A flagpole positioning method, system and device based on laser ranging telescope

Abstract

The present invention relates to a flagpole positioning method, system and device based on a laser rangefinder telescope, and the method comprises: when the laser rangefinder telescope rotates to the point where the ranging light emitted by the laser rangefinder telescope faces the flagpole, the rotation information and position information of the laser rangefinder telescope are obtained, and the ranging light is analyzed to obtain the distance between the laser rangefinder telescope and the flagpole; according to the rotation information and the distance, the magnetic declination of the flagpole obtained at the same time as the distance is measured is corrected to obtain a first corrected magnetic declination; according to the rotation information, the magnetic declination is corrected in combination with a preset linear model of rotation acceleration and magnetic declination offset angle to obtain a second corrected magnetic declination; according to the position information, the distance, the first corrected magnetic declination and the second corrected magnetic declination of the laser rangefinder telescope, the position of the flagpole is analyzed to obtain the position information of the flagpole. The present invention improves the efficiency, convenience of use and positioning accuracy of flagpole positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of flagpole positioning, and in particular to a flagpole positioning method, system and equipment based on a laser ranging telescope. Background Art

[0002] In the sport of golf, a flagpole is required to be set up next to the hole to mark the location of the hole. Before a player hits the golf ball into the hole, in order to more accurately control the swing force, it is necessary to accurately obtain the location information and distance information of the hole or the flagpole, so that the player can judge the swing force by the location and distance of the hole.

[0003] At present, the existing technology obtains the position information and distance information of the hole or the flagpole, mainly by first locking the flagpole through a laser rangefinder telescope, and then measuring the distance from the current position to the flagpole, and then obtaining the distance from the current position to the hole; and setting a GPS positioning module on the laser rangefinder telescope to obtain the current geographical location, and then calculating the position of the flagpole or the hole in combination with the golf course map information. However, this method needs to rely on the map information of the golf course to complete, and its calculation process is complicated and inconvenient to use, and the efficiency of flagpole position positioning is low.

[0004] Therefore, those skilled in the art are in urgent need of a technical solution that can efficiently and accurately locate the position of a flagpole through a laser ranging telescope. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a flagpole positioning method, system and device based on a laser ranging telescope, which solves the technical problems of complex and low efficiency of the flagpole positioning process.

[0007] (II) Technical solution

[0008] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, an embodiment of the present invention provides a flagpole positioning method based on a laser ranging telescope, comprising:

[0010] When the laser ranging telescope rotates until the ranging light emitted by it faces the flagpole, the rotation information and position information of the laser ranging telescope are obtained, and the ranging light is analyzed to obtain the distance between the laser ranging telescope and the flagpole;

[0011] According to the rotation information and the distance, the magnetic declination of the flagpole obtained at the same time when the distance is measured is corrected to obtain a first corrected magnetic declination;

[0012] According to the rotation information, in combination with a preset linear model of rotation acceleration and magnetic declination offset angle, the magnetic declination is corrected to obtain a second corrected magnetic declination;

[0013] The position of the flagpole is analyzed based on the position information of the laser ranging telescope, the distance, the first corrected magnetic declination and the second corrected magnetic declination to obtain the position information of the flagpole.

[0014] Optionally, when the laser ranging telescope rotates so that the ranging light emitted by the laser ranging telescope faces the flagpole, obtaining the rotation information and position information of the laser ranging telescope, and analyzing the ranging light to obtain the distance between the laser ranging telescope and the flagpole includes:

[0015] When the laser ranging telescope rotates until the ranging light emitted by it faces the flagpole, the rotation information and position information of the laser ranging telescope are obtained, wherein the rotation information includes the rotation time, the rotation angular velocity and the rotation acceleration;

[0016] Obtain the ranging data of the ranging light feedback at every moment during the rotation of the laser ranging telescope;

[0017] When the difference between the distance measurement data at two adjacent moments is greater than a set threshold, the distance measurement data at the next moment is determined to be the distance between the laser ranging telescope and the flagpole.

