A target positioning system during a movement

Abstract

The application discloses a target positioning system in a motion process, which comprises a signal-connected measurement and control platform and a motion positioning platform; the measurement and control platform is configured to issue a task instruction and send a control signal; the motion positioning platform is configured to: actively position each target to obtain initial coordinates of each target; obtain a preset measurement path; search and lock a target to be positioned based on the initial coordinates of each target, and collect measurement data of each target greater than a preset group number; for each target, multiple times of incomplete repetition are selected for the preset group number of measurement data, and it is judged whether the preset group number of measurement data selected can determine the coordinates of the target; if yes, the determined coordinates of the target are taken as accurate coordinates of the target; otherwise, the initial coordinates of each target are fitted with a preset distance error to determine the accurate coordinates of each target. The system greatly reduces the positioning error and improves the positioning precision of the target.

Description

Technical Field

[0001] This application relates to the field of target positioning technology, and in particular to a target positioning system during motion. Background Technology

[0002] Electro-optical pods are streamlined, short sections suspended under the fuselage or wings. They typically house high-definition visible light cameras, infrared thermal imagers, laser rangefinders, electro-optical trackers, and other electro-optical detection equipment, enabling them to identify, locate, track, and dynamically monitor targets. With the rapid development of UAV technology, electro-optical pods are playing an increasingly important role in resource exploration, disaster search and rescue, target monitoring, and target acquisition.

[0003] Currently, electro-optical pods typically employ active positioning methods to locate targets. Active positioning methods use lasers to measure the distance to the target, and then calculate the target's position based on the UAV's attitude and the electro-optical attitude.

[0004] However, current active positioning methods heavily rely on the accuracy of photoelectric angle measurement, the stability of photoelectric platforms, the accuracy of UAV attitude measurement, and the flight stability of UAVs. Ordinary UAVs and photoelectric pods have large errors in positioning and cannot meet the positioning accuracy requirements of application scenarios. Summary of the Invention

[0005] This application provides a target positioning system during movement, which solves the technical problem that ordinary drones and optoelectronic devices have large positioning errors in the prior art.

[0006] This application provides a target positioning system during motion, including a telemetry and control platform and a motion positioning platform connected by signals; the telemetry and control platform is configured to issue task instructions and send control signals to control the motion path and monitoring field of view of the motion positioning platform; the motion positioning platform is configured to: automatically move along a preset planned path according to the task instructions and perform active positioning of each target to obtain the initial coordinates of each target;

[0007] A preset measurement path is obtained based on the initial coordinates of the target, and the target moves automatically along the preset measurement path.

[0008] When on the preset measurement path, the target to be located is searched and locked based on the initial coordinates of each target, and measurement data of more than a preset number of sets are collected for each target; wherein, the measurement data includes the location information of the measurement point and the measurement distance from the measurement point to the target;

[0009] For each target, a preset number of measurement data sets are selected multiple times without complete repetition, and it is determined whether the coordinates of the target can be determined based on the selected preset number of measurement data sets. If so, the determined coordinates of the target are taken as the precise coordinates of the target. Otherwise, the initial coordinates of each target are fitted with a preset distance error to determine the precise coordinates of each target.

[0010] In one possible implementation, the motion positioning platform includes an unmanned driving device, and a link device, a navigation device, a measurement management task device, and an optoelectronic device installed on the unmanned driving device. The link device is signal-connected to the measurement and control platform and is configured to receive the task instructions and transmit them to the measurement management task device, and to receive the control signals and transmit them to the unmanned driving device and the optoelectronic device. The navigation device is configured to obtain the position of the unmanned driving device based on the received satellite positioning signals and the RTK differential signals transmitted by the measurement and control platform, and transmit the position to the measurement management task device. The optoelectronic device is configured to perform active positioning of each target according to the control signals, and to search for and lock the target to be positioned. The measurement management task device is configured to plan the preset measurement path according to the initial coordinates of the target, control the automatic movement of the unmanned driving device, control the optoelectronic device to collect the measurement data, and determine the precise coordinates of the target.

[0011] In one possible implementation, the telemetry and control platform includes an RTK differential base station device, a fixed link device, an unmanned vehicle monitoring station, and an optoelectronic device monitoring station; the fixed link device is signal-connected to the link device; the RTK differential base station device is configured to receive satellite positioning signals and transmit the RTK differential signals through the fixed link device; the unmanned vehicle monitoring station is configured to monitor the motion status, equipment operation status, and motion tasks of the unmanned vehicle, and transmit control signals to control the unmanned vehicle through the fixed link device; the optoelectronic device monitoring station is configured to display the monitoring screen of the optoelectronic device, monitor the operation status and monitoring behavior of the optoelectronic device, and transmit control signals to control the optoelectronic device and issue task instructions through the fixed link device.

