A photoelectric detection assisted positioning method and positioning system based on nautical chart objects

Abstract

The present invention provides a photoelectric detection auxiliary positioning method and positioning system based on chart objects, wherein the positioning method includes: marking auxiliary positioning object points with known geographical position information on electronic charts; when a ship travels near the auxiliary positioning object points, starting the photoelectric system to capture the auxiliary positioning object points at close range, and implementing radar ranging and thermal imager angle measurement; using radar / photoelectric combined positioning to determine the radial distance of the auxiliary positioning object points in the station coordinate system; based on the radial distance of the auxiliary positioning object points in the station coordinate system and their geographical position information, determining the ship's geographical position information. Based on the existing ship technical system, the present invention uses electronic charts as a basic platform, and can effectively realize the rapid determination or correction of the ship's position by photoelectrically detecting object points with known geographical location information, thereby improving the positioning accuracy and reliability of the ship's integrated navigation system.

Description

Technical Field

[0001] The present invention relates to the field of photoelectric detection, and more specifically, to a photoelectric detection auxiliary positioning method and a positioning system based on nautical chart objects. Background Art

[0002] At present, the integrated navigation of ships is mainly based on inertial navigation equipment. Inertial navigation has the advantages of full-parameter navigation information output, full autonomy and high concealment. However, due to the errors of devices such as gyroscopes and meters, its accuracy will diverge over time. The longer the time, the worse the accuracy, and it cannot maintain high accuracy for a long time. In order to maintain high-precision output, the inertial navigation currently needs to rely on the accurate position information provided by satellites, Loran C, astronomical equipment and other equipment for regular readjustment. Only after readjustment can the accuracy in the next cycle be guaranteed. However, satellite navigation, radio and other equipment have poor anti-electromagnetic interference capabilities, and astronomical star measurement is greatly affected by weather. In the environment of strong electromagnetic shielding and strong confrontation, there are limitations to using only this type of auxiliary positioning. The navigation system may be greatly affected when the ship is damaged or repaired or emergency started, which limits the further improvement of the accuracy and reliability of modern integrated navigation. Summary of the invention

[0003] The present invention aims at the technical problems existing in the prior art and provides a photoelectric detection auxiliary positioning method and a positioning system for nautical chart objects.

[0004] According to a first aspect of the present invention, a method for photoelectric detection assisted positioning of a nautical chart object is provided, comprising:

[0005] Marking auxiliary locating points with known geographic location information on electronic nautical charts;

[0006] When the ship approaches the auxiliary positioning mark, the optoelectronic system is activated to capture the auxiliary positioning mark at close range, and radar ranging and thermal imager angle measurement are performed;

[0007] Using radar / photoelectric combined positioning to determine the radial distance of the auxiliary positioning object mark in the measuring station coordinate system;

[0008] Based on the radial distance of the auxiliary positioning object mark in the survey station coordinate system and its geographic position information, the ship's geographic position information is determined.

[0009] According to a second aspect of the present invention, there is provided an auxiliary positioning system for nautical chart objects, comprising:

[0010] The marking module is used to mark auxiliary positioning points with known geographic location information on the electronic nautical chart;

[0011] The detection module is used to start the optoelectronic system to capture the auxiliary positioning object mark at a close distance when the ship travels near the auxiliary positioning object mark, and implement radar ranging and thermal imager angle measurement;

[0012] A first determination module is used to determine the radial distance of the auxiliary positioning object mark in the measuring station coordinate system by radar / photoelectric combined positioning;

[0013] The second determination module is used to determine the ship's geographic position information based on the radial distance of the auxiliary positioning object mark in the station coordinate system and its geographic position information.

