Dynamic and static collaborative rapid and accurate orientation system and method

Abstract

The invention discloses a dynamic and static collaborative rapid and accurate orientation system and method. The system comprises a mobile observation target, static observation equipment and a calculation module, the mobile observation target is provided with a satellite positioning unit, a laser reflection sensing unit, a timing unit, an active light-emitting unit and an inertial measurement unit, and is used for emitting light with specific wavelength and intensity for measurement of the static observation device, sensing a laser signal emitted by the static observation device and reflecting the laser signal. Recording the satellite observation value, the inertia observation value and the moment of sensing the laser signal; the static observation equipment is provided with a laser ranging unit, an angle measuring unit and an image measuring unit, and is used for measuring the mobile observation target and recording the distance, the vertical angle, the horizontal direction and the image; and the calculation module is used for calculating static measurement coordinates and dynamic measurement coordinates corresponding to each observation position according to the recorded information, and calculating orientation parameters according to a static measurement coordinate sequence and a dynamic measurement coordinate sequence.

Description

Technical Field

[0001] The invention belongs to the field of geodesy and navigation, and in particular relates to a dynamic and static coordinated rapid and accurate orientation system and method. Background Art

[0002] High-precision orientation is a key task in the fields of geodesy, navigation and national defense. At present, the main orientation methods include satellite orientation, gyro orientation, astronomical orientation, etc. However, due to the limitations of observation mechanism and the constraints of external conditions, the above methods still have problems such as harsh environmental requirements, low operating efficiency, low measurement accuracy, insufficient reliability, and even inability to measure in some special environments. Therefore, it is urgent to break through the bottleneck of existing technologies and realize high-precision, high-efficiency and high-reliability orientation in complex and unfavorable observation environments.

[0003] Beidou is often used for high-precision orientation. However, Beidou has strict requirements on the observation environment. In areas with more satellite obstruction or severe multipath effects, the orientation accuracy drops rapidly. The gyroscope can independently determine the true north direction by sensitively sensing the effect of the earth's rotation, but it requires a long time and multiple observations, has low work efficiency, and the instrument constant is easily disturbed by external vibrations and temperature changes, and the orientation accuracy is not high. Astronomical orientation is often required to be carried out on a clear and cloudless night, and it is impossible to achieve rapid orientation around the clock. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a dynamic and static coordinated fast and precise orientation system and method, by setting up a stationary observation device at a known point, cooperating with a mobile observation target to perform measurements at multiple observation positions, to obtain the static measurement coordinate sequence and dynamic measurement coordinate sequence of the mobile observation target, and then calculate and remember the orientation parameters to achieve fast and precise orientation.

[0005] According to one aspect of the present specification, there is provided a dynamic and static coordinated rapid and precise orientation system, comprising a mobile observation target configured to be able to observe at least two observation positions, a stationary observation device arranged at a known point, and a calculation module;

[0006] The mobile observation target is equipped with a satellite positioning unit, a laser reflection sensing unit, a timing unit, an active light emitting unit and an inertial measurement unit, which are used to emit light of a specific wavelength and intensity for measurement by the stationary observation device, sense the laser signal emitted by the stationary observation device and reflect it, and record the satellite observation value, the inertial observation value and the moment when the laser reflection sensing unit senses the laser signal emitted by the stationary observation device;

[0007] The stationary observation device is equipped with a laser distance measuring unit, an angle measuring unit and an image measuring unit, which are used to measure the moving observation target and record the measured distance, vertical angle, horizontal direction and image;

[0008] The calculation module is used to calculate the static coordinates and dynamic coordinates corresponding to each observation position according to the recorded information, and calculate the orientation parameters according to the static coordinate sequence and dynamic coordinate sequence formed by at least two of the observation positions.

[0009] As a further technical solution, the laser reflection sensing unit includes a laser reflection module and a laser sensing module. The geometric relationship between the laser reflection module and the satellite positioning unit is known; the laser sensing module is set to be sensitive only to laser signals of a specific wavelength emitted by a stationary observation device and with an intensity exceeding a set threshold.