[0012] In one possible implementation, the measurement management task device is configured to: receive the task instruction through the link device, control the photoelectric device to perform the active positioning, obtain the initial coordinates; record the original parameters of the active positioning and establish a route topology library, a track topology library and a target list topology library for the determination of precise coordinates.

[0013] In one possible implementation, the plurality of measurement points corresponding to each target satisfy the following conditions: the angle formed by any one of the measurement points of each target combined with any two other measurement points is greater than a preset angle; in the triangle formed by any three measurement points of each target, the distance from any vertex to the opposite side is greater than or equal to a preset distance.

[0014] In one possible implementation, the measurement management task device is configured to perform the following steps to achieve initial coordinate fitting for each target: using the initial coordinates of each target as the fitting center point, performing a fitting step; determining whether the preset interval distance in the fitting step reaches the preset distance error; if not, reducing the preset interval distance and using the coordinates corresponding to the minimum value in the error matrix as the fitting center point, and repeatedly performing the fitting step; if it reaches the error, using the coordinates corresponding to the minimum value in the error matrix as the precise coordinates; wherein, the fitting step includes: extending the fitting center point in two perpendicular directions of the plane by the preset interval distance for a first preset number of times to obtain a matrix plane; extending the matrix plane upwards and downwards by the preset interval distance for a second preset number of times to obtain a fitted coordinate matrix; determining the calculated distance between each coordinate in the fitted coordinate matrix and multiple measurement points; solving the error between each calculated distance and the corresponding measurement distance, and determining the sum of the absolute values ​​of multiple errors for each coordinate in the fitted coordinate matrix to obtain the error matrix; determining the coordinates corresponding to the minimum value in the error matrix.

[0015] In one possible implementation, the measurement management task device is configured to perform the following steps to obtain the preset measurement path: obtaining an optimal viewing point with the initial coordinates of the target as the center and the preset planned path as the tangent; establishing a buffer range for each optimal viewing point with a preset buffer radius; performing a union operation on multiple tangents of the buffer range to obtain a buffer polygon; setting an arc segment every preset length along the central dividing line of the buffer polygon, and placing two adjacent arc segments on opposite sides of the central dividing line; combining multiple arc segments to form the preset measurement path.

[0016] In one possible implementation, the optoelectronic device is configured to perform the following steps to search for and locate a target: determine the orientation of the target based on the initial coordinates and the position of the optoelectronic device used to locate the target; rotate to the orientation of the target; search within the field of view; and move the focus to the center of the target after the target is located.

[0017] In one possible implementation, the measurement management task device is configured to acquire image features of the target during the active positioning process to form a target feature library; the search in the field of view includes: using the target feature library to perform feature matching in the field of view.

[0018] In one possible implementation, the method further includes: adjusting the field of view size to the field of view size used for active positioning; looking up an error distribution table and searching for the target in the field of view at a preset multiple of the error range of the current distance.

[0019] The technical solutions provided in this application embodiment have at least the following technical effects or advantages:

[0020] This application provides a target positioning system during motion. The system includes a measurement and control platform and a motion positioning platform connected by signals. The measurement and control platform can issue task instructions and send control signals to control the motion path and monitoring field of view of the motion positioning platform. The motion positioning platform can obtain the precise coordinates of the target by repeatedly selecting a preset number of measurement data incompletely, or by fitting the initial coordinates of each target according to the task instructions, which greatly reduces the positioning error and improves the accuracy of target positioning. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram illustrating a scenario where the motion positioning platform provided in this application performs target positioning;

[0023] Figure 2 This is a schematic diagram of the structure of the measurement and control platform provided in the embodiments of this application;

[0024] Figure 3 This is a schematic diagram of the structure of the motion positioning platform provided in the embodiments of this application;

[0025] Figure 4 A schematic diagram illustrating the acquisition and measurement data provided in the embodiments of this application;

[0026] Figure 5 A schematic diagram illustrating the calculation of the target adjustment method provided in the embodiments of this application;

[0027] Figures 6A-6E This is a schematic diagram illustrating the process of generating a preset measurement path provided in an embodiment of this application;

[0028] Figure 7A A schematic diagram of the matrix plane provided in the embodiments of this application;

[0029] Figure 7B A schematic diagram illustrating the arrangement of multiple matrix planes provided in an embodiment of this application;

