RU116224U1 - DEVICE FOR MEASURING AND REGISTRATION OF SPHERICAL COORDINATES OF A REMOTE OBJECT IN AREA - Google Patents

Abstract

1. A device for measuring and recording the spherical coordinates of a remote object, containing a laser range finder, an elevation sensor in the housing, an optoelectronic device, characterized in that a collimating module, a GPS / Glonass receiver and a processing module located in the elevation sensor housing are inserted into it information on the basis of a programmable logic circuit, and the optoelectronic device is made in the form of a digital camera and is rigidly attached to the collimating module, laser rangefinder and elevation angle sensor body so that the optical axes of the digital camera lens and collimating module are parallel, and the laser rangefinder, GPS receiver / Glonass and the elevation sensor are connected separately to the inputs of the information processing module. ! 2. The device according to claim 1, characterized in that a microdisplay is inserted into the collimating module, which is connected to the information processing module.

Description

The utility model relates to the field of measurement technology, in particular to geodesy and navigation, and can be used when performing search and rescue operations, to register the coordinates of distant objects (ships, aircraft, etc.), when patrolling borders, surveying natural areas disasters, etc.

Known (see, for example, RF patent No. 2123165) is an optical laser system for aiming and ranging air targets. The system consists of a laser emitter with a pump unit and a radiation receiver, which are part of the optical tracking system, and a rangefinder channel, as well as a calculation unit. In this case, the sighting tracking system contains a mirror mounted rotatably, the position of which is determined by the signal generated by the calculation unit. A telescopic lens is used to reduce beam divergence.

The disadvantage of the system is its relatively narrow application - mainly for air-to-air missiles and, therefore, the inability to use objects from the ground to search and localize objects, both ground and air, in a specific coordinate system. In addition, the entire complex is quite complex and expensive.

A known optical-electronic target search and tracking system (RF patent No. 2155323), which contains a movable mirror with an angle sensor and drives, a spectro-splitting filter, a direction finding channel, which generates a mismatch signal between the optical axis of the system and the direction to the target, as well as transmitting and receiving laser channels. In the search mode, viewing the target space is carried out by a moving mirror according to the mismatch signals between the direction finding channel information and the external target designation system. The mismatch signal between the optical axis of the system and the direction to the target in two coordinates - azimuth and altitude is fed to the drives of the moving mirror, bringing the image of the target to the center of the field of view of the sensitive areas. Next, the transition to tracking and ranging mode.

The disadvantage of the system is the need to use complex expensive special optical systems.

A device for measuring spherical coordinates is known, comprising a laser range finder with a digital indicator and a unit for measuring the magnetic azimuth and pitch angle, in which the unit for measuring the magnetic azimuth and pitch angle is made in the form of two sensors of the corresponding angles mounted in a gimbal, each of which consists of a disk with an angle code and an optotronic coupler with a transmitter and receiver, the axis of the outer frame of the gimbal is mounted in the laser rangefinder housing parallel to the axis of the sight , on the outer frame along its axis there is an optocoupler pair of pitch angle sensors covering the angle measuring disk, which is placed on the axis of the inner frame, which is the body of the magnetic compass mounted perpendicular to the axis of the outer frame with the center of mass offset, the optocoupler pair of magnetic azimuth sensors is placed on the inner frame, covering the angle measuring disk, which is the card of the magnetic compass, which is placed on the inner axis of the inner frame, mounted perpendicular to the axis of the outer frame and the outer axis of the inner frame, while the outputs of the angle sensors are connected to the corresponding additional inputs of the digital inductor (RF Patent No. 1827136).

The disadvantage of this technical solution is the low accuracy and reliability of the measurement due to the lack of accounting for changes in the position of the observer, as well as the low speed of the device and the information content of its output.

The closest technical solution to the proposed invention is a device for measuring the spherical coordinates of a remote object on the ground, containing an optoelectronic device, an indicator of the course and position of the observer, a strapdown inertial unit, an altimeter and a microprocessor. Moreover, the optoelectronic device, the laser range finder and the course indicator and observer positions are rigidly fastened together. The strapdown inertial block and altimeter are connected separately to the microprocessor inputs and are placed in the body of the course indicator and observer position. In addition, an indicator of the heading indicator and the position of the observer and the object is introduced into it. The pointer is equipped with connectors for communication with this indicator, and an optoelectronic device (RF Patent No. 2381447).