[0010] As a further technical solution, the active light emitting unit includes a plurality of light sources dispersed on the outer surface of the observed target, which are used to emit light of specific wavelength and intensity for measurement by the image measuring unit.

[0011] As a further technical solution, the stationary observation device is also equipped with a satellite timing unit for measuring and recording the observation time via satellite timing.

[0012] According to one aspect of the present invention, a method for fast and accurate orientation in a dynamic and static coordinated manner is provided. A static observation device is set up at a known point, and at least two observation positions are selected within a preset distance of the static observation device for observing a mobile observation target. The operations performed on any of the observation positions include:

[0013] Turn on the active light-emitting unit;

[0014] Obtain the distance, vertical angle, horizontal direction and image measured and recorded by the stationary observation equipment, and calculate the static coordinates of the mobile observation target at the current observation position;

[0015] Obtain the satellite observation values ​​and inertial observation values ​​recorded by the mobile observation target and the moment when the laser signal emitted by the stationary observation equipment is sensed, and calculate the dynamic coordinates of the mobile observation target at the current observation position;

[0016] According to the static measurement coordinates and dynamic measurement coordinates obtained at all observation positions of the mobile observation target, a static measurement coordinate sequence and a dynamic measurement coordinate sequence are formed;

[0017] According to the obtained static coordinate sequence and dynamic coordinate sequence, the orientation parameters are calculated by combining the observation equation and the error equation.

[0018] As a further technical solution, the method also includes: obtaining an image of an active light-emitting unit extracted from an image recorded by a stationary observation device, calculating the posture value of the mobile observation target at the current moment, and then combining the inertial observation value recorded by the mobile observation target to calculate the dynamic measurement coordinates of the mobile observation target at the current moment.

[0019] As a further technical solution, the method also includes: according to the moment when the laser signal emitted by the stationary observation device is sensed, finding the two moments closest to it in the satellite observation values, and interpolating the satellite observation values ​​to the moment when the laser signal is sensed in combination with the recorded inertial observation values; and calculating the dynamic coordinates of the mobile observation target at the current moment according to the geometric relationship conversion.

[0020] As a further technical solution, the directional parameters are calculated, including:

[0021] The observation equation is defined as:

[0022]

[0023] in, is a parameter to be determined;

[0024] The error equation is defined as:

[0025]

[0026] in, are the correction values ​​for the north and east coordinates, respectively. are the approximate values ​​of the north and east coordinates, respectively. The parameters are number of corrections,

[0027] A, B, C, and D are parameters The initial value of

[0028] The orientation angle is calculated according to the observation equation and the error equation.

[0029] According to one aspect of the present specification, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the method described above.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] (1) The present invention provides a system, including a stationary observation device set up at a known point and a mobile observation target configured with multiple observation positions. A satellite timing unit, a laser ranging unit, an angle measurement unit and an image measurement unit for measuring and recording the mobile observation target are configured on the stationary observation device. A satellite positioning unit, a laser reflection sensing unit, a timing unit, an active light-emitting unit and an inertial measurement unit are configured on the mobile observation target. The measurement of each observation position is completed by these configured units. After the measurement of all observation positions is completed, a static measurement coordinate sequence and a dynamic measurement coordinate sequence are obtained. According to the static measurement coordinate sequence and the dynamic measurement coordinate sequence combined with the observation equation and the error equation, the orientation parameters are calculated to achieve fast and accurate orientation.

[0032] (2) The present invention provides a method for measuring multiple observation positions respectively. A stationary observation device and a mobile observation target are measured at each observation position. The static coordinates and dynamic coordinates of the mobile observation target at the observation position are obtained based on the measurement data. A static coordinate sequence and a dynamic coordinate sequence are formed based on the static coordinates and dynamic coordinates at all observation positions. The orientation parameters are calculated based on the static coordinate sequence and the dynamic coordinate sequence in combination with the observation equation and the error equation to achieve fast and accurate orientation.

[0033] (3) The present invention is not limited by the observation environment and will not affect the orientation accuracy due to the observation environment; fast and accurate orientation can be achieved with at least two observation positions, and the orientation efficiency is high; it is not limited by the weather and can achieve fast orientation in all weather conditions.