[0030] Figure 8 A flowchart illustrating the target localization process performed by the motion positioning platform provided in this application embodiment;

[0031] Figure 9 A flowchart illustrating how the measurement management task device provided in this application fits the initial coordinates of the target;

[0032] Figure 10 A detailed flowchart of the fitting steps provided in the embodiments of this application;

[0033] Figure 11 A flowchart for generating a preset measurement path for the measurement management task device provided in this application embodiment;

[0034] Figure 12 A flowchart illustrating the data acquisition process of a measurement management task device provided in this application embodiment;

[0035] Figure 13 A flowchart illustrating the process of searching for and locating a target to be located, as provided in this application embodiment;

[0036] Figure 14 This is a flowchart illustrating the process of searching for a target within the field of view of an optoelectronic device, as provided in an embodiment of this application. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0038] This application provides a target positioning system during motion, such as... Figure 1 As shown, the target positioning system during the movement process includes a telemetry and control platform 10 and a motion positioning platform 20 connected by signals. The telemetry and control platform 10 is configured to issue task commands and send control signals to control the movement path and monitoring field of view of the motion positioning platform 20. When the system is working, the telemetry and control platform 10 sends task commands and control signals to the motion positioning platform 20 and receives monitoring video from the motion positioning platform 20. The motion positioning platform 20 is configured to execute... Figure 8 Steps S801 to S806 are shown.

[0039] S801: According to the task instructions, it automatically moves along the preset planned path and performs active localization of each target to obtain the initial coordinates of each target.

[0040] The motion positioning platform 20 in this embodiment takes a drone platform as an example. A drone platform refers to a drone and the equipment mounted on it. For example, in... Figures 6A to 6E The specific process for obtaining the preset measurement path 607 is shown. Among them, Figures 6A to 6E The system contains three targets 601. The motion positioning platform 20 moves along a preset planned path 602 for active positioning, and performs active positioning on each of the three targets 601 to obtain the initial coordinates of each target 601. Of course, when performing active positioning on each target 601, the motion positioning platform 20 records the original parameters such as the UAV attitude, the distance between the UAV and the target, and the pitch angle and horizontal angle of the optoelectronic device 25.

[0041] Of course, the motion positioning platform 20 of this application can also be an unmanned vehicle, an unmanned ship, etc., and the motion positioning platform 20 is not limited to the drone platform shown in the embodiments of this application.

[0042] S802: Obtain the preset measurement path based on the initial coordinates of the target, and move automatically along the preset measurement path.

[0043] S803: When on the preset measurement path, the system searches for and locks onto the target to be located based on the initial coordinates of each target, and collects more than a preset number of measurement data sets for each target. The measurement data includes the location information of the measurement points and the measurement distance from the measurement points to the target.

[0044] It should be noted that when the measurement point and the positioning target are not on the same horizontal plane, such as Figure 4 As shown, in scenarios where a drone platform performs target localization, the location information of the measurement point includes latitude, longitude, and altitude data, i.e., the longitude, latitude, and altitude data of the measurement point; when the measurement point and the target are on the same horizontal plane, such as in scenarios where an unmanned vehicle or unmanned ship measures a target on the ground or sea, the location information of the measurement point includes longitude and latitude.

[0045] Figure 4 The motion positioning platform 20 shown defines five measurement points on a preset measurement path, and collects measurement data at each measurement point, for a total of five sets of measurement data. Of course, other numbers of measurement data can also be collected on the preset measurement path, such as six or seven sets of measurement data.

[0046] S804: For each target, select a preset number of measurement data sets multiple times without complete repetition.

[0047] When there are N measurement points on the preset measurement path, m measurement points can be selected multiple times without repetition. There are m measurement points in each group. Figure 4 Taking the measurement situation shown as an example, Figure 4 The preset measurement path has 5 measurement points. If 3 measurement points are selected multiple times without repetition, a total of [number] measurement points can be selected. Group of measurement points.

[0048] S805: Determine whether the coordinates of the target can be determined based on the selected preset number of measurement data.

[0049] When the judgment result of S805 is yes, that is, the coordinates of the target can be determined based on the selected preset number of measurement data, then S806 is executed: the determined coordinates of the target are used as the precise coordinates of the target.

[0050] Specifically, for each group of three measurement points, three equations are obtained based on the formula for calculating the distance between two points in space. Solving these three equations simultaneously yields the target coordinates, which are the precise coordinates of the target.