[0018] Optionally, when the difference between the ranging data at two adjacent moments is greater than a set threshold, determining that the ranging data at the next moment is the distance between the laser ranging telescope and the flagpole includes:

[0019] Determine whether the difference between the distance measurement data at two adjacent moments is greater than a set threshold;

[0020] If the difference between the distance measurement data at two adjacent moments is not greater than the set threshold, a prompt signal is outputted for the laser ranging telescope to continue rotating;

[0021] If the difference between the distance measurement data at two adjacent moments is greater than the set threshold, the distance measurement information at the next moment is determined to be the distance between the laser ranging telescope and the flagpole, and a prompt signal for the laser ranging telescope to stop rotating is output.

[0022] Optionally, according to the rotation information and the distance, correcting the magnetic declination of the flagpole acquired at the same time as the distance is measured, to obtain a first corrected magnetic declination includes:

[0023] Obtaining the magnetic declination of the flagpole at the same time as the distance measured by the laser ranging telescope;

[0024] Calculate the linear velocity according to the distance and the rotation angular velocity in the rotation information to obtain the linear velocity of the ranging light at the flagpole;

[0025] Performing displacement calculation according to the linear velocity and the acquired time information of the laser ranging telescope measuring the distance, and obtaining the displacement of the ranging light scanning at the flagpole during the time period;

[0026] According to the displacement and the distance, in combination with a tangent triangle function calculation formula, a first magnetic declination offset angle generated by the laser ranging telescope when rotating for ranging is obtained;

[0027] The magnetic declination is corrected according to the first magnetic declination offset angle to obtain a first corrected magnetic declination.

[0028] Optionally, before the magnetic declination is corrected according to the rotation information and in combination with a preset linear model of rotation acceleration and magnetic declination offset angle to obtain a second corrected magnetic declination, the method further includes:

[0029] A test database is constructed to store measurement data of multiple laser ranging telescopes at the same geographical location under rotating conditions and non-rotating conditions, wherein the measurement data includes a first magnetic declination angle when the distance to the flagpole is measured when the ranging light of the laser ranging telescope is facing the flagpole and the distance to the flagpole is measured without rotating, and a second magnetic declination angle when the distance to the flagpole is measured by multiple laser ranging telescopes under different rotation acceleration conditions within the same rotation time;

[0030] Extracting the first magnetic declination and the second magnetic declination under each rotation acceleration condition within the same rotation time from the test database, performing difference calculation, and performing linear fitting between the obtained magnetic declination offset angle and the corresponding rotation acceleration, so as to obtain a linear model of the rotation acceleration and magnetic declination offset angle of the laser ranging telescope within different rotation times;

[0031] The mathematical expression of the linear model of the rotational acceleration and the magnetic declination offset angle is:

[0032] θ2=0.2∫ a ( t )d t +0.15

[0033] Where θ2 represents the magnetic declination deviation angle, a represents the rotational acceleration of the laser ranging telescope, t Represents the rotation time of the laser ranging telescope.

[0034] Optionally, the magnetic declination is corrected according to the rotation information in combination with a preset linear model of rotation acceleration and magnetic declination offset angle to obtain a second corrected magnetic declination, comprising:

[0035] Obtaining the magnetic declination of the flagpole at the same time as the distance measured by the laser ranging telescope;

[0036] According to the rotation time information in the rotation information, calling the corresponding linear equation from the linear model;

[0037] According to the rotation acceleration in the rotation information, combined with the linear equation, calculation is performed to obtain a second magnetic declination offset angle generated by the laser ranging telescope during the rotation ranging;

[0038] The magnetic declination is corrected according to the obtained rotation direction of the laser ranging telescope and the second magnetic declination offset angle to obtain a second corrected magnetic declination.

[0039] Optionally, performing positioning analysis on the position of the flagpole according to the position information of the laser ranging telescope, the distance, the first corrected magnetic declination, and the second corrected magnetic declination to obtain the position information of the flagpole includes:

[0040] Calculating the mean of the first corrected magnetic declination and the second corrected magnetic declination to obtain the optimal magnetic declination of the flagpole;

[0041] According to the optimal magnetic declination, the distance and the position information of the laser ranging telescope, combined with the flagpole position calculation formula, the position information of the flagpole is obtained;

[0042] The flagpole position calculation formula is:

[0043] Where X represents the longitude of the flagpole, Y represents the latitude of the flagpole, X0 represents the longitude of the laser ranging telescope, Y0 represents the latitude of the laser ranging telescope, L0 represents the distance between the laser ranging telescope and the flagpole, A represents the optimal magnetic declination of the flagpole, and ARC represents the radius of the earth.