[0034] (4) The present invention obtains the observation time synchronized by the satellite and combines it with the time when the mobile observation target senses the laser signal emitted by the stationary observation device to calculate the time delay of the stationary observation device, and uses the time delay to enhance the time check and improve the reliability of the orientation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings used in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of a dynamic and static coordinated rapid and precise orientation system provided by an embodiment of the present invention.

[0037] Figure 2 A schematic diagram of the structure of a stationary observation device provided in an embodiment of the present invention.

[0038] Figure 3A schematic diagram of the composition of a mobile observation target provided in an embodiment of the present invention.

[0039] Figure 4 A schematic diagram of the structure of a laser reflection sensing module provided in an embodiment of the present invention.

[0040] Figure 5 A schematic flow chart of a dynamic and static coordinated rapid and accurate orientation method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In view of the problems of existing orientation methods such as harsh environmental requirements, low operating efficiency, low measurement accuracy, insufficient reliability and even the inability to measure in some special environments, the present invention provides a dynamic and static coordinated fast and accurate orientation system and method, which obtains accurate orientation parameters through measurements of static observation equipment and mobile observation targets at multiple observation positions, combined with corresponding calculations, thereby achieving high-precision, high-efficiency and high-reliability orientation in complex and unfavorable observation environments.

[0042] The terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions, for example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to the steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention are arbitrarily combined with each other to form a new technical solution. This combination is not restricted by the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that this combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] The embodiment of the present invention provides a fast and accurate orientation system with dynamic and static coordination, such as Figure 1 As shown, it includes a mobile observation target configured to be able to observe at least two observation positions, a stationary observation device set at a known point, and a calculation module.

[0045] like Figure 3As shown, the mobile observation target is equipped with a satellite positioning unit, a laser reflection sensing unit, a timing unit, an active light emitting unit and an inertial measurement unit. The laser reflection sensing unit includes a laser reflection module and a laser sensing module, and the geometric relationship between the laser reflection module and the satellite positioning unit is precisely known. The laser reflection module is used to reflect the laser emitted by the stationary observation device to complete the measurement of distance and angle. The laser sensing module is configured to be sensitive only to laser signals of a specific wavelength and an intensity exceeding a certain threshold emitted by the stationary observation device, and is connected to the timing unit. The active light emitting unit is composed of a plurality of light emitting sources dispersed on the outer surface of the observation target, which can emit light of a specific wavelength and intensity for measurement by the image measurement unit of the stationary observation device, and the geometric relationship between each light source and the satellite positioning unit is precisely known. The satellite positioning unit is used to record satellite observation values. The timing unit is used to record the moment when the laser reflection sensing unit senses the laser signal emitted by the stationary observation device. The inertial measurement unit is used to measure inertial observation values.

[0046] like Figure 4 As shown, the laser reflection sensing unit is implemented by a prism, the outer surface of the prism is provided with a semi-transmissive and semi-reflective material layer, and the outer surface of the semi-transmissive and semi-reflective material layer is provided with a photosensitive semiconductor material layer.

[0047] like Figure 2 As shown, the stationary observation device is equipped with a laser distance measuring unit, an angle measuring unit and an image measuring unit. The laser distance measuring unit is used to measure and record the distance to the mobile observation target. The angle measuring unit is used to measure and record the vertical angle and horizontal direction to the mobile observation target. The image measuring unit is used to measure and record the image of the mobile observation target.

[0048] Optionally, the stationary observation device is also equipped with a satellite timing unit for obtaining the observation time via satellite timing, so as to combine it with the moment when the mobile observation target senses the laser signal emitted by the stationary observation device, and calculate the time delay of the stationary observation device to enhance the time verification and thereby enhance the reliability of the orientation.

[0049] The calculation module is used to calculate the static coordinates and dynamic coordinates corresponding to each observation position according to the recorded information, and calculate the orientation parameters according to the static coordinate sequence and dynamic coordinate sequence formed by at least two of the observation positions.

