Target position positioning device and method

Abstract

The invention provides a target position positioning device and method. In the device, a display unit is configured to be in a transparent mode and is located right in front of the eyes of an operator; when the to-be-rescued target is located in the center of the display unit, the marking assembly marks and confirms the to-be-rescued target and sends a distance measurement instruction to the head tracker; a head tracker is worn on the head of the operator, and when the head tracker receives a distance measurement instruction, the direction of a to-be-rescued target is determined based on the rotation direction of the head of the operator, the distance between the to-be-rescued target and the head tracker is measured, and the direction and the distance are sent to a signal processing unit; the signal processing unit determines the position of the to-be-rescued target according to the orientation and the distance sent by the head tracker, and sends the position of the to-be-rescued target to the display unit; the display unit displays the position of the to-be-rescued target and the area where the to-be-rescued target is located, and positioning and indicating of the position of the to-be-rescued target can be achieved on ocean ships, rescue airplanes, lifeboats and the like.

Description

Technical Field

[0001] This invention belongs to the field of search and rescue system design technology, and particularly relates to a target location positioning device and method. Background Technology

[0002] Given the harsh and complex rescue environments at sea and on land, there is an urgent need for the rescue of personnel from wrecked ships or aircraft, which has received increasing attention in recent years. Currently, there is a lack of experience in rescuing personnel from wrecked aircraft and ships in harsh marine and land environments, making it crucial to improve the efficiency of search and rescue operations using rescue aircraft, marine vessels, and lifeboats. In recent years, maritime transport activities have been increasing, accompanied by a fluctuating upward trend in the number of maritime accidents, with the geographical distribution of accidents also showing a trend of expansion from nearshore waters to mid- and far-sea areas. Maritime accidents often result in serious casualties and huge property losses, and are even accompanied by marine environmental pollution, adversely affecting maritime transport and stable economic growth.

[0003] To increase the success rate of subsequent rescue operations and to buy valuable time for the target to be rescued, obtaining the location of the target is the primary prerequisite for conducting search and rescue operations. Summary of the Invention

[0004] To address the current problem of low success rates in rescue operations, this invention provides a target location positioning device and method, which can be deployed on aircraft, ships, and drones to achieve rapid positioning of the target under near-range visibility conditions, providing support for subsequent rescue operations. The technical solution is as follows: On one hand, a target positioning device is provided, comprising: a head tracker, a signal processing unit, a display unit, and a marker assembly. The display unit is connected to the head tracker and the signal processing unit, the marker assembly is connected to the head tracker, and the head tracker is connected to the signal processing unit. The display unit is configured in transparent mode and positioned directly in front of the operator's eyes; When the target to be rescued is located in the center of the display unit, the marking component marks and confirms the target and sends a ranging command to the head tracker. The operator wears a head tracker. When the head tracker receives a ranging command, it determines the location of the target to be rescued based on the operator's head rotation direction, measures the distance between the target to be rescued and the head tracker, and sends the location and distance to the signal processing unit. The signal processing unit determines the location of the target to be rescued based on the orientation and distance sent by the head tracker, and sends the location of the target to the display unit; The display unit shows the location of the target to be rescued and the area where the target is located.

[0005] Optionally, the marking component is equipped with three toggle switches to prevent accidental activation: neutral, marking, and dialog. When the operator locates the target to be rescued, they use the head tracker to rotate left and right and / or tilt up and down to center the target in the display unit. At this time, the toggle switch of the marking component is switched from the neutral position to the marking position to mark and confirm the target to be rescued.

[0006] Optionally, the head tracker is equipped with a ranging device. The ranging device uses the principle of laser directional ranging to measure the distance to the target to be rescued. When the head tracker receives the ranging command, it measures the distance between the target to be rescued and the head tracker through the ranging device, and measures the angle between the heading of the head tracker and the rescue vehicle, as well as the angle between the head tracker and the initial horizontal plane of the rescue vehicle. The signal processing unit acquires the status data of the rescue vehicle in real time. Based on the angle between the head tracker and the heading of the rescue vehicle, the angle between the head tracker and the initial horizontal plane of the rescue vehicle, the azimuth and distance sent by the head tracker, and the status data of the rescue vehicle at the marked time, it calculates the longitude and latitude of the target to be rescued. The status data includes longitude and latitude, heading, roll angle and altitude.