[0051] Figure 5 This diagram illustrates the calculation of target coordinates using three measurement points: A, B, and C; the target is point O; the distances from point A to point O are L1, L2, and L3 respectively. The specific equation for calculating the target coordinates is as follows: (x i -x) 2 +(y i -y) 2 +(z i -z) 2 =L i 2 ,i=1,2,3; where (x,y,z) are the coordinates of the target, (x i ,y i ,z i ) represents the coordinates of the selected measurement point, L i This is the distance from the measurement point to the target.

[0052] Because there will be errors in the alignment of the target O during each data acquisition, and the laser ranging measurement value has a certain distance error, there are cases where multiple sets of equations for solving the target coordinates have no solution, that is, it is impossible to obtain the accurate coordinates of the target by solving the equations.

[0053] If the judgment result of S805 is negative, that is, the coordinates of the target cannot be determined based on the selected preset number of measurement data, then S807 is executed: the initial coordinates of each target are fitted with a preset distance error to determine the precise coordinates of each target.

[0054] like Figure 3 As shown, the motion positioning platform 20 includes an unmanned driving device 21, and a link device 22, a navigation device 23, a measurement and management task device 24 and an optoelectronic device 25 installed on the unmanned driving device 21.

[0055] Link device 22 is connected to the telemetry and control platform signal 10 and is configured to receive task commands and transmit them to the measurement management task device 24, as well as receive control signals and transmit them to the unmanned vehicle 21 and the optoelectronic device 25. Navigation device 23 is configured to obtain the position of the unmanned vehicle 21 based on the received satellite positioning signals and the RTK differential signals transmitted by the telemetry and control platform 10, and transmit this position to the measurement management task device 24. Optoelectronic device 25 is configured to perform active positioning of each target based on control signals, and to search for and lock onto the target to be positioned. Measurement management task device 24 is configured to plan a preset measurement path based on the initial coordinates of the target, control the automatic movement of the unmanned vehicle 21, control the optoelectronic device 25 to collect measurement data, and determine the precise coordinates of the target.

[0056] like Figure 2 As shown, the telemetry and control platform 10 includes an RTK differential base station device 11, a fixed link device 12, an unmanned driving equipment monitoring station 13, and an optoelectronic equipment monitoring station 14.

[0057] Fixed link device 12 is signal-connected to link device 22. RTK differential base station device 11 is configured to receive satellite positioning signals and transmit RTK differential signals through fixed link device 21. Unmanned vehicle monitoring station 13 is configured to monitor the motion status, equipment operation status, and motion tasks of unmanned vehicle 21, and transmit control signals to control unmanned vehicle 21 through fixed link device 12. Optoelectronic device monitoring station 14 is configured to display the monitoring screen of optoelectronic device 25, monitor the operation status and monitoring behavior of optoelectronic device 25, and transmit control signals to control optoelectronic device 25 and issue task instructions through fixed link device 12.

[0058] Specifically, the fitting process mentioned in S807 involves the measurement management task device 24 in the motion positioning platform 20 using a multi-level fitting approximation method to fit the initial coordinates of each target. The preset distance error in the fitting approximation process can be pre-set manually based on the error range of the measuring device, for example, 3 meters.

[0059] In S807, by fitting the initial coordinates, more accurate target coordinates can be obtained. Specifically, the measurement management task device 24 is configured to execute... Figure 9 and Figure 10 The steps and procedures shown are as follows, and refer to... Figure 7A and Figure 7B .

[0060] S901: Use the initial coordinates of each target as the fitting center point. For example, Figure 7A The initial coordinates of the target, A0(x0,y0,z0), are used as the fitting center point.

[0061] S902: Perform the fitting step. The specific fitting step is as follows: Figure 10 As shown, it includes steps S1001 to S1005.

[0062] S1001: Extend the fitted center point in two perpendicular directions of the plane by a preset interval distance for a first preset number of times to obtain the matrix plane.

[0063] Matrix plane as Figure 7A As shown, in Figure 7A In this context, the first preset number of iterations is 6, and the two perpendicular directions of the plane are left-right and up-down. Therefore, Figure 7A For example, the fitting center point A0 is extended 6 times in the left-right direction and 6 times in the up-down direction at preset intervals to obtain a matrix plane, which includes a matrix point coordinate series ZA0[A 01 A 02 A 03 ,...,A 0169 ].

[0064] S1002: Extend the matrix plane upwards and downwards by a second preset number of times at a preset interval to obtain the fitted coordinate matrix.