[0050] It should be noted that the calculation module described in the embodiment of the present invention is used to perform a calculation process on the observed data, and it can be configured on a stationary observation device or a mobile observation target, and can also be configured separately as an independent device.

[0051] When using the system described in the embodiment of the present invention for orientation, a stationary observation device is first set up at a known point, and then at least two observation positions are selected near the stationary observation device for measurement one by one to obtain the static coordinates and dynamic coordinates corresponding to the mobile observation target at each observation position, and finally, the orientation parameters are calculated based on the static coordinates and dynamic coordinates at all observation positions, combined with the observation equation and the error equation. During the orientation process, the system described in the embodiment of the present invention is not affected by adverse environment and weather, and has high efficiency, high precision and high reliability.

[0052] Specifically, the operation based on any observation position using the system of the embodiment of the present invention includes the following steps:

[0053] Turn on the active light-emitting unit;

[0054] Obtain the distance, vertical angle, horizontal direction and image measured and recorded by the stationary observation equipment, and calculate the static coordinates of the mobile observation target at the current observation position;

[0055] Obtain the satellite observation values ​​and inertial observation values ​​recorded by the mobile observation target and the moment when the laser signal emitted by the stationary observation equipment is sensed, and calculate the dynamic coordinates of the mobile observation target at the current observation position;

[0056] According to the static measurement coordinates and dynamic measurement coordinates obtained at all observation positions of the mobile observation target, a static measurement coordinate sequence and a dynamic measurement coordinate sequence are formed;

[0057] According to the obtained static coordinate sequence and dynamic coordinate sequence, the orientation parameters are calculated by combining the observation equation and the error equation.

[0058] Based on the orientation system of the above embodiment, the embodiment of the present invention provides a dynamic and static coordinated orientation method, such as Figure 5 As shown, the following steps are included:

[0059] Step 1, set up a stationary observation device at a known point;

[0060] Step 2: Select m (m≥2) observation positions near the stationary observation device, and let the i-th observation position be Pi (i=1,2,…,m). Then the operation based on any Pi includes the following steps:

[0061] Step 2.1, place the mobile observation target at Pi, turn on the active light-emitting unit, and the stationary observation device measures the mobile observation target and records the measured distance s i , vertical angle β i , horizontal direction α i And the image, the static coordinates of the geometric center of the laser reflection module in the mobile observation target are calculated according to the following formula (n i , e i ):

[0062]

[0063] where n i 、e i are the north and east coordinates of the point Pi, and x0 and y0 are the north and east coordinates of the known point respectively;

[0064] Step 2.2, the mobile observation target continuously records satellite observation values ​​(including but not limited to time, phase, pseudorange, coordinates), inertial observation values ​​(including but not limited to attitude angle, acceleration), records the time ti (i = 1, 2, ..., m) when the laser reflection sensing unit senses the laser signal emitted by the stationary observation device, finds the two closest times t1(i) and t2(i) in the satellite observation value, and uses the inertial observation value to interpolate the satellite observation value to the time ti, and then calculates the dynamic coordinates (x t1(i)) of the geometric center of the laser reflection module in the mobile observation target at the time ti through geometric relationship conversion. i ,y i ).

[0065] Step 3, when the observations at m (m≥2) observation positions are completed, the orientation parameters are solved by using the static coordinate sequence and the dynamic coordinate sequence according to the following method, including the following steps:

[0066] Step 3.1, observation equation:

[0067]

[0068] in, is a parameter to be determined;

[0069] Step 3.2, error equation:

[0070]

[0071] in, are the correction values ​​for the north and east coordinates, respectively. are the approximate values ​​of the north and east coordinates, respectively. The parameters are number of corrections, A, B, C, and D are parameters The initial value of .

[0072] Step 3.3, calculate the parameter solution:

[0073]

[0074] in, Z=(ABCD) T ,

[0075]

[0076] Step 3.4, calculate the orientation angle:

[0077]

[0078] Preferably, in step 2.1, the image of the active light-emitting unit in the mobile observation target extracted from the image obtained by the stationary observation device is used to calculate the attitude value of the mobile target at that moment, and the attitude observation value obtained by the inertial measurement unit in the mobile observation target in step 2.2 is used together to calculate the dynamic measurement coordinates (x) of the satellite positioning result to the geometric center of the laser reflection module. i ,y i ).