[0007] Optionally, a crosshair cursor is positioned at the center of the display unit screen. The marking component marks and confirms the target to be rescued when the crosshair in the center of the display unit screen coincides with the target to be rescued.

[0008] Optionally, before the aircraft performs the mission, the head tracker is initialized with an angle to ensure that the head tracker and the rescue vehicle are aligned in the same direction, i.e., the angle between the head tracker and the rescue vehicle is 0, and that the head tracker and the initial horizontal plane of the rescue vehicle are aligned in the same direction, i.e., the angle between the head tracker and the initial horizontal plane of the rescue vehicle is 0.

[0009] In a second aspect, a target location positioning method is provided, employing a target location positioning device as described in any one of the first aspects, the method comprising: Step 1: Wearing and installing the target location positioning device: Wearing and installing the head tracker, signal processing unit, display unit, and marker component; Step 2: Head tracker performs self-test: Determines whether the head tracker is working properly. The operator is in the designated position, and the head tracker reports the self-test result to the signal processing unit 2. Step 3: The display unit performs a self-test: it determines whether a crosshair cursor is displayed in the center of the display unit and whether the display is normal. The display unit then reports the self-test results to the signal processing unit. Step 4: The signal processing unit performs a self-test: to determine whether the signal processing unit is working properly and whether the indicator light on the signal processing unit remains on; Step 5: If all the above self-check results are passed, the operator rotates the head tracker to search for the target to be rescued. After the operator finds the target, the operator gradually adjusts the target to the center of the display unit; the target is marked and confirmed, and a ranging command is sent to the head tracker. When the head tracker receives the ranging command, it determines the position of the target to be rescued based on the operator's head rotation direction, measures the distance between the target to be rescued and the head tracker, and sends the position and distance to the signal processing unit. Step 6: The signal processing unit determines the location of the target to be rescued based on the orientation and distance sent by the head tracker, and sends the location of the target to the display unit; the display unit displays the location of the target to be rescued and the area where the target is located.

[0010] Optionally, in step five, when the head tracker receives the ranging command, it measures the distance between the target to be rescued and the head tracker through the ranging device, and measures the angle between the heading of the head tracker and the rescue vehicle, as well as the angle between the head tracker and the initial horizontal plane of the rescue vehicle.

[0011] Optionally, in step six, the signal processing unit acquires the status data of the rescue vehicle in real time, and calculates the longitude and latitude of the target to be rescued based on the angle between the head tracker and the heading of the rescue vehicle, the angle between the head tracker and the initial horizontal plane of the rescue vehicle, the azimuth and distance sent by the head tracker, and the status data of the rescue vehicle at the marked time; the status data includes longitude and latitude, heading, roll angle and altitude.

[0012] Optionally, there are two operators, namely Operator 1 and Operator 2. The method further includes: Step 7: If the target to be rescued calculated by the signal processing unit based on the data from the head tracker worn by operator 1 and the head tracker worn by operator 2 is inconsistent, the signal processing unit shall recalculate the position of the target to be rescued as confirmed by the marking components of the two operators.

[0013] Optionally, in step two, the specified location is initially calibrated. In step seven, the signal processing unit recalculates the location of the target to be rescued, which has been confirmed by the marking components of the two operators. Specifically: (1) Calculate the relative positional relationship between the two operators based on their relative pose information and the initial calibrated specified position; (2) Based on the relative positional relationship between the two operators, the original positions of the two operators are stretched and twisted, and two observation points are set as P1(x1,y1,z1) and P2(x2,y2,z2). (3) Determine the distance d1 between P1(x1,y1,z1) and the target to be rescued, and the distance d2 between P2(x2,y2,z2) and the target to be rescued. (4) Based on distances d1 and d2, the following spherical formula is established: (x−x1) 2 +(y−y1) 2 +(z−z1) 2 =d1 2 (1) (x−x2) 2 +(y−y2) 2 +(z−z2) 2 =d2 2 (2) x, y, and z represent the longitude, latitude, and altitude of the target to be rescued, respectively. (5) The intersection of the two spheres forms a circle, the center of which lies on the line connecting P1 and P2. Establish the equation of the plane of intersection: (x−x1)(x2−x1)+(y−y1)(y2−y1)+(z−z1)(z2−z1)=1 / 2(d1 2 -d2 2 +x1 2 +y1 2 +z1 2 +x2 2 +y2 2 +z2 2 (3) (6) If the altitude of the target to be rescued is known, let z = h, where h is the radio altitude of the rescue vehicle. Then, substitute z = h into the above formula (3) to obtain the longitude x and latitude y of the target to be rescued.