[0065] Reference Figure 7B As shown, the matrix plane A0 is extended upwards and downwards by a second preset number of times. Figure 7B In the middle, the second preset number of times is 5, and after expansion there are a total of 11 matrix planes [A] -5 A -4 The fitted coordinate matrix is ​​as follows: [A5, ..., A5]

[0066]

[0067] S1003: Determine the calculated distance between each coordinate in the fitted coordinate matrix and multiple measurement points.

[0068] For example, when the number of measurement points is Figure 4 For the five points shown, calculate the distance between each coordinate in the fitted coordinate matrix and the five measurement points, that is, calculate the five specific distances corresponding to each coordinate in the fitted coordinate matrix.

[0069] S1004: Solve for the error between each calculated distance and the corresponding measured distance, and determine the sum of the absolute values ​​of multiple errors for each coordinate in the fitted coordinate matrix to obtain the error matrix.

[0070] For example, when calculating the five calculated distances corresponding to each coordinate in the fitted coordinate matrix, the errors between the five calculated distances for each coordinate and the corresponding five measured distances are obtained as five errors. Since the errors may have both positive and negative values, to avoid cancellation, the following error matrix is ​​obtained by determining the sum of the absolute values ​​of the multiple errors for each coordinate in the fitted coordinate matrix:

[0071]

[0072] S1005: Determine the coordinates corresponding to the minimum value in the error matrix.

[0073] S903: Determine whether the preset interval distance in the fitting step reaches the preset distance error. The preset distance error is set manually in advance, for example, to 0.1 meters. The fitting step can be executed multiple times, for example, three times; the preset interval distance is set to 10 meters for the first execution, 1 meter for the second, and 0.1 meters for the third.

[0074] If the judgment result of S903 is yes, that is, the preset interval distance in the fitting step reaches the preset distance error, execute S904: take the coordinates corresponding to the minimum value in the error matrix as the precise coordinates.

[0075] If the judgment result of S903 is negative, meaning that the preset interval distance in the fitting step has not reached the preset distance error, execute S905: reduce the preset interval distance and use the coordinates corresponding to the minimum value in the error matrix as the fitting center point. After executing S905, the fitting step is executed repeatedly until the preset interval distance in the fitting step reaches the preset distance error.

[0076] For each target, multiple measurement points satisfy the following conditions: the angle formed by any measurement point of each target combined with any two other measurement points is greater than a preset angle; in any triangle formed by three measurement points of each target, the distance from any vertex to the opposite side is greater than or equal to a preset distance. The preset angle and preset distance are both preset by the user. For example, the preset angle can be between 5° and 170°, and the user can set it specifically as needed, such as setting it to 10°; the preset distance can be preset by the user, for example, it can be set to 20 meters, or it can be adjusted based on the distance from the measurement point to the target. The greater the distance from the measurement point to the target, the greater the preset distance.

[0077] Each target corresponds to multiple measurement points, such as Figure 4The target shown corresponds to five measurement points. Any measurement point can be combined with any two other measurement points to form an angle, and any three measurement points can form a triangle. By using measurement points corresponding to the target that meet these conditions, overcrowding between measurement points is avoided. This minimizes measurement errors when performing precise coordinate calculations from multiple sets of measurement data or fitting initial coordinates, ensuring that the obtained precise coordinates have high accuracy.

[0078] For example, Figure 5 The three measurement points A, B, and C shown have ∠ABC, ∠BCA, and ∠BAC all greater than the preset angles. The distances from point B to line segment AC, point A to line segment BC, and point C to line segment AB are all greater than the preset distances.

[0079] like Figure 3 As shown, the motion positioning platform 20 includes an unmanned driving device 21, and a link device 22, a navigation device 23, a measurement and management task device 24 and an optoelectronic device 25 installed on the unmanned driving device 21.

[0080] Link device 22 is connected to the telemetry and control platform signal 10 and is configured to receive task commands and transmit them to the measurement management task device 24, as well as receive control signals and transmit them to the unmanned vehicle 21 and the optoelectronic device 25. Navigation device 23 is configured to obtain the position of the unmanned vehicle 21 based on the received satellite positioning signals and the RTK differential signals transmitted by the telemetry and control platform 10, and transmit this position to the measurement management task device 24. Optoelectronic device 25 is configured to perform active positioning of each target based on control signals, and to search for and lock onto the target to be positioned. Measurement management task device 24 is configured to plan a preset measurement path based on the initial coordinates of the target, control the automatic movement of the unmanned vehicle 21, control the optoelectronic device 25 to collect measurement data, and determine the precise coordinates of the target.