The disadvantage of this device is the presence of a large number of components, in particular a unified seat, frames with a translucent plate and an additional indicator, etc., which leads to a decrease in the accuracy and reliability of the system as a whole, as well as to an increase in its dimensions and weight. The presence of a magnetometer (course indicator) in the system does not allow using it when exposed to strong magnetic fields. In addition, periodic instrument calibration is required.

The technical result of the utility model is to expand the functionality of the monitoring device while reducing the size and increasing the accuracy and reliability of measurement and registration with the ability to determine the spherical coordinates of the object from the “on hand” position on the ground without stopping monitoring of the object and terrain. It is also possible to save a digital photo and video image with recording the shooting time, observer coordinates and object coordinates.

The specified technical result is achieved by the fact that the device for measuring the spherical coordinates of a remote object on the ground, containing a laser range finder, an elevation sensor in the housing, an optical-electronic device, a collimating module is introduced, and the optical-electronic device is made in the form of a digital camera and is rigidly fixed with a collimating module, a laser range finder and a housing for the elevation sensor so that the optical axes of the lens of the digital camera and the collimating module are parallel.

In addition, an information processing module based on a programmable logic circuit located in the housing of the elevation sensor is introduced into it, and a microdisplay that is connected to the information processing module is inserted into the collimating module.

In addition, a GPS / Glonass receiver is introduced into it, and a laser rangefinder, a GPS / Glonass receiver and an elevation sensor are connected separately to the inputs of the information processing module.

In the case of measuring the coordinates of a distant object from one point of the observer's position, the heading angle is calculated by changing the coordinates of the observer when the line of sight of the object coincides with the direction of movement, or using a heading angle sensor.

In the case of a change in the position of the observer relative to the remote object, when the coordinates of the remote object are measured from at least three points of the observer's position, not lying on one straight line and located at a certain distance from each other, i.e. in the case of a moving observer, he holds the crosshair of the aiming mark of the rangefinder, visible in the viewfinder of the camera on the object, moves and registers the image of the object several times (makes measurement) from several points. With each measurement of the distance to the object with a new position of the observer, the parameters of a new circle become known, the center of which is the position of the observer, and the radius is the projection of the inclined range. Next are the coordinates of the intersection points of the circles, if any. After 3 measurements, 6 intersection points of circles (if any) are obtained, which can be divided into 2 groups. Of the two groups of points, one is selected in which the distance between the points is minimal. The coordinates of the intersection points of the group of circles in which the distance between the points is minimal is taken as the object’s coordinates. Further, these coordinates are transformed into a spherical coordinate system and, through the collimating module, are entered into the camera lens. At the same time, to avoid ambiguity in determining the group of points, restrictions are imposed on the nature of the observer's movement — the survey points should not lie on one straight line and be located close to each other. The accuracy of determining the coordinates of the object is determined by the accuracy with which the observer holds the crosshair of the aiming mark of the range finder on the object during shooting.

The calculation of the course and position of the object is carried out by the information processing module.

Figure 1 shows a General view of a device for calculating the spherical coordinates of a remote object.

Figure 2 shows a functional diagram of a device for calculating the spherical coordinates of a remote object.

Figure 3 shows a General view of the collimating optical module.

Figure 4 shows the coordinate system used in the device to calculate the spherical coordinates of a remote object.

Figure 5 shows a diagram for determining the spherical coordinates of a remote object in the case of shooting an object from several points.

Figure 6 shows the definition of the points of intersection of circles. .