[0014] The beneficial effects of this invention are at least as follows: This invention enables the location of targets to be rescued within visual range, and is less expensive than high-precision equipment. Compared to operating high-precision equipment, the operator can quickly and easily locate the target by rotating their head. It is equipped with two operator observation groups, where one operator observes the target position first and provides it to the other operator, facilitating the other operator to quickly locate the target, achieve monitoring feedback, and improve the positioning capability. Attached Figure Description

[0015] Figure 1 Display a schematic diagram of the target; Figure 2 Schematic diagram of a target location positioning device; Figure 3 A flowchart illustrating the method for locating the target position. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0018] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited from each other.

[0019] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0020] In this invention, when rescue aircraft, ocean vessels, lifeboats, etc., approach the area to be rescued, the operator visually searches and, by wearing a head tracker, observes the target to be rescued within the rescue area, essentially locking onto the target. When the target to be rescued is located at the center of the display unit 3, the toggle switch of the marking component is moved to the marking position to mark and confirm the target. At this time, the head tracker 1 determines the orientation of the target to be rescued based on the operator's head rotation, measures the distance between the target to be rescued and the head tracker 1, and measures the angle between the head tracker 1 and the heading of the rescue vehicle, as well as the angle between the head tracker 1 and the initial horizontal plane of the rescue vehicle. The signal processing unit 2 acquires the status data of the rescue vehicle in real time (latitude and longitude, heading, roll angle, and altitude, etc.). Based on the angle between the head tracker 1 and the heading of the rescue vehicle, the angle between the head tracker 1 and the initial horizontal plane of the rescue vehicle, the orientation and distance sent by the head tracker 1, and the status data of the rescue vehicle at the marking time (latitude and longitude, heading, roll angle, and altitude, etc.), the longitude and latitude of the target to be rescued are calculated. As the positions of the rescue vehicle and the operator's head change, the position of the target to be rescued relative to the rescue vehicle will also change. The information processing unit can further recalculate the position of the target to be rescued based on the data fed back by the head trackers 1 of the two operators and send it to the display unit, thereby enabling the operator to quickly obtain the position of the target to be rescued.

[0021] like Figure 1 and Figure 2 As shown, a target location indicating device is provided, which can be used on marine vessels, rescue aircraft, and lifeboats. The device includes: a head tracker 1, a signal processing unit 2, a display unit 3, and a marker component 4. The display unit 3 is connected to the head tracker 1 and the signal processing unit 2, the marker component 4 is connected to the head tracker 1, and the head tracker 1 is connected to the signal processing unit 2. Display unit 3 is configured in transparent mode and is located directly in front of the operator's eyes; When the target to be rescued is located in the center of the display unit 3, the marking component 4 marks and confirms the target to be rescued and sends a ranging command to the head tracker 1. The operator wears a head tracker 1. When the head tracker 1 receives a ranging command, it determines the position of the target to be rescued based on the rotation of the operator's head, measures the distance between the target to be rescued and the head tracker 1, and sends the position and distance to the signal processing unit 2. The signal processing unit 2 determines the location of the target to be rescued based on the orientation and distance sent by the head tracker 1, and sends the location of the target to be rescued to the display unit 3; Display unit 3 displays the location of the target to be rescued and the area where the target is located.

