CN113936061B - Marine dynamic target positioning system and positioning method thereof - Google Patents
Marine dynamic target positioning system and positioning method thereof Download PDFInfo
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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; according to the sea surface swing error correction method, sea surface swing errors are corrected by utilizing sea antenna inclination angles, and the technical problem that result errors are large due to the fact that a target position measurement platform on the sea surface swings is solved; the invention also provides a relative measurement method, and the marine dynamic target position is positioned by combining with an image interpretation technology, so that the measurement precision of the marine dynamic target position is improved.
Description
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 science research, offshore military and the like. In the research in these fields, high-precision positioning is required for the offshore targets, however, since there is a large swing in the sea surface in offshore measurement, it is difficult to obtain a high-precision measurement result, and therefore, how to improve the positioning precision of the offshore targets becomes a primary problem in the research in the offshore exploration field.
At present, the conventional radio positioning method is easy to generate clutter interference due to reflection and refraction at sea, and meanwhile, a sea surface measurement platform swings irregularly, so that a measurement result is often unsatisfactory, if the precision is required to be improved, more equipment is required to assist so as 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 above purpose, the present 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 contain 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 cooperatively;
The positioning unit is used for acquiring the 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 coordinates of the target to be detected by processing the image data acquired by the first camera and the second camera and the geodetic rectangular coordinates acquired by the positioning unit;
The data processing unit includes: the system 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 geodetic rectangular coordinates; the first calculation module is used for calculating azimuth angles and pitch angles of the cooperative targets relative to the first camera and the second camera respectively; the correction module is used for calculating the sea antenna inclination angle 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 are provided with an automatic tracking function and a synchronous interface for keeping the first camera and the second camera synchronously shooting;
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 mounted on two measuring vessels, respectively.
Preferably, the cooperative targets are mounted on a cooperative target ship.
Preferably, the cooperative targets include: a wireless communication assembly, a control assembly and a light bank; 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 component is used for controlling the working state of the lamp group; the lamp group is used as a positioning mark of the cooperative 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 vessels and the cooperative target vessel; 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.
Preferably, the master control unit comprises a wireless communication component for transmitting the control command; the master control unit controls the cooperation target, the first camera and the second camera to work cooperatively through the control instruction of the wireless communication assembly.
The invention provides a method for locating a marine dynamic target, which comprises the following steps:
S1, a master control unit controls a first camera and a second camera to turn to a cooperative target and a sea area where a 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 contain 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 a data processing unit; the positioning unit transmits the collected 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 to obtain the position coordinates of the target to be detected.
Preferably, in step S4, the relative measurement method includes the steps of:
s401, converting the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target acquired by the positioning unit into geodetic rectangular coordinates by the coordinate conversion module;
S402, a first calculation module calculates azimuth angles and pitch angles of the cooperative targets relative to the first camera and the second camera respectively; the correction module calculates the sea-sky line inclination angle and corrects the error caused by sea surface swing;
The equation for calculating the sea-sky-line tilt angle beta is as follows:
A is the pixel difference of any two points on the sea antenna in the horizontal direction in the first image or the second image; b is the pixel difference in the vertical direction at two points on the sea-sky line;
The correction formula for correcting the error caused by sea surface sway is as follows:
Wherein θ is an intermediate process quantity, β is a sea-sky-line inclination angle, (x t′,yt') is a coarse horizontal off-target quantity and a coarse vertical off-target quantity of a target to be measured relative to a cooperative target in an image, and (x t,yt) is a horizontal off-target quantity and a vertical off-target quantity of the target to be measured relative to the cooperative target in the image, which are obtained after correcting errors generated by sea surface swing;