[0081] like Figure 2 As shown, the telemetry and control platform 10 includes an RTK differential base station device 11, a fixed link device 12, an unmanned driving equipment monitoring station 13, and an optoelectronic equipment monitoring station 14.

[0082] Fixed link device 12 is signal-connected to link device 22. RTK differential base station device 11 is configured to receive satellite positioning signals and transmit RTK differential signals through fixed link device 21. Unmanned vehicle monitoring station 13 is configured to monitor the motion status, equipment operation status, and motion tasks of unmanned vehicle 21, and transmit control signals to control unmanned vehicle 21 through fixed link device 12. Optoelectronic device monitoring station 14 is configured to display the monitoring screen of optoelectronic device 25, monitor the operation status and monitoring behavior of optoelectronic device 25, and transmit control signals to control optoelectronic device 25 and issue task instructions through fixed link device 12.

[0083] The measurement management task device 24 is configured to: receive task instructions through the link device 22, control the photoelectric device 25 to perform active positioning, obtain initial coordinates; record the original parameters of active positioning and establish a route topology library, a track topology library and a target list topology library for the determination of precise coordinates.

[0084] Measurement management task device 24 is configured to perform, for example Figure 11 The steps S1101 to S1105 shown are used to obtain the preset measurement path, and at the same time Figures 6A to 6E It vividly demonstrates the process of generating a preset measurement path.

[0085] S1101: Using the initial coordinates of the target as the center and the preset planned path as the tangent, obtain the optimal viewing point. For example... Figure 6A As shown, a circle is drawn with target 601, and the circular area is tangent to the preset planning path 602 of active positioning to obtain the best viewpoint 603 corresponding to each target 601.

[0086] S1102: Establish a buffer range for each optimal viewing point using a preset buffer radius. The preset buffer radius is set manually in advance, for example, a preset buffer radius of 100 meters. Figure 6B As shown, with the optimal viewing point 603 as the center and a preset buffer radius of 100 meters, a buffer range 604 is established for each target.

[0087] S1103: Perform a union operation on multiple tangents within the buffer range to obtain the buffer polygon. For example... Figure 6C As shown, the buffer polygon 605 is obtained after the tangent union operation.

[0088] S1104: Along the center dividing line of the buffer polygon, set an arc at preset length intervals, with adjacent arcs located on opposite sides of the center dividing line. The preset length is manually set in advance, for example, 200 meters. Figure 6C A buffer polygon 60C is formed in the middle, such as Figure 6D As shown, the center dividing line 606 is obtained based on the buffer polygon 605. (As...) Figure 6E As shown, an arc 607 is set along the center dividing line 606 at each preset length, and adjacent arcs 607 are located on both sides of the center dividing line 606.

[0089] S1105: Combine multiple arc segments to form a preset measurement path.

[0090] The preset measurement path obtained through steps S1101 to S1105 in this embodiment makes it easier to obtain measurement points that meet the above conditions, thus facilitating the accurate positioning of the target.

[0091] like Figure 12 As shown, the measurement management task device 24 in the motion positioning platform 20 collects more than three sets of measurement data for each target and executes steps S1201 and S1202.

[0092] S1201: Divide every two adjacent arcs into a start segment, a middle segment, and an end segment according to a preset ratio. For example, divide the first 1 / 5 of every two arcs into a start segment, the middle 1 / 4 of every two arcs into a middle segment, and the last 1 / 5 of every two arcs into an end segment.

[0093] S1202: For each target, at least one measurement data point shall be collected at the beginning and end of the segment, and at least two measurement data points shall be collected in the middle segment. That is, for each target, at least one measurement point shall be set at the beginning and end of the segment, and at least two measurement points shall be set in the middle segment.

[0094] The measurement management task device 24 makes it easier to meet the above conditions by setting the measurement points on the preset measurement path in the manner shown in S1201 and S1202, making the system's target positioning more accurate.

[0095] In this embodiment, the optoelectronic device 25 is configured to perform, as in... Figure 13 The steps S1301 to S1304 shown are used to search for and locate the target.

[0096] S1301: Determine the location of the target based on the initial coordinates and the position of the photoelectric device used to locate the target.

[0097] Specifically, the target's location can be determined by comparing its initial position with the position of the photoelectric device 25. For example, the target may be located to the left front of the preset measurement path, with an angle of 30° between it and the preset measurement path.

[0098] S1302: Rotate to the target location.

[0099] By determining the target's location in S1301, we can then determine how to control the rotation of the photoelectric device 25. By rotating the photoelectric device 25 to the target's location, the target to be measured and located will be within the field of view of the photoelectric device 25.