[0044] In a second aspect, an embodiment of the present invention provides a flagpole positioning system based on a laser ranging telescope, comprising:

[0045] A data acquisition module is used to acquire the rotation information and position information of the laser ranging telescope when the laser ranging telescope rotates to the point where the ranging light emitted by the laser ranging telescope faces the flagpole, and to analyze the ranging light to acquire the distance between the laser ranging telescope and the flagpole;

[0046] A first magnetic declination correction module is used to correct the magnetic declination of the flagpole obtained at the same time when the distance is measured according to the rotation information and the distance, so as to obtain a first corrected magnetic declination;

[0047] A second magnetic declination correction module, used to correct the magnetic declination according to the rotation information and in combination with a preset linear model of rotation acceleration and magnetic declination offset angle to obtain a second corrected magnetic declination;

[0048] The flagpole positioning module is used to perform positioning analysis on the position of the flagpole according to the position information of the laser ranging telescope, the distance, the first corrected magnetic declination and the second corrected magnetic declination to obtain the position information of the flagpole.

[0049] In a third aspect, an embodiment of the present invention provides a flagpole positioning device, comprising:

[0050] Rotate the bracket;

[0051] A laser ranging telescope is installed on a rotating bracket and is used to drive the laser ranging telescope to rotate through the rotating bracket;

[0052] The controller is connected to the rotating bracket and the laser ranging telescope respectively, and is used to execute the above-mentioned steps of the flagpole positioning method based on the laser ranging telescope.

[0053] Optionally, the laser ranging telescope comprises: a locator, a geomagnetic module, a gyroscope, an acceleration sensor, a timer and a laser rangefinder;

[0054] The locator is used to measure the position information of the laser ranging telescope;

[0055] The geomagnetic module is used to measure the magnetic declination of the laser ranging telescope;

[0056] The gyroscope is used to measure the angular velocity of the laser ranging telescope;

[0057] The acceleration sensor is used to measure the rotational acceleration of the laser ranging telescope;

[0058] The timer is used to collect the rotation time of the laser ranging telescope;

[0059] The laser rangefinder is used to emit and receive ranging light to measure the distance between the laser ranging telescope and the flagpole.

[0060] (III) Beneficial effects

[0061] The beneficial effects of the present invention are as follows: the flagpole positioning method based on the laser ranging telescope proposed in the present invention adopts the laser ranging telescope to rotate and capture the flagpole, and uses the ranging data, rotation data, position data and magnetic declination data collected by the laser ranging telescope during the rotation process to perform positioning analysis on the position of the flagpole. Compared with the prior art, it is not necessary to obtain map information of the flagpole to calculate the flagpole position, and all data are obtained through the laser ranging telescope, and no additional equipment is required to assist in obtaining the data, thereby improving the efficiency of flagpole positioning and the convenience of use.

[0062] At the same time, the present invention uses two magnetic declination correction methods to correct the real-time magnetic declination of the laser ranging telescope through the distance between the laser ranging telescope and the flagpole and the rotation data of the laser ranging telescope, and corrects the magnetic declination offset angle generated when the laser ranging telescope measures the flagpole distance, which improves the accuracy of the magnetic declination and further improves the accuracy of flagpole positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic flow chart of a flagpole positioning method based on a laser ranging telescope provided in one embodiment of the present invention;

[0064] Figure 2 A diagram of the field of view actually measured in the lens of the laser ranging telescope provided by one embodiment of the present invention when rotating for ranging;

[0065] Figure 3 A diagram of an ideally measured field of view in a lens of a laser ranging telescope provided by an embodiment of the present invention when rotating for ranging;

[0066] Figure 4 A schematic diagram of the rotation of a laser ranging telescope during ranging measurement provided by an embodiment of the present invention.