Figure 1 shows the position:

1 - digital camera

2 - laser range finder

4 - instrument housing with information processing module and elevation sensor

Figure 2 shows:

5 - information processing module

2 - laser range finder with elevation and heading angle sensors

6 - object of observation

1 - camera

3 - collimating optical module

7 - connectors for power and video signal supply to the collimating module

8 - camera shutter activation connector connector

9 - RS232 interface

10 - elevation sensor based on NEMIP with AEE

11 - heading angle sensor based on NEMIP with AEE

12 - GPS / Glonass satellite navigation receiver

13 - antenna receiver GPS / Glonass satellite navigation signals

14 - power switch information processing module

15 - switch "method for determining the coordinates of the object"

16 - switch "course angle determination mode"

17 - button "Set 0 azimuth / new series of measurements"

18 - button "Measure".

The device comprises a laser range finder 2, rigidly connected to the digital camera 1. At the top there is a collimating optical module 3, which projects coordinate information onto the camera’s matrix. The information processing module 5 reads data from the range finder 2 and the elevation sensor 10, the GPS / Glonass 12 satellite navigation receiver, calculates the coordinates of the remote object 6 and generates a video signal for the collimating module 3 with an alphanumeric representation of the observer's position information: geographical latitude, geographical longitude , elevation, and height of the observer, as well as the parameters of the object of observation: geographical latitude, geographical longitude, distance to it, time and date of observation. The object is selected by pointing the crosshair at it, fixing the position of the device and pressing the "Measure" button.

The observer observes the image of object 6 against the background of the surrounding area. After the observer presses the “Measure” button 18, the laser range finder 2 calculates the distance to the object and transfers this distance to the information processing module 5. From the elevation sensor 10, the information processing module 5 through interface 9 reads the elevation angle of the optical axis of the device from the angle sensor places 10. Switch 16 determines the method for calculating the heading angle - either from the heading angle sensor 11, if installed in the device, or from the GPS / Glonass receiver. The switch 17 determines the method by which the coordinates of the object are determined - single measurement mode, multiple measurement mode. At the beginning of a new measurement series, the observer presses the button 17, and in the case of a single measurement mode, pressing the button 17 sets the current elevation angle and course to 0. The spherical coordinates of the observer are determined by the GPS / Glonass 12 satellite navigation signal receiver, to which the antenna 13 is connected Next, the information processing module calculates the spherical coordinates of the object and transfers them to the collimating optical module 3 through connector 7. After the coordinate information is generated by the collimating optical module 3 with the information processing module 5, a signal is sent to the camera 1 through the connector 8 to trigger the shutter of the camera.

Figure 3 shows a General view of the collimating optical module. Figure 3 shows:

19 - microdisplay.

20 - frame microdisplay.

21 is the lens.

22 - rim of the wrapping system.

23 - mirrors.

An image with coordinate information is formed on the microdisplay 19, which is transferred by the lens 21 to infinity. Further, after reflection from two mirrors 23 fixed in the frame 22, the image is inverted. The frame of the wrapping system 22, the lens 21 and the frame of the microdisplay 20 are rigidly interconnected. A rigid connection of the collimating module with the laser rangefinder and the housing of the elevation sensor so that the optical axes of the lens of the digital camera and the collimating module are parallel increases the accuracy and reliability of measurement and recording with the ability to determine the spherical coordinates of the object from the “hand” position on the ground without stopping monitoring object and terrain.

In figure 4, point A indicates the position of the observer, point B is the position of the object. Point C is the projection of point B on the parallel to the object, point E is the projection of point C on the parallel to the observer, point P is the projection of point A on the parallel to the object. The direction of the reference angles shown in figure 4 by arrows.

Let the latitude φ _A , longitude λ _A and height H _{A of} point A, distance L to point B, course angle β (the angle between the direction to the north pole and the direction to the object), elevation angle α be known. Since the maximum measured range does not exceed 10 km, and replacing the arcs AC, AD, CE, AE by tangents at point A at distances less than 10 km, we make an error less than 0.0000001 of the length of this arc, to calculate longitude and latitude we will assume that points A, E, C, D are located on a plane normally located to the surface of the Earth. When measuring vertical distances, the curvature of the Earth cannot be neglected even at small horizontal distances between points.

The height of point B is calculated by the formula .