According to a correction formula, the correction module respectively calculates (x t1,yt1) and (x t2,yt2);(xt1,yt1) to be the horizontal off-target amount and the vertical off-target amount of the target to be detected relative to the cooperative target in the first image, and (x t2,yt2) to be the horizontal off-target amount and the vertical off-target amount of the target to be detected relative to the cooperative target in the second image;
The first calculation module calculates the formulas of azimuth angle and pitch angle of the cooperative targets relative to the first camera and the second camera respectively as follows:
Wherein, (X 1,Y1,Z1) is the geocentric rectangular coordinates of the first camera, (X 2,Y2,Z2) is the geocentric rectangular coordinates of the second camera, (X 3,Y3,Z3) is the geocentric rectangular coordinates of the cooperative target, E C1 is the pitch angle of the cooperative target to the first camera, A C1 is the azimuth angle of the cooperative target to the first camera, E C2 is the pitch angle of the cooperative target to the second camera, and A C2 is the azimuth angle of the cooperative target to the second camera;
S403, a second calculation module calculates an azimuth angle A 1、A2 and a pitch angle E 1、E2 of the target to be measured relative to the first camera and the second camera according to (x t1,yt1) and (x t2,yt2), and the formula is as follows:
wherein, alpha 1 and alpha 2 are alternative process quantities in calculation, f is a focal length when the first camera and the second camera acquire images, E 1 is a pitch angle of the object to be measured relative to the first camera, A 1 is an azimuth angle of the object to be measured relative to the first camera, E 2 is a pitch angle of the object to be measured relative to the second camera, and A 2 is an azimuth angle of the object to be measured relative to the second camera;
S404, a second calculation module calculates the geocentric rectangular coordinates of the target to be measured through an azimuth angle A 1、A2 and a pitch angle E 1、E2, and then obtains station coordinates taking the cooperative target as an origin through coordinate conversion;
The calculation formulas of the x coordinate and the z coordinate in the geocentric rectangular coordinates (x, y, z) of the object to be measured are as follows:
the calculation formula of the y coordinate in the geocentric rectangular coordinates (x, y, z) of the object to be measured is as follows:
The invention can obtain the following technical effects:
according to the sea surface swing error correction method, sea surface swing errors are corrected by utilizing sea antenna inclination angles, and the technical problem that result errors are large due to the fact that a target position measurement platform on the sea surface swings is solved; the invention also provides a relative measurement method, and the marine dynamic target position is positioned by combining with an image interpretation technology, so that the measurement precision of the marine dynamic target position is improved.
Drawings
FIG. 1 is a schematic diagram of an offshore dynamic object location system in accordance with an embodiment of the invention;
FIG. 2 is a flow chart of a method of marine dynamic target positioning according to an embodiment of the invention;
FIG. 3 is a schematic diagram of an error in off-target amount of a target to be measured due to sea surface sway according to an embodiment of the present invention;
Fig. 4 is a schematic view of the sea-antenna tilt angle according to an embodiment of the invention.
Wherein reference numerals include: a target 1 to be measured, a first camera 2, a second camera 3, a cooperative target 4 and a sea-sky line 5.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a 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 further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
The specific operation of the present invention is described in detail below with reference to fig. 1 to 4:
FIG. 1 shows a specific structure of an offshore dynamic object location system;
As shown in fig. 1, the present invention provides an offshore dynamic target positioning system and a positioning method thereof, comprising: 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 cooperative target 4 and the target 1 to be measured, and respectively obtaining a first image and a second image including the cooperative target 4 and the target 1 to be measured.
As shown in fig. 1, the first camera 2 and the second camera 3 each have an automatic tracking function and a synchronization interface for keeping the first camera 2 and the second camera 3 synchronously photographed; 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 vessels, respectively.
The cooperative target 4 is used for comparison measurement with the target 1 to be measured. As shown in fig. 1, the cooperative target 4 is installed on a ship of the cooperative target 4.
The cooperation target 4 includes: a wireless communication assembly, a control assembly and a light bank; 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 component is used for controlling the lamp group to work; the lamp group serves as a locating mark of the cooperative target 4 ship in the image. In one embodiment of the invention, the lamp sets are LED lamp sets.
The master control unit is used for controlling the cooperation target 4, the first camera 2 and the second camera 3 to work cooperatively; the master control unit comprises a wireless communication component for transmitting control instructions; the master control unit controls the cooperation target 4, the first camera 2 and the second camera 3 to work cooperatively through the control instruction of the wireless communication assembly.