[0014] The present invention provides a photoelectric detection assisted positioning method and positioning system based on nautical chart objects. The purpose of the present invention is to adopt a photoelectric detection assisted positioning method based on nautical chart objects, take electronic nautical charts as the basic platform, determine the ship's own position information by measuring object points with known geographical location information, assist the ship's inertial navigation equipment to perform position correction, and improve the positioning accuracy and reliability of the ship's integrated navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart of a photoelectric detection assisted positioning method based on nautical chart objects provided by the present invention;

[0016] Figure 2 This is a schematic diagram of radar / photoelectric joint positioning space;

[0017] Figure 3 A schematic structural diagram of a photoelectric detection auxiliary positioning system for nautical chart objects provided by the present invention. DETAILED DESCRIPTION

[0018] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0019] Ship platforms are generally equipped with multiple radars and multiple optoelectronic systems. Shipborne radars are used for long-range warning, surveillance, and rough tracking, while optoelectronic systems are used for close-range warning, measurement, and precise tracking. Based on the existing ship technology system, with electronic charts as the basic platform, the ship's position can be quickly determined or corrected through optoelectronic detection of objects with known geographic location information, thereby improving the positioning accuracy and reliability of the ship's integrated navigation system.

[0020] Embodiment 1

[0021] A photoelectric detection assisted positioning method based on nautical chart objects, see Figure 1The auxiliary positioning method includes: marking auxiliary positioning object points with known geographic system position information on the electronic nautical chart; when the ship approaches the auxiliary positioning object points, starting the optoelectronic system to capture the auxiliary positioning object points at close range, and implementing radar ranging and thermal imager angle measurement; using radar / optoelectronic combined positioning to determine the radial distance of the auxiliary positioning object points in the station coordinate system; based on the radial distance of the auxiliary positioning object points in the station coordinate system and their geographic system position information, determining the ship's geographic system position information.

[0022] It can be understood that the present invention adopts an optoelectronic detection assisted positioning method based on nautical chart objects, takes the electronic nautical chart as the basic platform, determines the ship's own position information by measuring object points with known geographical location information, assists the ship's inertial navigation equipment to correct the position, and improves the positioning accuracy and reliability of the ship's integrated navigation system.

[0023] Embodiment 2

[0024] An auxiliary positioning method based on nautical chart objects mainly includes the following steps:

[0025] S1, marking auxiliary positioning points with known geographical position information on electronic nautical charts.

[0026] It can be understood that the auxiliary positioning point in the embodiment of the present invention is a point with known location information on the electronic nautical chart. By measuring the point with known geographical location information, the position information of the ship itself is determined. Therefore, the auxiliary positioning point P is first marked on the electronic nautical chart. T , establish object point P T Search strategy.

[0027] S2, when the ship comes near the auxiliary positioning object mark, the optoelectronic system is activated to capture the auxiliary positioning object mark at close range, and radar ranging and thermal imager angle measurement are implemented.

[0028] It can be understood that after the auxiliary positioning object point is marked in step S1, when the ship travels to the object point P T When near, start photoelectric detection to capture the object point P at close range T , specifically, implementing radar ranging and thermal imager angle measurement.

[0029] S3, using radar / photoelectric combined positioning to determine the radial distance of the auxiliary positioning object mark in the measuring station coordinate system.

[0030] As an embodiment, the use of radar / photoelectric combined positioning to determine the radial distance of the auxiliary positioning object mark in the survey station coordinate system includes: defining the survey station coordinate system, detecting the azimuth and altitude of the auxiliary positioning object mark through the photoelectric system; and calculating the distance of the auxiliary positioning object mark relative to the survey station origin based on the distance, azimuth and altitude of the radar in the survey station coordinate system relative to the survey station origin.

[0031] Specifically, Figure 2 As shown in the figure, the station coordinate system b is defined with the longitude and latitude optoelectronic system as the reference optic :X axis points to the positive direction of the pitch axis, Z axis points to the positive direction of the azimuth axis, Y axis, X axis and Z axis form a right-handed coordinate system, the intersection point O of the pitch axis and the azimuth axis is the origin of the station coordinate system. Y axis points to the zero azimuth of the station, and the azimuth of the station is positive clockwise. The radar is in the station coordinate system P r Point (X r Y r Z r ), the distance R relative to the origin of the station r 、Azimuth A r , altitude angle E r ; The target to be measured (auxiliary positioning point) is in the measuring station coordinate system P T Point (X T Y T Z T ), the distance R, azimuth A, and elevation E relative to the origin of the measuring station; the distance R1 of the target to be measured relative to the radar. Among them, the auxiliary positioning point is in the measuring station coordinate system P T Point (X T Y T Z T ), the distance R relative to the origin of the measuring station is the quantity to be determined.