The last term takes into account the deflection of the Earth . Projection distance L on an inclined plane is calculated by the formula L _ave = AC = Lcos (α)

The latitude increment δφ = φ _B -φ _{A is} determined from the triangle ADO by the cosine theorem

where AD = AC · cos (β), R ₃ = 6378.1 km is the radius of the Earth

The longitude increment δλ = λ _B −λ _{A is} determined from the triangle APE by the cosine theorem

where AE = AC · - = sin (βp)

2 ((^ + I,) cos (^)) ²

Depending on the range into which the value of the magnetic course βp falls (see figure 4), the formulas for calculating the coordinates of a distant object are:

- latitude

- longitude

- height

(, [Zcos (a) cos (y0)] ² ^ - ,, „„ о Yu. + Agsso ^ 1 ---------- at 0 <Р <90

I ^ CR-l VT L ² \ \. ² • \. ^K Z ⁺¹¹ A))

^ _ ^ J,. [Lcos (a) cosW] ^ ^ 9o <^ <270 ° (1) latitude ^ 2 (1? S + i ^))

<Pb =

^ + agccosfl- ^{[zcos (a) cos (} ^ ^{)] 2} 1 at 270 ^ <360 ° I 2 (2?, +,,) ² ).

(2) -long

^ arccosfl- ^ cosWsmM} o </? <180 ° I, 2 ((^ + I,) co8 (^)) ^

. f. [Zcos (a) sin (^)] ² ) ^ -arccos 1 --------., ^ 2 ((^ + Я,) со8 (^)) ^

at 180 </? <360 °

yyyyyy t • / ^ (^ COSfo)) ² / -.

Hg = H ^ + L sm (a) + ^ (3) - height 27? uh

Thus, the derived formulas make it possible to calculate the coordinates of a remote observation object with a single measurement of the distance to the object.

In the process of determining the coordinates of a remote object on the ground as a result of several measurements, the observer moves relative to the object and makes a measurement from several x

points - a series of measurements not lying on one straight line and located at a certain distance from each other. After three or more measurements, it becomes possible to determine the spherical coordinates of the object, which are determined as a result of processing information about the observer's position during the survey - his coordinates, the elevation angle of the optical axis of the device and the distance to the object. Moreover, the spherical coordinates of the measurement points are converted into a Cartesian coordinate system, in which the coordinates of the object are calculated, which are then converted to spherical. The calculated spherical coordinates are displayed on the electronic image of the object formed by the camera.

The value of the distance to the object / l and the elevation angle a of the optical axis allow us to find the projection of the inclined range onto the plane of the object, which is tangent to the surface. Let the observer take measurements from several points on a certain part of the flight path, the object is tracked, that is, the crosshair is held at the subject and the distance to the object is measured. Figure 5 points BUT,', B ', C 'these are the projections of the points at which the distance to the object is measured. The projection of the slant range is calculated by the formula l _pr lnp = ll · -cos (αa), where αa is the elevation angle of the optical axis of the device. As can be seen from Fig.6, the determination of the coordinates of the object is reduced to finding the point at which the circles intersect, with a radius / l _pr „p centered at the points A, B ', FROM'. The coordinates of the intersection of circles are most easily found in the Cartesian coordinate system, the axes of which are oriented so that the x axis is tangent to the parallel and is directed toward increasing longitude, and the y axis is tangent to the meridian and directed towards increasing latitude. The height at which the object is located can be found immediately by the formula h _ob = h _nab + lsin (α) Pob = Pnab + / 5 / p ('s), where l / is the inclined range to the object, h _Pnab is the height on which the observer is located. At the beginning of a new series of measurements, the point of the current location of the observer is taken as the beginning of the Cartesian coordinate system. The coordinates of the intersection points of the circles will be calculated in this coordinate system. During the measurement, the navigation parameters become known: the current location of the observer (spherical coordinates that are converted to Cartesian), the distance to the object and the elevation angle of the instrument axis. Let the spherical coordinates of the beginning of the Cartesian coordinate system be equal (φ ₀ , λ ₀ , h ₀ ср, Ао, ho), and the spherical coordinates of the observer at the moment of distance measurement equal (φф, λЛ, hП). The spherical coordinates of the observer (centers of circles) in the Cartesian coordinate system can be found by the formulas:

where δφ = φ-φ _0, δλ = λ-λ ₀ A / 2 (7? 3 + Н ^) 2 (1 - cos {8 (p)) if § (р> О

Y = \, ______________

[-Y2 (7? Z + H ^) 2 (1 - cos {8 (p)) if q (p <0

j2 ((R, + H,) cos ((po)) 2 (1 - cosW) if e> 0 x = -1,

[- ^ 2 (SC3 + H ^ cos ^)) 2 (1 - cos (JA)) if <U <0

"" - ~ where ~ bc1 = q> - <9o ~, 'bA ^ A-Ao ^ with increasing spherical coordinates.

"-" - "" - - ^- ------

With each measurement of the distance to the object with a new position of the observer, the parameters of the new circle become known. Next are the coordinates of the intersection points of the circles, if any. If more than two points have arrived, then it is necessary to check the conditions for the uniqueness of determining the group of intersection points of circles. To do this, find the angle between

straight lines connecting 3 points, not lying on one straight line and compare it with a certain threshold (10 degrees). In addition, the distance between the points should not be less than a threshold equal to 200 meters. If both conditions are met, then you can calculate the coordinates of the object as the average value of the points of the group in which the object is located. At this stage, the coordinates of the object are calculated in a Cartesian coordinate system, the beginning of which is located at the point with the geographical coordinates γ0AO, φ (p0, hP. Next, these coordinates are converted to spherical and the coordinate information is formed on the microdisplay. Next, the camera shutter is activated. During shutter release the observer should not move the crosshair of the aiming mark of the rangefinder from the object. Next, the algorithm for determining the points of intersection of circles is considered. After 3Xx measurements, the floor 6 intersection points of circles (if any) are generated, which can be divided into 2 groups (see Fig. 6.) Of the two groups of points, one is selected at which the distance between the points is minimal. The transformation of Cartesian coordinates to spherical is performed in the following sequence. First, the magnetic azimuth is determined q> according to the known coordinates x and y according to the following formula:

[x \ (x> 0

^{arct: ln} [y) ' ^ecln \ y> 0

/ y \ (x> 0 90 + ags1apu if ^ g

180 + arctan (-) if {„\ y / (Y <

• x \ (x <0 \ y) ' ^if [y <0

270 + arctan Q, if g ^ Where x, y are the Cartesian coordinates of the object.

 Next, increments of latitude and longitude are calculated:

1 / Zcos (VQ \ ² '

/ 1 / ZcosQ / O dA = arccos 1-- '

^ 2y (Dz + HA) cos (<po) Y)

Depending on the sign of the increments dφ (p and dλA, the latitude and longitude of the object are calculated using the following formulas:

(p =

A =

<p0 + d (p for (90 ^ -f> 0) or (270> -p> 360) (po - d (p for (180> -f> 270)

Yao + Ya at 180> I>. Oh a (^ - d / Lnpm 180_> I> 360

Thus, the proposed utility model achieves a technical result in the form of improving the accuracy and reliability of measurement, expanding the functionality and increasing the speed of the device while ensuring the reading of the spherical coordinates of the object from

“hand-held” positions without ceasing monitoring of the object and terrain. It is also possible to save a digital image with recording the shooting time, observer coordinates, object coordinates, range to the object.

Claims (2)

1. A device for measuring and recording the spherical coordinates of a remote object, containing a laser range finder, an elevation sensor in the housing, an optical-electronic device, characterized in that a collimating module, a GPS / Glonass receiver and a processing module located in the elevation sensor housing are introduced information on the basis of a programmable logic circuit, and the optoelectronic device is made in the form of a digital camera and fastened rigidly with a collimating module, a laser range finder and an elevation sensor housing so that the opt cal axis of the digital camera lens and the collimating module are parallel, and a laser rangefinder, GPS / GLONASS receiver, and the elevation angle detector is connected separately to the inputs of the information processing unit. 2. The device according to claim 1, characterized in that a microdisplay is inserted into the collimating module, which is connected to the information processing module.