[0079] Preferably, the orientation method provided in an embodiment of the present invention also includes: obtaining the observation time Ti (i=1, 2, ..., m) synchronized by satellite, combining it with the time ti when the mobile observation target senses the laser signal emitted by the stationary observation device, and calculating the time delay of the stationary observation device to enhance the time check and thereby enhance the reliability of orientation.

[0080] The calculation or geometric relationship conversion process not described in detail in the embodiments of the present invention can be regarded as a well-known technology in the art.

[0081] The embodiment of the present invention further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the method, wherein a stationary observation device is set up at a known point, and at least two observation positions are selected within a preset distance of the stationary observation device for observing a mobile observation target, and the operation performed on any of the observation positions includes the following steps:

[0082] Turn on the active light-emitting unit;

[0083] Obtain the distance, vertical angle, horizontal direction and image measured and recorded by the stationary observation equipment, and calculate the static coordinates of the mobile observation target at the current observation position;

[0084] Obtain the satellite observation values ​​and inertial observation values ​​recorded by the mobile observation target and the moment when the laser signal emitted by the stationary observation equipment is sensed, and calculate the dynamic coordinates of the mobile observation target at the current observation position;

[0085] According to the static measurement coordinates and dynamic measurement coordinates obtained at all observation positions of the mobile observation target, a static measurement coordinate sequence and a dynamic measurement coordinate sequence are formed;

[0086] According to the obtained static coordinate sequence and dynamic coordinate sequence, the orientation parameters are calculated by combining the observation equation and the error equation.

[0087] The system embodiments described above are merely illustrative, wherein the units described as separate components are or are not physically separated, and the components shown as units are or are not physical units, located in one place, or distributed on multiple network units. Some or all of the modules are selected according to actual conditions to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement without creative effort.

[0088] 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.

[0089] 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 processor, or other programmable data processing device to produce 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.

[0090] 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.

[0091] 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.

[0092] In summary, the present invention has the following advantages:

[0093] The invention comprises a stationary observation device set up at a known point and a mobile observation target configured with a plurality of observation positions. A satellite timing unit, a laser ranging unit, an angle measurement unit and an image measurement unit for measuring and recording the mobile observation target are configured on the stationary observation device. A satellite positioning unit, a laser reflection sensing unit, a timing unit, an active light emitting unit and an inertial measurement unit are configured on the mobile observation target. The measurement of each observation position is completed by these configured units. After the measurement of all observation positions is completed, a static measurement coordinate sequence and a dynamic measurement coordinate sequence are obtained. According to the static measurement coordinate sequence and the dynamic measurement coordinate sequence combined with an observation equation and an error equation, an orientation parameter is calculated to achieve fast and accurate orientation.

[0094] The present invention measures multiple observation positions respectively, and measures a stationary observation device and a mobile observation target at each observation position once, and obtains the static coordinates and dynamic coordinates of the mobile observation target at the observation position according to the measurement data, and then forms a static coordinate sequence and a dynamic coordinate sequence according to the static coordinates and dynamic coordinates at all observation positions, and calculates the orientation parameters according to the static coordinate sequence and the dynamic coordinate sequence in combination with the observation equation and the error equation, thereby realizing fast and accurate orientation.

[0095] The present invention is not limited by the observation environment and the orientation accuracy will not be affected by the observation environment; fast and accurate orientation can be achieved with at least two observation positions, and the orientation efficiency is high; it is not limited by the weather and can achieve all-weather rapid orientation.