[0032] According to A, E, A r 、E r , R r , R1, determine R or target position (X T Y T Z T ), known,

[0033]

[0034] Simplifying formula (1) we get:

[0035]

[0036] Let a = cosEcosE r cos(AA r )+sinEsinE r , formula (2) is solved to get:

[0037]

[0038] The target distance measured by radar is generally greater than the deployment distance between radar and optoelectronics, so equation (3) has only one solution:

[0039]

[0040] Formula (4) is the target distance, which can be further combined with (1) to calculate the three-dimensional station coordinates of the target.

[0041] It should be noted that radar / photoelectric joint positioning is used to determine the object point P T The radial distance and rectangular coordinates in the station coordinate system need to be used to calculate the error of the radar / photoelectric joint positioning, and then evaluate the accuracy and effect of this joint positioning method.

[0042] The specific method for determining the joint positioning error is that the azimuth and elevation angles output by the actual optoelectronic system are The theoretical azimuth and elevation angles are A and E respectively; the actual radar system distance measurement value is The theoretical distance is R1, and there is a ship deformation error (δA) between the radar and the optoelectronic system. r δE r ), the relationship between the actual measured value and the theoretical measured value:

[0043]

[0044] Ignoring the coupling relationship between the errors, the total system error dR is:

[0045] dR=R r ·[-sinEcosE r cos(AA r )+cosEsinE r ]·δE+R r ·cosEcosE r sin(AA r )·δA(6);+R r ·cosEcosE r sin(A r -A)·δA r +R r ·[-sinE r cosEcos(AA r )+cosE r sinE]·δE r +δR1

[0046] Formula (6) is the formula for radar and optoelectronic joint positioning error.

[0047] S4, determining the geographic position information of the ship based on the radial distance of the auxiliary positioning object mark in the station coordinate system and its geographic position information.

[0048] As an embodiment, the method of determining the geographic position information of the ship based on the radial distance of the auxiliary positioning object mark in the survey station coordinate system and its geographic position information includes: determining the radial distance of the auxiliary positioning object mark in the survey station coordinate system based on radar / photoelectric combined positioning, and calculating the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system; calculating the components of the auxiliary positioning object mark in the geographic coordinate system and the corresponding longitude increment, latitude increment and altitude increment based on the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system; calculating the geographic position information of the ship based on the geographic position information of the auxiliary positioning object mark and the longitude increment, latitude increment and altitude increment of the auxiliary positioning object mark in the geographic coordinate system.

[0049] It can be understood that step S3 is a method for determining the radial distance and rectangular coordinates of the auxiliary positioning object mark in the survey station coordinate system. On this basis, based on the longitude, latitude and altitude of the auxiliary positioning object mark in the geographic coordinate system, the longitude, latitude and altitude of the ship in the geographic coordinate system are calculated.

[0050] Specifically, the station coordinate system b optic Internal auxiliary positioning mark P T It is expressed as:

[0051]

[0052] The installation error angle of the station coordinate system relative to the ship deck system b is α = [α x α y α z ] T , the attitude transformation matrix The attitude angles of the deck system relative to the geographic system g are θ, γ, ψ, and the attitude matrix is Assuming that the ship position reference point, deck position reference point and measuring station position coincide, the projection of the vector of the auxiliary positioning object mark in the geographic system is:

[0053]

[0054] In formula (8), Obtained by photoelectric measurement and joint positioning calculation, The θ, γ, ψ and Provided by ship's inertial navigation.

[0055] The component form of the vector of the auxiliary positioning point in the geographic system is R g =[RxE R yN R zU ] T , the corresponding longitude increment dλ, latitude increment dL, and altitude increment dh are:

[0056]

[0057] In formula (9), R M is the meridian curvature radius, R N is the radius of curvature of the circle, and h is the ship's altitude.

[0058] Among them, the geographical location of the auxiliary positioning object (L P λ P h P ) is known, the position increment (dL dλ dh) can be calculated by combining radar / photoelectric joint measurement, and the ship's geographic position (L S λ S h S ):

[0059]

[0060] In formula (10), the ship position reference point coincides with the origin of the measuring station. The actual geographical location of the measuring station is obtained by supplementing the position of the ship's inertial reference point with the arm error.

[0061] As an embodiment, the geographic position information of the ship is determined, and then the position error caused by the ranging error is determined when the position of the auxiliary positioning object is calculated based on the known ship position, or the position of the ship is calculated based on the known auxiliary positioning object position.