[0022] In another embodiment, see Figure 1 and Figure 2A target location indication device is provided, which can be used on marine vessels, rescue aircraft, and lifeboats. The device includes: a head tracker 1, a signal processing unit 2, a display unit 3, and a marker component 4. The display unit 3 is connected to the head tracker 1 and the signal processing unit 2, the marker component 4 is connected to the head tracker 1, and the head tracker 1 is connected to the signal processing unit 2. Display unit 3 is configured in transparent mode and is located directly in front of the operator's eyes; The marking component 4 can be configured with three toggle switches to prevent accidental activation: neutral, marked, and dialogue positions; it is normally kept in the neutral position. When the operator finds a target to be rescued, he can rotate the head tracker 1 left and right and / or tilt it up and down to center the target in the display unit 3. At this time, he can switch the toggle switch of the marking component from the neutral position to the marked position to mark and confirm the target to be rescued.

[0023] In one embodiment, a crosshair cursor is disposed at the center of the screen of the display unit 3. The marking component 4 can mark and confirm the target to be rescued when the crosshair in the center of the display unit 3 screen coincides with the target to be rescued.

[0024] The operator wears a head tracker 1, which is equipped with a ranging device. The ranging device uses the principle of laser directional ranging to measure the distance to the target to be rescued. When the head tracker 1 receives a ranging command, it measures the distance between the target to be rescued and the head tracker 1 through the ranging device, determines the orientation of the target to be rescued based on the operator's head rotation, and measures the angle between the head tracker 1 and the heading of the rescue vehicle, as well as the angle between the head tracker 1 and the initial horizontal plane of the rescue vehicle, and sends it to the signal processing unit 2. To improve the accuracy of the angle between the head tracker 1 and the rescue vehicle's heading, as well as the angle measurement between the head tracker 1 and the initial horizontal plane of the rescue vehicle, the head tracker 1 is initialized with angles before the aircraft performs the mission. This ensures that the head tracker and the rescue vehicle's headings are consistent, i.e., the angle between the head tracker and the rescue vehicle's headings is 0, and that the head tracker 1 and the initial horizontal plane of the rescue vehicle are consistent, i.e., the angle between the head tracker 1 and the initial horizontal plane of the rescue vehicle is 0.

[0025] The ranging device and display unit are integrated on the head tracker 1 to achieve the overlap between the target seen by the human eye and the target measured by laser ranging.

[0026] The signal processing unit 2 can acquire the status data (latitude and longitude, heading, roll angle and altitude, etc.) of the rescue vehicle in real time. Based on the angle between the head tracker 1 and the heading of the rescue vehicle, the angle between the head tracker 1 and the initial horizontal plane of the rescue vehicle, the azimuth and distance sent by the head tracker 1, and the status data (latitude and longitude, heading, roll angle and altitude, etc.) of the rescue vehicle at the marked time, it calculates the longitude and latitude of the target to be rescued and sends it to the display unit 3.

[0027] Display unit 3 displays the location of the target to be rescued and the area where the target is located.

[0028] In this embodiment, when the operator's head turns, the head tracker 1 can be used to visually confirm the location and distance of the target to be rescued. The operation is simple and effectively improves the accuracy of identifying the target to be rescued.

[0029] In this embodiment, the head tracker 1 is designed as a wearable structure, which is convenient for operators to wear and effectively reduces the installation space required for use in aircraft, ocean vessels, and lifeboats.

[0030] In this embodiment, the signal processing unit 2 can obtain the orientation of the target to be rescued from the head tracker 1, measure the distance between the target to be rescued and the head tracker 1, and combine the status data (latitude and longitude, heading, roll angle and altitude, etc.) of the rescue vehicle (rescue aircraft, rescue ocean vessel, lifeboat, etc.), the angle between the heading of the head tracker 1 and the rescue vehicle, and the angle between the head tracker 1 and the initial horizontal plane of the rescue vehicle to calculate the position of the target to be rescued and send the position of the target to be rescued to the display unit 3. At the same time, it can also process the positions of the target to be rescued from multiple operators to improve the accuracy of target location.

[0031] The display unit 3 is positioned directly in front of the operator's eyes and can be easily adjusted in the forward and backward direction for convenient operation.