The positioning unit is used for acquiring the geodetic 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 vessels and the cooperative target vessel; the differential station is used for acquiring the geodetic coordinates of the first camera 2, the second camera 3 and the cooperative target 4 in real time, wherein the geodetic coordinates are in the form of (B, L, H).
In one embodiment of the invention, the positioning unit adopts a BDS and GPS combined mode, the reference station is installed at a land fixed point (if the point has a geodetic effect, the reference station is used, if the point has no geodetic effect, 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-differential in real time; the positioning unit comprises 3 differential stations, and the 3 differential stations are respectively arranged on the two measuring vessels and the cooperative target vessel.
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 geodetic rectangular coordinates collected by the positioning unit.
The data processing unit includes: the system comprises a coordinate conversion module, a first calculation module, a correction module and a second calculation module;
The coordinate conversion module is used for 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 geodetic rectangular coordinates respectively; the first calculation module is used for calculating azimuth angles and pitch angles of the cooperative targets 4 relative to the first camera 2 and the second camera 3 respectively; the correction module is used for calculating the sea antenna inclination angle 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 specific flow of an offshore dynamic target positioning method;
as shown in fig. 2, the method for locating the marine dynamic target provided by the invention realizes the locating by utilizing the marine dynamic target locating system provided by the invention, and comprises the following steps:
S1, working parameters of a first camera 2, a second camera 3 and a cooperative target 4 are respectively set according to actual measurement requirements, and a master control unit controls the first camera 2 and the second camera 3 to turn to the sea area where the cooperative target 4 and the target 1 to be measured are located;
s2, a master control unit controls a lamp group of a cooperative target 4 to be started, and controls a first camera 2 and a 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, so as to respectively obtain 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 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 acquired image data to a data processing unit; 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;
And S4, the data processing unit performs data processing by using a relative measurement method, and calculates to obtain the position coordinates of the target 1 to be detected.
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 cooperative target 4 acquired by the positioning unit into geodetic rectangular coordinates.
The geodetic rectangular coordinate system is a coordinate system established by taking a reference ellipsoid as a datum plane in geodetic measurement. The location of a ground point is represented by a latitude, longitude and altitude. The geodetic latitude, geodetic longitude and geodetic elevation are indicated by the capital english letters B, L, H, respectively. Ground point earth latitude B:0 deg. -90 deg., ground point earth longitude L: 0-360 degrees or 0-180 degrees, and the ground point is high H: and may be positive or negative.
The rectangular geocentric coordinate system is an inertial coordinate system, the origin is selected at the center of the earth, the X-axis points to the primary meridian along the equatorial plane, the Z-axis points to the north pole along the rotational axis of the earth, and the Y-axis is perpendicular to the X-axis in the equatorial plane and forms the 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 geodetic rectangular coordinates according to the following formula:
Under the same reference ellipsoid, the conversion formulas of the geodetic rectangular coordinates (B, L, H) and the geodetic rectangular coordinates (X, Y, Z) are as follows:
wherein: n is the curvature radius of the elliptic body mortise unitary circle,
A is the long half axis of the ellipsoid of the earth: a= 6378137m
B is the short half axis of the earth ellipsoid: b= 6356752m
E is the first eccentricity: e=1/298.257
By using the above-described conversion relationship between the geodetic rectangular coordinates and the geodetic rectangular coordinates, the geodetic rectangular coordinates (X 1,Y1,Z1) of the first camera 2, the geodetic rectangular coordinates (X 2,Y2,Z2) of the second camera 3, and the geodetic rectangular coordinates (X 3,Y3,Z3) of the cooperative target 4 in the geodetic rectangular coordinate system are calculated.
S402, a first calculation module calculates azimuth angles and pitch angles of the cooperative targets 4 relative to the first camera 2 and the second camera 3 respectively; the correction module calculates the sea-sky-line inclination angle and corrects the error caused by sea-surface swaying.