[0062] Specifically, the radar ranging error is the main component of the error in the final determined geographical location information of the ship. The horizontal attitude angle of the ship on the sea surface changes near the horizontal level, while the heading angle can change in a larger range, so there is,

[0063]

[0064]

[0065] Among them, δ dL , δ dλ and δ dh are longitude increment error, latitude increment error and altitude increment error respectively, R D is the radius of curvature of the horizontal projection of the target in the geographic system. Formulas (11) and (12) are the position error formulas caused by the ranging error when the position of the auxiliary positioning object is calculated when the position of the ship is known, or when the position of the ship is calculated when the position of the auxiliary positioning object is known. The calculated error can be used to evaluate the accuracy of the positioning method proposed by the present invention.

[0066] Embodiment 3

[0067] An auxiliary positioning system based on nautical chart objects, see Figure 3 The auxiliary positioning system includes a labeling module 301, a detection module 302, a first determination module 303 and a second determination module 304, wherein:

[0068] The marking module 301 is used to mark the auxiliary positioning object points with known geographic system position information on the electronic nautical chart; the detection module 302 is used to start the optoelectronic system to capture the auxiliary positioning object points at close range when the ship approaches the auxiliary positioning object points, and implement radar ranging and thermal imager angle measurement; the first determination module 303 is used to determine the radial distance of the auxiliary positioning object points in the station coordinate system by using radar / optoelectronic combined positioning; the second determination module 304 is used to determine the ship's geographic system position information based on the radial distance of the auxiliary positioning object points in the station coordinate system and their geographic system position information.

[0069] It can be understood that the auxiliary positioning system based on nautical chart markers provided by the present invention corresponds to the auxiliary positioning method based on nautical chart markers provided in the aforementioned embodiments. The relevant technical features of the auxiliary positioning system based on nautical chart markers can refer to the relevant technical features of the auxiliary positioning method based on nautical chart markers, which will not be repeated here.

[0070] The embodiment of the present invention provides an auxiliary positioning method and positioning system based on nautical chart objects, which adopts an optical detection auxiliary positioning method based on nautical chart objects, takes the electronic chart as the basic platform, and determines the position information of the ship itself by measuring the object points with known geographical location information, and assists the ship's inertial navigation equipment to correct the position, thereby improving the positioning accuracy and reliability of the ship's integrated navigation system. Its positioning accuracy can reach 44.9m, which meets the correction accuracy requirements of the ship's inertial navigation equipment (better than 100m), and can perform positioning tasks under strong electromagnetic shielding, strong confrontation and typical meteorological conditions, making up for the shortcomings of current satellite navigation and astronomical navigation auxiliary positioning, and can be used for ship auxiliary positioning, effectively improving the positioning accuracy and reliability of the ship's integrated navigation system.