[0067] [Description of Reference Numerals]

[0068] 1: Laser ranging telescope;

[0069] 2: Flagpole. DETAILED DESCRIPTION

[0070] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0071] refer to Figure 1-Figure 4 As shown, a flagpole positioning method based on a laser ranging telescope is proposed in an embodiment of the present invention, comprising: when the laser ranging telescope rotates to the point where the ranging light emitted by the laser ranging telescope faces the flagpole, the rotation information and position information of the laser ranging telescope are obtained, and the ranging light is analyzed to obtain the distance between the laser ranging telescope and the flagpole; according to the rotation information and the distance, the magnetic declination of the flagpole obtained at the same time as the distance is measured is corrected to obtain a first corrected magnetic declination; according to the rotation information, the magnetic declination is corrected in combination with a preset linear model of rotation acceleration and magnetic declination offset angle to obtain a second corrected magnetic declination; according to the position information of the laser ranging telescope, the distance, the first corrected magnetic declination and the second corrected magnetic declination, the position of the flagpole is positioned and analyzed to obtain the position information of the flagpole.

[0072] In this embodiment, a laser ranging telescope is used to rotate and capture the flagpole, and the position of the flagpole is located and analyzed by using the ranging data, rotation data, position data and magnetic declination data collected by the laser ranging telescope during the rotation process. Compared with the prior art, this technical solution does not need to obtain map information of the flagpole to calculate the flagpole position, and all data are obtained through the laser ranging telescope without the need for additional equipment to assist in obtaining the data, thereby improving the efficiency of flagpole positioning and convenience of use.

[0073] At the same time, this embodiment uses the distance between the laser ranging telescope and the flagpole and the rotation data of the laser ranging telescope to correct the real-time magnetic declination of the laser ranging telescope by adopting two magnetic declination correction methods, and corrects the magnetic declination offset angle generated when the laser ranging telescope measures the flagpole distance, which improves the accuracy of the magnetic declination and further improves the accuracy of the flagpole positioning.

[0074] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0075] refer to Figure 1 As shown, this embodiment proposes a flagpole positioning method based on a laser ranging telescope, the method comprising:

[0076] S100, when the laser ranging telescope rotates until the ranging light emitted by it faces the flagpole, the rotation information and position information of the laser ranging telescope are obtained, and the ranging light is analyzed to obtain the distance between the laser ranging telescope and the flagpole.

[0077] In this embodiment, when the laser rangefinder telescope is started to measure the distance to the flagpole, it is difficult for the ranging light of the laser rangefinder telescope to directly illuminate the flagpole to the position. Usually, the ranging light is often on both sides of the flagpole. At this time, it is necessary to rotate the laser rangefinder telescope so that the ranging light of the laser rangefinder telescope is facing the flagpole, and then obtain the distance data between the laser rangefinder telescope and the flagpole by analyzing the ranging light. However, since the flagpole is often hundreds of meters away from the laser rangefinder telescope, the human eye cannot accurately capture the position of the flagpole by observing it through the lens of the laser rangefinder telescope. Therefore, this embodiment adopts the method of continuously emitting ranging light through the laser rangefinder telescope, and compares the ranging data at two adjacent moments, and captures and locks the flagpole based on the comparison result.

[0078] For example, when the flagpole is on the left side of the ranging light emitted by the laser ranging telescope, first, the laser ranging telescope needs to be controlled to rotate from right to left (counterclockwise) so that the ranging light moves from right to left, and the ranging light is continuously emitted during the rotation process to obtain the ranging data at each moment. Then, when the change in the ranging data between two adjacent moments exceeds 5 meters or more, or when the ranging data between two adjacent moments changes from no valid ranging data to valid ranging data, the ranging information at the latter moment is determined to be the distance between the laser ranging telescope and the flagpole, and a prompt signal is issued for the laser ranging telescope to stop rotating, that is, the flagpole is captured, and the ranging angle of the laser ranging telescope is locked. Among them, the prompt signal can be a flashing signal light or valid ranging data is displayed in the lens of the laser ranging telescope.