Fig. 4 shows a specific position of the sea-antenna tilt angle beta;
the correction module calculates the sea-sky-line inclination angle, and the formula for correcting the error generated by sea-surface swing is as follows:
as shown in fig. 4, the equation for calculating the sea-antenna tilt angle β is as follows:
Wherein a is the pixel difference in the horizontal direction of any two points taken on the sea-sky-line 5 in the first image or the second image; b is the pixel difference in the vertical direction at two points on the sea-sky-line 5;
fig. 3 shows errors in the vertical off-target amount and the horizontal off-target amount of the object 1 to be measured relative to the cooperative object 4 due to sea surface sway;
As shown in fig. 3, the roll angle is generated by the two survey vessels due to the sway of the sea surface, which is also an important factor in causing a sea surface dynamic target measurement error. In the invention, the sea surface swaying can lead to the imaging of the object 1 to be detected and the cooperative object 4 in the image to be inclined on the image surface, the inclination angle is beta, the vertical off-target amount and the horizontal off-target amount of the object 1 to be detected, which are obtained by directly judging the image, relative to the cooperative object 4 are not real off-target amounts, and the calculation cannot be directly carried out, so that the inclination amount of the sea-surface antenna 5 in the image is calculated through a correction module to obtain the beta value for correcting sea surface swaying errors.
As shown in fig. 3, a correction formula for correcting an error due to sea surface sway is as follows:
Wherein θ is an intermediate process quantity, β is a sea-sky-line inclination angle, (x t′,yt') is a coarse horizontal off-target quantity and a coarse vertical off-target quantity of the target 1 to be measured relative to the cooperative target 4 in the image, and (x t,yt) is a horizontal off-target quantity and a vertical off-target quantity of the target 1 to be measured relative to the cooperative target 4 in the image obtained after correcting an error generated by sea surface swing;
the correction module calculates the principle of the coarse horizontal off-target amount and the coarse vertical off-target amount (x t′,yt') of the target 1 to be measured relative to the cooperative target 4 in the image (the first image or the second image) as follows:
In the first image, taking the centroid of the imaging of the target 1 to be detected as a designated target point, taking the centroid of the imaging of the cooperative target 4 as an original point, taking the horizontal direction as an X axis and taking the vertical direction as a Y axis, and calculating the coarse horizontal off-target amount X t1 'and the coarse vertical off-target amount Y t1' of the centroid of the imaging of the target 1 to be detected relative to the cooperative target 4 according to the number of pixel points deviated from the original point, wherein the coarse horizontal off-target amount X t1′,yt1 'is marked as (X t1′,yt1');
Similarly, in the second image, the centroid of the image of the target 1 to be measured is taken as a designated target point, the centroid of the image of the cooperative target 4 is taken as an origin, the horizontal direction is taken as an X axis, the vertical direction is taken as a Y axis, and the coarse horizontal off-target amount X t2 ' and the coarse vertical off-target amount Y t2 ' of the centroid of the image of the target 1 to be measured relative to the cooperative target 4 are calculated according to the number of pixel points deviated from the origin and are marked as (X t2′,yt2 ').
After (x t1′,yt1 ') and (x t2′,yt2') are obtained, according to a correction formula, the correction module calculates (x t1,yt1) and (x t2,yt2) respectively;
(x t1,yt1) is the horizontal off-target amount and the vertical off-target amount of the object 1 to be measured relative to the cooperative object 4 in the first image, and (x t2,yt2) is the horizontal off-target amount and the vertical off-target amount of the object 1 to be measured relative to the cooperative object 4 in the second image.
The first calculation module calculates the formulas of azimuth and pitch angles of the cooperative targets 4 with respect to the first camera 2 and the second camera 3, respectively, as follows:
wherein, (X 1,Y1,Z1) is the geocentric rectangular coordinates of the first camera 2, (X 2,Y2,Z2) is the geocentric rectangular coordinates of the second camera 3, (X 3,Y3,Z3) is the geocentric rectangular coordinates of the cooperative target 4, E C1 is the pitch angle of the cooperative target 4 to the first camera 2, a C1 is the azimuth angle of the cooperative target 4 to the first camera 2, E C2 is the pitch angle of the cooperative target 4 to the second camera 3, and a C2 is the azimuth angle of the cooperative target 4 to the second camera 3.