[0071] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0076] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0077] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A photoelectric detection assisted positioning method based on nautical chart objects, characterized in that: include: Marking auxiliary locating points with known geographic location information on electronic nautical charts; When the ship approaches the auxiliary positioning mark, the optoelectronic system is activated to capture the auxiliary positioning mark at close range, and radar distance measurement and thermal imager angle measurement are performed; Using radar / photoelectric combined positioning to determine the radial distance of the auxiliary positioning object mark in the measuring station coordinate system; Determine the geographic position information of the ship based on the radial distance of the auxiliary positioning object mark in the station coordinate system and its geographic position information; The determining of the ship's geographic position information based on the radial distance of the auxiliary positioning object mark in the station coordinate system and its geographic position information includes: Determine the radial distance of the auxiliary positioning object mark in the station coordinate system based on radar / photoelectric joint positioning, and calculate the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system; Based on the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system, calculate the components of the auxiliary positioning object mark in the geographic coordinate system and the corresponding longitude increment, latitude increment and altitude increment; Calculate the ship's geographic position information based on the geographic position information of the auxiliary positioning object and the longitude increment, latitude increment and altitude increment of the auxiliary positioning object in the geographic coordinate system; The method of determining the radial distance of the auxiliary positioning object mark in the station coordinate system based on radar / photoelectric combined positioning and calculating the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system includes: Station coordinate system Internal auxiliary positioning mark It is expressed as: (7); Station coordinate system relative to ship deck system The installation error angle is , the attitude transformation matrix is , deck system relative to geography system The attitude angle is , the attitude matrix is ; Assuming that the ship position reference point, deck position reference point and measuring station position coincide, the projection of the target vector in the geographic system is: （8）； in, Obtained by photoelectric measurement and joint positioning calculation, Obtained by calibration during installation of the optoelectronic system, and Provided by ship's inertial navigation; The calculation of the components of the auxiliary positioning object mark and the corresponding longitude increment, latitude increment and altitude increment in the geographic coordinate system based on the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system includes: The known geographic position information of the auxiliary positioning point is defined as , the component form of the auxiliary positioning object punctuation vector in the geographic system is , the corresponding longitude increment , Latitude increment , Height increment for: (9); in, is the meridian curvature radius, is the radius of curvature of the Maoyou circle, is the ship's altitude; The calculating of the ship's geographic position information based on the geographic position information of the auxiliary positioning object mark and the longitude increment, latitude increment and altitude increment of the auxiliary positioning object mark in the geographic coordinate system includes: Calculate the ship's geographic position information as follows: : (10)； in, , and They are respectively the longitude increment, latitude increment and altitude increment of the auxiliary positioning point in the geographic coordinate system. Known geographic location information to assist in locating objects; The method of using radar / photoelectric combined positioning to determine the radial distance of the auxiliary positioning object mark in the station coordinate system includes: Defining a station coordinate system, and detecting the azimuth and altitude of the auxiliary positioning object mark by means of an optoelectronic system; The distance of the auxiliary positioning object mark relative to the origin of the measuring station is calculated according to the distance, azimuth and altitude of the radar relative to the origin of the measuring station in the measuring station coordinate system; The step of defining the station coordinate system and detecting the azimuth and altitude of the auxiliary positioning object mark by means of a photoelectric system includes: Define the station coordinate system with the longitude and latitude optoelectronic system as reference : The axis points to the positive direction of the pitch axis. The axis points to the positive direction of the azimuth axis. Axis and Axis and The axes form a right-handed coordinate system, with the pitch axis and the azimuth axis intersecting at is the origin of the station coordinate system, The axis points to the zero azimuth of the measuring station, and the azimuth of the measuring station is positive clockwise; Radar in the station coordinate system point , the distance relative to the origin of the station , azimuth , Altitude angle ; The auxiliary positioning object mark is in the measuring station coordinate system point , its azimuth and altitude angle ; Correspondingly, the distance, azimuth and altitude of the radar relative to the origin of the station in the station coordinate system are calculated to obtain the distance of the auxiliary positioning object mark relative to the origin of the station. ,include: (1); Simplifying equation (1) we can obtain: (2); make , formula (2) is solved to get: （3）; The target distance measured by radar is usually greater than the deployment distance between the radar and the optoelectronic system, so equation (3) has only one solution: （4）。 2. The photoelectric detection assisted positioning method according to claim 1, characterized in that: It also includes determining the combined radar / electro-optical position, including: Assume that the azimuth and altitude angles output by the actual optoelectronic system are , the theoretical azimuth and altitude angles are ; The actual radar distance measurement is , the theoretical distance is There are hull deformation errors between the radar and optoelectronic systems, including installation azimuth errors. and installation height angle error , the relationship between the actual measured value and the theoretical measured value: (5); Ignoring the coupling relationship between the errors, the total system error : （6）; Among them, the total system error It is the joint positioning error of radar and optoelectronic system.

3. The photoelectric detection assisted positioning method according to claim 1, characterized in that: The method further comprises determining the geographical position information of the ship based on the radial distance of the auxiliary positioning object mark in the station coordinate system and its geographical position information, and then determining the position error caused by the ranging error when the position of the auxiliary positioning object mark is calculated based on the known ship position, or the position of the ship is calculated based on the known auxiliary positioning object mark position: (11); (12)； in, , and They are longitude increment error, latitude increment error and altitude increment error respectively. R D It is the radius of curvature of the horizontal projection of the target in the geographic system.