[0032] The operator can mark and confirm the target to be rescued through the marking component 4. The operator can also switch the toggle switch of the marking component 4 to the dialogue position to enable the function of communicating with other operators.

[0033] An embodiment of the present invention also provides a target location positioning method, employing a target location positioning device as described in the embodiment of the present invention, the method comprising: Step 1: Wear and install the target location positioning device: Wear and install the head tracker 1, signal processing unit 2, display unit 3, and marker component 4; Step 2: Head tracker 1 performs a self-test: Determines whether the head tracker 1 is working properly. There can be two or more operators, such as operator 1 and operator 2 located at a designated position. The head tracker 1 reports the self-test result to the signal processing unit 2. Step 3: Display unit 3 performs a self-test: It determines whether a crosshair cursor is displayed in the center of display unit 3 and whether the display is normal. Display unit 3 then reports the self-test result to signal processing unit 2. Step 4: Signal processing unit 2 performs a self-test: Determines whether signal processing unit 2 is working properly and whether the indicator light of signal processing unit 2 remains on; Step 5: If all the above self-check results are passed, Operator 1 and Operator 2 rotate head tracker 1 to search for the target to be rescued. After one operator finds the target to be rescued, they gradually adjust the target to the center of display unit 3. The target to be rescued is marked and confirmed, and a ranging command is sent to head tracker 1. When the head tracker 1 receives the ranging command, it determines the position of the target to be rescued based on the operator's head rotation position, measures the distance between the target to be rescued and head tracker 1, and sends the position and distance to signal processing unit 2. When the head tracker 1 receives a ranging command, it can measure the distance between the target to be rescued and the head tracker 1 through the ranging device, and measure the angle between the head tracker 1 and the heading of the rescue vehicle, as well as the angle between the head tracker 1 and the initial horizontal plane of the rescue vehicle.

[0034] Step 6: The signal processing unit 2 determines the location of the target to be rescued based on the orientation and distance sent by the head tracker 1, and sends the location of the target to be rescued to the display unit 3; the display unit 3 displays the location of the target to be rescued and the area where the target to be rescued is located.

[0035] The signal processing unit 2 can acquire the status data (latitude, longitude, heading, roll angle, and altitude, etc.) of the rescue vehicle in real time. Based on the angle between the head tracker 1 and the heading of the rescue vehicle, the angle between the head tracker 1 and the initial horizontal plane of the rescue vehicle, the azimuth and distance sent by the head tracker 1, and the status data (latitude, longitude, heading, roll angle, and altitude, etc.) of the rescue vehicle at the marked time, it calculates the longitude and latitude of the target to be rescued.

[0036] In another embodiment, the method of the present invention may further include: Step Seven: Depending on the actual mission requirements, for example, if the target to be rescued calculated by the signal processing unit 2 based on the data from the head tracker 1 worn by operator 1 and the head tracker 1 worn by operator 2 is inconsistent, the operators can perform secondary marking. For instance, one operator can use a shout or switch the toggle switch of the marking component from the marking position to the communication position (i.e., the intercom function) to inform the other operator of the location information of the target to be rescued confirmed by their marking component 4. At this time, the signal processing unit 2 can recalculate the location of the target to be rescued confirmed by the marking components 4 of both operators. In this way, both operators can obtain the location of the target to be rescued through the display unit 3, and other personnel can also obtain the location of the target to be rescued, so as to take appropriate rescue measures in a timely manner.