S403, the second calculation module calculates an azimuth angle A 1、A2 and a pitch angle E 1、E2 of the object 1 to be measured relative to the first camera 2 and the second camera 3 according to (x t1,yt1) and (x t2,yt2), and the formula is as follows:
Wherein, α 1 and α 2 are alternative process quantities in the calculation, f is a focal length when the first camera 2 and the second camera 3 collect images, E 1 is a pitch angle of the object 1 to be measured relative to the first camera 2, a 1 is an azimuth angle of the object 1 to be measured relative to the first camera 2, E 2 is a pitch angle of the object 1 to be measured relative to the second camera 3, and a 2 is an azimuth angle of the object 1 to be measured relative to the second camera 3.
S404, a second calculation module calculates the geocentric rectangular coordinates of the target 1 to be measured through the azimuth angle A 1、A2 and the pitch angle E 1、E2, and then obtains the station centric coordinates taking the cooperative target 4 as the origin through coordinate conversion.
(A 1,E1),(A2,E2) uniquely determining the directions of the object 1 to be measured relative to the first camera 2 and the second camera 3, taking the two cameras as starting points, intersecting rays emitted in the two directions at a point, wherein the point is the position point of the object 1 to be measured, the geocentric rectangular coordinate of the position point is the specific position of the object 1 to be measured, obtaining the geocentric rectangular coordinate of the object 1 to be measured through calculation, further obtaining the station coordinates of the object 1 to be measured by taking the position point of the cooperative object 4 as the original point through coordinate conversion, and finally determining the direction and the distance of the object 1 to be measured relative to the cooperative object 4.
The formula for calculating the rectangular coordinates of the geocenter of the object 1 to be measured is as follows:
Solving a unitary quadratic equation in the formula, and calculating to obtain an x coordinate and a z coordinate in the rectangular coordinates (x, y, z) of the geocenter 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:
The second calculation module calculates the rectangular geocentric coordinates (x, y, z) of the target 1 to be measured, and then obtains the station coordinates with the cooperative target 4 as the origin through coordinate transformation (prior art).
The beneficial effects of the invention are as follows: through verification, when the observation distance is in the range of 1 km to 5 km, the measurement error can be controlled within 5 meters by using the invention, so that the positioning accuracy of the offshore dynamic target can be effectively improved.
In summary, the invention provides a system and a method for locating a dynamic target on the sea. According to the sea surface swing error correction method, sea surface swing errors are corrected by utilizing sea antenna inclination angles, and the technical problem that result errors are large due to the fact that a target position measurement platform on the sea surface swings is solved; the invention also provides a relative measurement method, and the marine dynamic target position is positioned by combining with an image interpretation technology, so that the measurement precision of the marine dynamic target position is improved.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (7)
1. An offshore dynamic object 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 contain 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 cooperatively;
The positioning unit is used for acquiring the 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 coordinates of the target to be detected by processing the image data acquired by the first camera and the second camera and the rectangular coordinates of the earth acquired by the positioning unit;
The data processing unit includes: the system comprises a coordinate conversion module, a first calculation module, a correction module and a second calculation module;
The coordinate conversion module is used for converting the geodetic rectangular coordinates of the first camera, the second camera and the cooperative target acquired by the positioning unit into geodetic rectangular coordinates; the first calculation module is used for calculating azimuth angles and pitch angles of the cooperative targets relative to the first camera and the second camera respectively; the correction module is used for calculating the sea antenna inclination angle and correcting errors generated by sea surface swing; the second calculation module is used for calculating the position coordinates of the target to be detected;
The collaboration target includes: a wireless communication assembly, a control assembly and a light bank; the wireless communication component is used for receiving the control signal of the master control unit and transmitting the control signal to the control component; the control component is used for controlling the working state of the lamp group; the lamp group is used as a positioning mark of the cooperative target ship in the image.