4. A photoelectric detection assisted positioning system based on nautical chart objects, characterized in that: include: The marking module is used to mark auxiliary positioning points with known geographic location information on the electronic nautical chart; The detection module is used to start the optoelectronic system to capture the auxiliary positioning object mark at a close distance when the ship travels near the auxiliary positioning object mark, and implement radar ranging and thermal imager angle measurement; A first determination module is used to determine the radial distance of the auxiliary positioning object mark in the measuring station coordinate system by radar / photoelectric combined positioning; A second determination module is used to determine the ship's geographic position information based on the radial distance of the auxiliary positioning object mark in the station coordinate system and its geographic position information; The determining of the ship's geographic position information based on the radial distance of the auxiliary positioning object mark in the station coordinate system and its geographic position information includes: Determine the radial distance of the auxiliary positioning object mark in the station coordinate system based on radar / photoelectric joint positioning, and calculate the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system; Based on the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system, calculate the components of the auxiliary positioning object mark in the geographic coordinate system and the corresponding longitude increment, latitude increment and altitude increment; Calculate the ship's geographic position information based on the geographic position information of the auxiliary positioning object and the longitude increment, latitude increment and altitude increment of the auxiliary positioning object in the geographic coordinate system; The method of determining the radial distance of the auxiliary positioning object mark in the station coordinate system based on radar / photoelectric combined positioning and calculating the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system includes: Station coordinate system Internal auxiliary positioning mark It is expressed as: (7); Station coordinate system relative to ship deck system The installation error angle is , the attitude transformation matrix is , deck system relative to geography system The attitude angle is , the attitude matrix is ; Assuming that the ship position reference point, deck position reference point and measuring station position coincide, the projection of the target vector in the geographic system is: （8）； in, Obtained by photoelectric measurement and joint positioning calculation, Obtained by calibration during installation of the optoelectronic system, and Provided by ship's inertial navigation; The calculation of the components of the auxiliary positioning object mark and the corresponding longitude increment, latitude increment and altitude increment in the geographic coordinate system based on the projection vector of the vector of the auxiliary positioning object mark in the geographic coordinate system includes: The known geographic position information of the auxiliary positioning point is defined as , the component form of the auxiliary positioning object punctuation vector in the geographic system is , the corresponding longitude increment , Latitude increment , Height increment for: (9); in, is the meridian curvature radius, is the radius of curvature of the Maoyou circle, is the ship's altitude; The calculating of the ship's geographic position information based on the geographic position information of the auxiliary positioning object mark and the longitude increment, latitude increment and altitude increment of the auxiliary positioning object mark in the geographic coordinate system includes: Calculate the ship's geographic position information as follows: : (10)； in, , and They are respectively the longitude increment, latitude increment and altitude increment of the auxiliary positioning point in the geographic coordinate system. Known geographic location information to assist in locating objects; The method of using radar / photoelectric combined positioning to determine the radial distance of the auxiliary positioning object mark in the station coordinate system includes: Defining a station coordinate system, and detecting the azimuth and altitude angles of the auxiliary positioning object marks by means of an optoelectronic system; The distance of the auxiliary positioning object mark relative to the origin of the measuring station is calculated according to the distance, azimuth and altitude of the radar relative to the origin of the measuring station in the measuring station coordinate system; The step of defining the station coordinate system and detecting the azimuth and altitude of the auxiliary positioning object mark by means of a photoelectric system includes: Define the station coordinate system with the longitude and latitude optoelectronic system as reference : The axis points to the positive direction of the pitch axis. The axis points to the positive direction of the azimuth axis. Axis and Axis and The axes form a right-handed coordinate system, with the pitch axis and the azimuth axis intersecting at is the origin of the station coordinate system, The axis points to the zero azimuth of the measuring station, and the azimuth of the measuring station is positive clockwise; The radar is in the station coordinate system point , the distance relative to the origin of the station , azimuth , Altitude angle ; The auxiliary positioning object mark is in the measuring station coordinate system point , its azimuth and altitude angle ; Correspondingly, the distance, azimuth and altitude of the radar relative to the origin of the station in the station coordinate system are calculated to obtain the distance of the auxiliary positioning object mark relative to the origin of the station. ,include: (1); Simplifying equation (1) we can obtain: (2); make , formula (2) is solved to get: （3）; The target distance measured by radar is usually greater than the deployment distance between the radar and the optoelectronic system, so equation (3) has only one solution: （4）。

Images