[0100] S1303: Search within the field of view.

[0101] S1304: After the target is found, move the focus to the center of the target.

[0102] Furthermore, during the active positioning process, the optoelectronic device 25 acquires image features of the target to form a target feature library. When executing S1303, the optoelectronic device 25 uses the target feature library to perform feature matching within the field of view of the optoelectronic device.

[0103] Feature matching can determine which part of the field of view of the optoelectronic device 25 is the target. For example, if the target is an off-road vehicle, the target feature library contains off-road vehicle features such as wheels and body shape. By comparing different regions in the field of view of the optoelectronic device 25, the region that matches the off-road vehicle features is identified as the target, thereby realizing the search for the target.

[0104] The measurement management task equipment 24 statistically analyzes the corresponding errors of active positioning at different measurement distances and forms an error distribution table.

[0105] like Figure 14 As shown, when the photoelectric device 25 searches for and locks the target to be located on the preset measurement path, it specifically executes steps S1401 and S1402.

[0106] S1401: Adjust the field of view size to the field of view size used with active positioning. Restoring the field of view size when searching for the target to the field of view size used with active positioning provides a basis for subsequent use of the error distribution table.

[0107] S1402: Look up the error distribution table and search for the target in the field of view using a preset multiple of the error range for the current distance. The error range is determined by looking up the error distribution table, and the preset multiple is set manually; for example, the preset multiple is 2.

[0108] The optoelectronic device 25 narrows the search range through S1401 and S1402, eliminating the need to search the entire field of view, thereby shortening the search time and quickly finding the target.

[0109] The target positioning system provided in this application includes a measurement and control platform and a motion positioning platform connected by signals. The measurement and control platform can issue task instructions and send control signals to control the motion path and monitoring field of view of the motion positioning platform. The motion positioning platform can obtain the precise coordinates of the target by selecting a preset number of measurement data multiple times without complete repetition, or by fitting the initial coordinates of each target according to the task instructions, which greatly reduces the positioning error and improves the accuracy of target positioning.

[0110] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0111] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. A target positioning system during motion, characterized in that, This includes a signal connection and control platform and a motion positioning platform; The measurement and control platform is configured to issue task instructions and send control signals to control the motion path and monitoring field of view of the motion positioning platform. The motion positioning platform is configured as follows: According to the task instructions, the system automatically moves along a preset planned path and performs active localization on each target to obtain the initial coordinates of each target. A preset measurement path is obtained based on the initial coordinates of the target, and the device moves automatically along the preset measurement path. The process of obtaining the preset measurement path based on the initial coordinates of the target includes: determining the optimal viewing point of the target's initial coordinates on the preset planning path; establishing a buffer range for each optimal viewing point with a preset buffer radius; performing a union operation on multiple tangents of the buffer range to obtain a buffer polygon; setting an arc segment every preset length along the central dividing line of the buffer polygon, with adjacent arcs located on opposite sides of the central dividing line; and combining multiple arc segments to form the preset measurement path. When on the preset measurement path, the target to be located is searched and locked based on the initial coordinates of each target, and measurement data of more than a preset number of sets are collected for each target; wherein, the measurement data includes the location information of the measurement point and the measurement distance from the measurement point to the target; For each target, a preset number of measurement data sets are selected multiple times without complete repetition, and it is determined whether the target's coordinates can be determined based on the selected preset number of measurement data sets. If so, the determined target coordinates are taken as the target's precise coordinates. Otherwise, the initial coordinates of each target are fitted with a preset distance error to determine the precise coordinates of each target. This includes: using the initial coordinates of each target as the fitting center point, performing a fitting step. The fitting step includes: expanding the fitting center point in three dimensions with a preset interval distance to obtain a fitting coordinate matrix; obtaining an error matrix based on the error between the calculated distance and the measured distance between each coordinate in the fitting coordinate matrix and multiple measurement points; if the preset interval distance reaches the preset distance error, the coordinates corresponding to the minimum value in the error matrix are taken as the target's precise coordinates; otherwise, the preset interval distance is reduced, and the coordinates corresponding to the minimum value in the error matrix are taken as the fitting center point, and the fitting step is iteratively executed.