2. The marine dynamic object 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 photographed in synchronization;
When the first camera and the second camera shoot synchronously, shooting focal lengths of the first camera and the second camera are the same; the first camera and the second camera are mounted on two measuring vessels, respectively.
3. The marine dynamic target positioning system of claim 1, wherein the cooperative targets are mounted on a cooperative target vessel.
4. The marine dynamic target positioning system of 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 vessels and the cooperation target vessel; 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.
5. The marine dynamic target positioning system of claim 1, wherein the master control unit comprises a wireless communication component for transmitting a manipulation instruction; and the master control unit controls the cooperation target, the first camera and the second camera to work cooperatively through the control instruction of the wireless communication assembly.
6. An offshore dynamic object positioning method, applying an offshore dynamic object positioning system according to any of claims 1-5, comprising the steps of:
S1, the master control unit controls the first camera and the second camera to turn to the sea area where the cooperative target and the target to be detected are 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 contain 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; simultaneously, the positioning unit transmits the collected 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 to obtain the position coordinates of the target to be detected.
7. The marine dynamic target positioning method according to claim 6, 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 cooperative target acquired by the positioning unit into geodetic rectangular coordinates;
s402, calculating the sea antenna inclination angle by the correction module, and correcting errors generated by sea surface swing; the first calculation module calculates azimuth angles and pitch angles of the cooperative targets relative to the first camera and the second camera respectively;
the sea-sky-line tilt angle The calculation formula of (2) is as follows: /(I)
A is a pixel difference between any two points on the sea antenna 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 sway is as follows:
Wherein, Is an intermediate process quantity,/>For the sea-antenna tilt angle, (/ >)) For coarse horizontal off-target and coarse vertical off-target amounts of the target to be measured relative to the cooperative target in the first image or the second image, (/ >，/>) The horizontal off-target amount and the vertical off-target amount of the target to be detected, which are obtained after correcting the error generated by sea surface swing, relative to the cooperative target in the first image or the second image;
According to the correction formula, the correction module calculates (x t1,yt1) and (x t2,yt2) respectively; the (x t1,yt1) is a horizontal off-target amount and a vertical off-target amount of the target to be measured relative to the cooperative target in the first image, and the (x t2,yt2) is a horizontal off-target amount and a vertical off-target amount of the target to be measured relative to the cooperative target in the second image;
The first calculation module calculates the formulas of the azimuth angle and the pitch angle of the cooperative target relative to the first camera and the second camera respectively as follows:
Wherein (X 1,Y1,Z1) is the geocentric rectangular coordinates of the first camera, (X 2,Y2,Z2) is the geocentric rectangular coordinates of the second camera, (X 3,Y3,Z3) is the geocentric rectangular coordinates of the cooperative target, For the pitch angle of the cooperative target to the first camera,/>Azimuth for the cooperative target to the first camera,/>For the pitch angle of the cooperative target to the second camera,/>Azimuth for the cooperative target to the second camera;
S403, the second calculation module calculates an azimuth angle A 1、A2 and a pitch angle E 1、E2 of the target to be measured relative to the first camera and the second camera according to the (x t1,yt1) and the (x t2,yt2), respectively, and the formula is as follows:
Wherein, And/>For the amount of alternative processes in the calculation,/>For the focal length of the first camera and the second camera when capturing images,/>For the pitch angle of the object to be measured relative to the first camera,/>For the azimuth angle of the object to be measured relative to the first camera,/>For the pitch angle of the object to be measured relative to the second camera,/>An azimuth angle of the target to be measured relative to the second camera;
S404, the second calculation module calculates the geocentric rectangular coordinates of the target to be detected through the azimuth angle A 1、A2 and the pitch angle E 1、E2, and then obtains station coordinates taking the cooperative target as an original point through coordinate conversion;
The calculation formulas of the x coordinate and the z coordinate in the geocentric rectangular coordinates (x, y, z) of the object to be measured are as follows:
the calculation formula of the y coordinate in the geocentric rectangular coordinates (x, y, z) of the object to be measured is as follows:
。
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