[0037] In order for signal processing unit 2 to recalculate the location of the rescue target confirmed by the marking components 4 of the two operators, in step two, the designated locations of operators 1 and 2 are first initially calibrated, see [link to relevant documentation]. Figure 3 The re-computation process of signal processing unit 2 can be implemented as follows: (1) Calculate the relative positional relationship between the two operators based on their relative pose information and the initial calibrated specified position; (2) Based on the relative positional relationship between the two operators, the original positions of the two operators are stretched and twisted, and two observation points are set as P1(x1,y1,z1) and P2(x2,y2,z2). (3) Determine the distance d1 between P1(x1,y1,z1) and the target to be rescued, and the distance d2 between P2(x2,y2,z2) and the target to be rescued. (4) Based on distances d1 and d2, the following spherical formula is established: (x−x1) 2 +(y−y1) 2 +(z−z1) 2 =d1 2 (1) (x−x2) 2 +(y−y2) 2 +(z−z2) 2 =d2 2 (2) x, y, and z represent the longitude, latitude, and altitude of the target to be rescued, respectively. (5) The intersection of the two spheres forms a circle, the center of which lies on the line connecting P1 and P2. Establish the equation of the plane of intersection: (x−x1)(x2−x1)+(y−y1)(y2−y1)+(z−z1)(z2−z1)=1 / 2(d1 2 -d2 2+x1 2 +y1 2 +z1 2 +x2 2 +y2 2 +z2 2 (3) (6) If the altitude of the target to be rescued is known, let z = h, where h is the radio altitude of the rescue vehicle. Then, substitute z = h into the above formula (3) to obtain the longitude x and latitude y of the target to be rescued.

[0038] In summary, the present invention provides a target location positioning device and method that can quickly and accurately acquire the location information of the target to be rescued in special environments at sea and on land, ensuring system accuracy and operational stability, helping operators to efficiently acquire the location of the target to be rescued, and facilitating subsequent rescue work.

[0039] The above description merely illustrates embodiments of the present invention and is quite specific and detailed; however, it should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Furthermore, any parts of the present invention not described in detail are conventional techniques.

Claims

1. A target position positioning device, characterized by, The target position positioning device comprises a head tracker, a signal processing unit, a display unit and a marking assembly, the display unit is connected with the head tracker and the signal processing unit, the marking assembly is connected with the head tracker, the head tracker is connected with the signal processing unit, The display unit is configured in a transparent mode and located in front of the eyes of the operator; The marking assembly marks the target to be rescued when the target to be rescued is located in the center of the display unit and sends a ranging instruction to the head tracker; The head tracker is worn on the head of the operator, and when the ranging instruction is received, the head tracker determines the position of the target to be rescued based on the rotating direction of the head of the operator, measures the distance between the target to be rescued and the head tracker, and sends the position and the distance to the signal processing unit; The signal processing unit determines the position of the target to be rescued according to the position and the distance sent by the head tracker, and sends the position of the target to be rescued to the display unit; The display unit displays the position of the target to be rescued and the area where the target to be rescued is located. The marking assembly is provided with three dial switches to prevent misoperation, which are neutral position, marking position and dialogue position respectively; 2. The apparatus of claim 1, wherein, When the operator finds the target to be rescued, the head tracker is rotated left and right or tilted up and down, so that the target to be rescued is located in the center of the display unit, at this time, the dial switch of the marking assembly is dialed from the neutral position to the marking position, and the target to be rescued is marked. The head tracker is provided with a ranging device, which measures the distance of the target to be rescued by using the laser ranging principle, and when the ranging instruction is received, the head tracker measures the distance between the target to be rescued and the head tracker by the ranging device, measures the included angle between the head tracker and the heading of the rescue carrier, and measures the included angle between the head tracker and the initial horizontal plane of the rescue carrier; 3. The apparatus of claim 1, wherein, The signal processing unit acquires the state data of the rescue carrier in real time, calculates the longitude and latitude of the target to be rescued according to the included angle between the head tracker and the heading of the rescue carrier, the included angle between the head tracker and the initial horizontal plane of the rescue carrier, the position and distance sent by the head tracker, and the state data of the rescue carrier at the marking time, and the state data includes the longitude and latitude, the heading, the roll angle and the height. The display unit screen center is provided with a cross cursor, 4. The apparatus of claim 1, wherein, The marking assembly marks the target to be rescued when the target to be rescued coincides with the cross cursor in the center of the display unit screen. Before the aircraft performs the task, the included angle of the head tracker is initialized to ensure that the head tracker is consistent with the heading of the rescue carrier, that is, the included angle between the head tracker and the heading of the rescue carrier is 0, and the head tracker is consistent with the initial horizontal plane of the rescue carrier, that is, the included angle between the head tracker and the initial horizontal plane of the rescue carrier is 0.