2. The target positioning system during motion according to claim 1, characterized in that, The motion positioning platform includes an unmanned driving device, as well as link devices, navigation devices, measurement and management task devices, and optoelectronic devices installed on the unmanned driving device; The link device is signal-connected to the measurement and control platform and is configured to receive the task instructions and transmit them to the measurement management task device, as well as receive the control signals and transmit them to the unmanned driving device and the optoelectronic device. The navigation device is configured to obtain the position of the unmanned vehicle based on the received satellite positioning signal and the RTK differential signal transmitted by the telemetry and control platform, and transmit it to the measurement and management task device. The optoelectronic device is configured to actively locate each of the targets according to the control signal, and to search for and lock the targets to be located; The measurement management task device is configured to plan the preset measurement path based on the initial coordinates of the target, control the automatic movement of the unmanned vehicle, control the photoelectric device to collect the measurement data, and determine the precise coordinates of the target.

3. The target positioning system during motion according to claim 2, characterized in that, The measurement and control platform includes RTK differential base station equipment, fixed link equipment, unmanned driving equipment monitoring station, and optoelectronic equipment monitoring station; The fixed link device is signal-connected to the link device; The RTK differential base station equipment is configured to receive satellite positioning signals and transmit the RTK differential signals through the fixed link equipment; The unmanned driving equipment monitoring station is configured to monitor the motion status, equipment operation status and motion tasks of the unmanned driving equipment, and send the control signal to control the unmanned driving equipment through the fixed link device; The photoelectric equipment monitoring station is configured to display the monitoring screen of the photoelectric equipment, monitor the operating status and monitoring behavior of the photoelectric equipment, and send the control signals and issue the task instructions to control the photoelectric equipment through the fixed link device.

4. The target positioning system during motion according to claim 2, characterized in that, The measurement management task device is configured to: receive the task instruction through the link device, control the photoelectric device to perform the active positioning, and obtain the initial coordinates; Record the original parameters of the active positioning and establish a route topology library, a track topology library, and a target list topology library for use in determining precise coordinates.

5. The target positioning system during motion according to claim 1, characterized in that, The multiple measurement points corresponding to each target satisfy the following conditions: The angle formed by any one of the measurement points of each target combined with any two other measurement points is greater than a preset angle; In a triangle formed by any three measurement points of each target, the distance from any vertex to the opposite side is greater than or equal to a preset distance.

6. The target positioning system during motion according to claim 2, characterized in that, The measurement management task device is configured to perform the following steps to achieve initial coordinate fitting for each of the targets: Using the initial coordinates of each target as the fitting center point, perform the fitting step; Determine whether the preset interval distance in the fitting step reaches the preset distance error; If the target is not met, the preset interval distance is reduced, and the coordinates corresponding to the minimum value in the error matrix are used as the fitting center point. The fitting steps are then executed repeatedly. If the minimum value in the error matrix is ​​reached, the coordinates corresponding to the minimum value in the error matrix are taken as the precise coordinates. The fitting step includes: The fitted center point is extended a first preset number of times in two perpendicular directions of the plane at the preset interval distance to obtain a matrix plane; The matrix plane is extended upwards and downwards by a second preset number of times at the preset interval distance to obtain the fitted coordinate matrix; Determine the calculated distance between each coordinate in the fitted coordinate matrix and the plurality of measurement points; The error matrix is ​​obtained by solving the error between each calculated distance and the corresponding measured distance, and by determining the sum of the absolute values ​​of multiple errors for each coordinate in the fitted coordinate matrix. Determine the coordinates corresponding to the minimum value in the error matrix.

7. The target positioning system during motion according to claim 2, characterized in that, The measurement management task device is configured to perform the following steps to obtain the preset measurement path: Using the initial coordinates of the target as the center and the preset planned path as the tangent, the optimal viewpoint is obtained; Establish a buffer range for each of the optimal viewpoints using a preset buffer radius; Perform a union operation on multiple tangents within the buffer range to obtain a buffer polygon; Along the central dividing line of the buffer polygon, an arc is set at preset length intervals, and two adjacent arcs are located on both sides of the central dividing line. The preset measurement path is formed by combining multiple segments of the arc.

8. The target positioning system during motion according to claim 2, characterized in that, The optoelectronic device is configured to perform the following steps to search for and locate the target: The location of the target is determined based on the initial coordinates and the position of the photoelectric device used to locate the target; Rotate to the location of the target; Search within the field of view; Once the target is located, move the focus to the center of the target.

9. The target positioning system during motion according to claim 8, characterized in that, The measurement management task device is configured to acquire image features of the target during the active positioning process, forming a target feature database; The search within the field of view includes: performing feature matching within the field of view using the target feature library.

10. The target positioning system during motion according to claim 8 or 9, characterized in that, Also includes: Adjust the field of view size to the field of view size used in active positioning; The error distribution table is consulted, and the target is searched in the field of view at a preset multiple of the error range of the current distance.

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