated by sea surface swing; the second calculation module is used for calculating the position coordinates of the target to be measured.
2. The marine dynamic target positioning system of claim 1, wherein the first camera and the second camera are each provided with an automatic tracking function and have a synchronization interface for keeping the first camera and the second camera shooting synchronously;
when the first camera and the second camera shoot synchronously, the shooting focal lengths of the first camera and the second camera are the same; the first camera and the second camera are respectively installed on two measuring boats.
3. The offshore dynamic target positioning system of claim 1, wherein the cooperative target is mounted on a cooperative target vessel.
4. The offshore dynamic target positioning system of claim 1, wherein the cooperative target comprises: the wireless communication assembly, the control assembly and the lamp group; the wireless communication assembly is used for receiving the control signal of the master control unit and transmitting the control signal to the control assembly; the control assembly is used for controlling the working state of the lamp group; the lamp group is used as a positioning mark of the cooperation target ship in the image.
5. An offshore dynamic target positioning system as claimed in claim 1 wherein the positioning unit comprises a reference station and at least three differential stations; the reference station is used as a position reference point and is arranged at any fixed position; the at least three differential stations are respectively arranged on the two measuring ships and the cooperative target ship; the differential station is used for acquiring the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target in real time.
6. The offshore dynamic target positioning system of claim 1, wherein the general control unit comprises a wireless communication component for transmitting control commands; and the master control unit controls the cooperation of the cooperation target, the first camera and the second camera through a control instruction of the wireless communication component.
7. Offshore dynamic target positioning method applying the offshore dynamic target positioning system according to any of claims 1-6, characterized by the steps of:
s1, the master control unit controls the first camera and the second camera to turn to the cooperation target and the sea area where the target to be detected is located;
s2, the master control unit controls the lamp group of the cooperative target to be started, controls the first camera and the second camera to shoot images of the target to be detected and the cooperative target in real time by adopting the same focal length, and respectively obtains a first image and a second image which simultaneously comprise the cooperative target and the target to be detected; simultaneously the positioning unit starts to record the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target in real time;
s3, the first camera and the second camera transmitting the first image and the second image, respectively, to the data processing unit; simultaneously, the positioning unit transmits the acquired geodetic rectangular coordinates of the first camera, the second camera and the cooperative target to the data processing unit;
and S4, the data processing unit performs data processing by using a relative measurement method, and calculates the position coordinates of the object to be measured.
8. The offshore dynamic target positioning method of claim 7, wherein in step S4, the relative measurement method comprises the steps of:
s401, the coordinate conversion module converts the geodetic rectangular coordinates of the first camera, the second camera and the cooperation target acquired by the positioning unit into geocentric rectangular coordinates;
s402, the correction module calculates the inclination angle of the sea-sky-line and corrects errors generated by sea surface swing; the first calculation module calculates the azimuth angle and the pitch angle of the cooperation target relative to the first camera and the second camera respectively;
the calculation formula of the sea-sky-line inclination angle beta is as follows:
Figure FDA0003278692770000031
wherein a is a pixel difference of any two points on the sea-sky line in the horizontal direction in the first image or the second image; b is the pixel difference of the two points on the sea antenna in the vertical direction;
the correction formula for correcting the error caused by sea surface swing is as follows:
Figure FDA0003278692770000032
wherein θ is an intermediate process quantity, β is the sea-sky-line tilt angle, (x)t′，yt') is the coarse horizontal miss distance and the coarse vertical miss distance of the object to be measured relative to the cooperative object in the first image or the second image, (x)t，yt) Correcting errors generated by sea surface swing to obtain the horizontal miss distance and the vertical miss distance of the target to be detected in the first image or the second image relative to the cooperative target;
according to the correction formula, the correction modules respectively calculate (x)t1，yt1) And (x)t2，yt2) (ii) a Said (x)t1，yt1) The (x) is a horizontal miss amount and a vertical miss amount of the object to be measured with respect to the cooperative object in the first imaget2，yt2) The horizontal miss distance and the vertical miss distance of the object to be detected relative to the cooperative object in the second image are obtained;
the first calculation module calculates the formula of the azimuth angle and the pitch angle of the cooperative target with respect to the first camera and the second camera, respectively, as follows:
Figure FDA0003278692770000041
Figure FDA0003278692770000042
wherein (X)1,Y1,Z1) Is the geocentric rectangular coordinate of the first camera, (X)2,Y2,Z2) Is the geocentric rectangular coordinate of the second camera, (X)3,Y3,Z3) Is the geocentric rectangular coordinate of the cooperative target, EC1For the pitch angle of the cooperative target to the first camera, AC1Azimuth angle of the cooperative target to the first camera, EC2For the pitch angle of the cooperative target to the second camera, AC2An azimuth angle for the cooperative target to the second camera;
s403, the second calculation module is used for calculating the (x)t1，yt1) And said (x)t2，yt2) Respectively calculating the azimuth angle A of the target to be measured relative to the first camera and the second camera1、A2And a pitch angle E1、E2The formula is as follows:
Figure FDA0003278692770000043
Figure FDA0003278692770000044
wherein alpha is1And alpha2For alternative process quantities in the calculation, f is the focal length of the first and second cameras when capturing images, E1Is the pitch angle of the target to be measured relative to the first camera, A1For the azimuth angle of the object to be measured relative to the first camera, E2Is the pitch angle of the target to be measured relative to the second camera, A2The azimuth angle of the target to be detected relative to the second camera is obtained;
s404, the second calculation module passes through the azimuth angle A1、A2And the pitch angle E1、E2Calculating to obtain the geocentric rectangular coordinate of the target to be measured, and then obtaining a station center coordinate with the cooperative target as an origin through coordinate conversion;
the calculation formula of the x coordinate and the z coordinate in the geocentric rectangular coordinate (x, y, z) of the target to be measured is as follows:
Figure FDA0003278692770000051
the calculation formula of the y coordinate in the geocentric rectangular coordinate (x, y, z) of the target to be measured is as follows:
Figure FDA0003278692770000052
y＝(y1+y2)/2。
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