5. The apparatus of claim 3, wherein, The method comprises:

6. A target position positioning method characterized by, Step one: wearing and installing the target position positioning device: wearing and installing the head tracker, the signal processing unit, the display unit and the marking assembly; Step two: self-checking of the head tracker: judging whether the head tracker works normally, and the operator is located at a specified position, and the head tracker reports the self-checking result to the signal processing unit 2; ​ Step three: the display unit performs self-checking: whether the display unit center displays a crosshair and whether it displays normally, and the display unit reports the self-checking result to the signal processing unit; Step four: the signal processing unit performs self-checking: whether the signal processing unit works normally, and whether the signal processing unit indicator light remains on; Step five: if the above self-checking results are all passed, the operator rotates the head tracker to search for the target to be rescued, and after the operator finds the target to be rescued, the target to be rescued is gradually adjusted to the center of the display unit; the target to be rescued is marked and confirmed, and a ranging instruction is sent to the head tracker, and when the head tracker receives the ranging instruction, the position of the target to be rescued is determined based on the operator's head rotation direction, the distance between the target to be rescued and the head tracker is measured, and the position and distance are sent to the signal processing unit; Step six: the signal processing unit determines the position of the target to be rescued according to the position and distance sent by the head tracker, and sends the position of the target to be rescued to the display unit; the display unit displays the position of the target to be rescued and the area where the target to be rescued is located.

7. The method of claim 6, wherein, In step five, when the head tracker receives the ranging instruction, the distance between the target to be rescued and the head tracker is measured by the ranging device, and the angle between the head tracker and the rescue carrier heading and the angle between the head tracker and the initial horizontal plane of the rescue carrier are measured.

8. The method of claim 7, wherein, In step six, the signal processing unit acquires the state data of the rescue carrier in real time, calculates the longitude and latitude of the target to be rescued according to the angle between the head tracker and the rescue carrier heading, the angle between the head tracker and the initial horizontal plane of the rescue carrier, the position and distance sent by the head tracker, and the state data of the rescue carrier at the marking moment; the state data includes longitude and latitude, heading, roll angle and height.

9. The method of claim 6, wherein, There are two operators, operator 1 and operator 2, The method further comprises: Step seven: if the signal processing unit calculates inconsistent positions of the target to be rescued based on the data of the head tracker worn by operator 1 and the head tracker worn by operator 2, the signal processing unit recalculates the positions of the target to be rescued marked and confirmed by the marking assemblies of the two operators.

10. The method of claim 9, wherein, In step two, the specified position is initially calibrated, In step seven, the signal processing unit recalculates the positions of the target to be rescued marked and confirmed by the marking assemblies of the two operators, specifically: (1) based on the relative pose information of the two operators and the initially calibrated specified position, the relative position relationship between the two operators is calculated; (2) based on the relative position relationship between the two operators, the original positions of the two operators are stretched and distorted, and two observation points P1(x1, y1, z1) and P2(x2, y2, z2) are set, (3) the distance d1 between P1(x1, y1, z1) and the target to be rescued, and the distance d2 between P2(x2, y2, z2) and the target to be rescued are determined, (4) based on the distance d1 and the distance d2, the following spherical formula is established: (x - x1) 2 + (y - y1) 2 + (z - z1) 2 = d1 2 (1) (x - x2) 2 + (y - y2) 2 + (z - z2) 2 = d2 2 (2) x, y, z are the longitude, latitude and height of the target to be rescued, respectively, (5) The intersection of two spheres is a circle, and its center is located on the line P1P2. The equation of the intersecting circle plane is established: (x - xi)(x2- xi) + (y - yi)(y2- yi) + (z - zi)(z2- zi) = 1 / 2(d1 2 - d2 2 + xi 2 + yi 2 + zi 2 + x2 2 + y2 2 + z2 2 ) (3) (6) If the height of the target to be rescued is known, denoted as z = h, h is the radio altitude of the rescue carrier. Then, z = h is substituted into formula (3) to obtain the longitude x and latitude y of the target to be rescued.

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