[0096] The present invention obtains the observation time through satellite timing, combines the time when the mobile observation target senses the laser signal emitted by the stationary observation equipment, calculates the time delay of the stationary observation equipment, and uses the time delay to enhance time verification and improve the reliability of orientation.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A dynamic and static coordinated rapid and accurate orientation system, characterized in that: It includes a mobile observation target configured to be able to observe at least two observation positions, a stationary observation device arranged at a known point, and a computing module; The mobile observation target is equipped with a satellite positioning unit, a laser reflection sensing unit, a timing unit, an active light emitting unit and an inertial measurement unit, which are used to emit light of a specific wavelength and intensity for measurement by the stationary observation device, sense the laser signal emitted by the stationary observation device and reflect it, and record the satellite observation value, the inertial observation value and the moment when the laser reflection sensing unit senses the laser signal emitted by the stationary observation device; The stationary observation device is equipped with a laser distance measuring unit, an angle measuring unit and an image measuring unit, which are used to measure the moving observation target and record the measured distance, vertical angle, horizontal direction and image; The calculation module is used to calculate the static coordinates and dynamic coordinates corresponding to each observation position according to the recorded information, and calculate the orientation parameters according to the static coordinate sequence and dynamic coordinate sequence formed by at least two of the observation positions.

2. According to claim 1, a dynamic and static coordinated rapid and precise orientation system is characterized in that: The laser reflection sensing unit includes a laser reflection module and a laser sensing module. The geometric relationship between the laser reflection module and the satellite positioning unit is known; the laser sensing module is configured to be sensitive only to laser signals of a specific wavelength emitted by a stationary observation device and whose intensity exceeds a set threshold.

3. According to claim 1, a dynamic and static coordinated rapid and precise orientation system is characterized in that: The active light emitting unit includes a plurality of light sources dispersed on the outer surface of the observation target, and is used to emit light of a specific wavelength and intensity for measurement by the image measuring unit.

4. According to claim 1, a dynamic and static coordinated rapid and precise orientation system is characterized in that: The stationary observation device is also equipped with a satellite timing unit for measuring and recording the observation time via satellite timing.

5. A fast and accurate orientation method with dynamic and static coordination, characterized in that: A stationary observation device is set up at a known point, and at least two observation positions are selected within a preset distance of the stationary observation device for observing a moving observation target. The operations performed on any of the observation positions include: Turn on the active light-emitting unit; Obtain the distance, vertical angle, horizontal direction and image measured and recorded by the stationary observation equipment, and calculate the static coordinates of the mobile observation target at the current observation position; Obtain the satellite observation values ​​and inertial observation values ​​recorded by the mobile observation target and the moment when the laser signal emitted by the stationary observation equipment is sensed, and calculate the dynamic coordinates of the mobile observation target at the current observation position; According to the static measurement coordinates and dynamic measurement coordinates obtained at all observation positions of the mobile observation target, a static measurement coordinate sequence and a dynamic measurement coordinate sequence are formed; According to the obtained static coordinate sequence and dynamic coordinate sequence, the orientation parameters are calculated by combining the observation equation and the error equation.

6. The method for fast and accurate orientation based on dynamic and static coordination according to claim 5, characterized in that: The method also includes: obtaining an image of an active light-emitting unit extracted from an image recorded by a stationary observation device, calculating a posture value of the mobile observation target at the current moment, and then calculating the dynamic measurement coordinates of the mobile observation target at the current moment in combination with the inertial observation value recorded by the mobile observation target.

7. The method for fast and accurate orientation based on dynamic and static coordination according to claim 5, characterized in that: The method also includes: according to the time when the laser signal emitted by the stationary observation device is sensed, finding the two closest times in the satellite observation values, combining the recorded inertial observation values, and interpolating the satellite observation values ​​to the time when the laser signal is sensed; according to the geometric relationship conversion, calculating the dynamic measurement coordinates of the mobile observation target at the current time.

8. The method for fast and accurate orientation based on dynamic and static coordination according to claim 5, characterized in that: Calculates orientation parameters, including: The observation equation is defined as: in, is a parameter to be determined; The error equation is defined as: in, are the correction values ​​for the north and east coordinates, respectively. are the approximate values ​​of the north and east coordinates, respectively. The parameters are number of corrections, A, B, C, and D are parameters The initial value of The orientation angle is calculated according to the observation equation and the error equation.

9. A non-transitory computer readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, which cause the computer to execute the method of any one of claims 5 to 8.

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