[0079] In this embodiment, step S100 may further include the following sub-steps S110 to S130:

[0080] S110, when the laser ranging telescope rotates until the ranging light emitted by it faces the flagpole, obtain the rotation information and position information of the laser ranging telescope, the rotation information including the rotation time, the rotation angular velocity and the rotation acceleration.

[0081] S120, obtaining ranging data of ranging light feedback at each moment during the rotation process of the laser ranging telescope.

[0082] S130: When the difference between the distance measurement data at two adjacent moments is greater than a set threshold, determine that the distance measurement data at the next moment is the distance between the laser ranging telescope and the flagpole.

[0083] Furthermore, step S130 may also include the following sub-steps S131 to S132:

[0084] S131: Determine whether the difference between the distance measurement data at two adjacent moments is greater than a set threshold.

[0085] S132a, if the difference between the distance measurement data at two adjacent moments is not greater than the set threshold, output a prompt signal for the laser ranging telescope to continue rotating;

[0086] S132b, if the difference between the distance measurement data at two adjacent moments is greater than the set threshold, the distance measurement information at the next moment is determined to be the distance between the laser ranging telescope and the flagpole, and a prompt signal for the laser ranging telescope to stop rotating is output.

[0087] After capturing the flagpole and obtaining the distance data between the laser rangefinder and the flagpole, the position information of the flagpole can be calculated through the distance data and the magnetic declination of the flagpole obtained at the same time as the distance data is measured. However, during the flagpole capture process, when the laser rangefinder telescope locks the flagpole, the laser rangefinder telescope rotates left and right relative to the flagpole, and the distance is measured when the flagpole is detected during the rotation. However, due to the response delay between the measurement modules in the laser rangefinder telescope and the time difference between the laser rangefinder telescope emitting the ranging light and receiving the ranging light, the laser rangefinder telescope rotates during this time difference, so that the magnetic declination data obtained is the magnetic declination data after the time difference, resulting in the flagpole distance measurement data and the magnetic declination data being out of sync, causing a measurement error of the flagpole position. For example, the ranging laser of the laser rangefinder telescope moves from the right side to the left side of the flagpole. When the distance data is actually measured, the actual viewing angle of the lens in the laser rangefinder telescope is as follows: Figure 2 As shown in the figure, if the magnetic declination of the flagpole is measured at this angle, there is an angle offset error in the magnetic declination. When correcting the angle offset error, the viewing angle of the lens in the laser ranging telescope needs to be as follows: Figure 3 Therefore, this embodiment proposes two methods, step S200 and step S300, to correct the offset angle of the magnetic declination caused by the ranging time difference and the device response delay, thereby improving the real-time performance of the magnetic declination acquisition and reducing the measurement error of the flagpole position.

[0088] S200: Correcting the magnetic declination of the flagpole obtained at the same time as the distance is measured according to the rotation information and the distance to obtain a first corrected magnetic declination.

[0089] In this embodiment, step S200 may include the following sub-steps S210 to S250:

[0090] S210, obtaining the magnetic declination of the flagpole at the same time measured by the laser ranging telescope.

[0091] S220, calculating the linear velocity according to the distance and the rotation angular velocity in the rotation information, and obtaining the linear velocity of the ranging light at the flagpole.

[0092] refer to Figure 4 As shown, the laser ranging telescope 1 rotates counterclockwise so that the ranging light emitted by the laser ranging telescope 1 moves from the right side of the flagpole to the left side of the flagpole 2, and the laser ranging telescope 1 stops rotating after completing the ranging task, and obtains the distance L0 between the laser ranging telescope 1 and the flagpole 2, and then the angular velocity of the laser ranging telescope 1 when it stops rotating is calculated. ω , combined with the linear velocity calculation formula (1), the linear velocity of the ranging light at flagpole 2 is calculated v .

[0093] v=ω L0 (1)

[0094] S230, performing displacement calculation according to the linear velocity and the acquired time information of the distance measured by the laser ranging telescope, and obtaining the displacement of the ranging light scanning at the flagpole within the time period.

[0095] refer to Figure 4 As shown, based on the distance L0 between the laser ranging telescope 1 and the flagpole 2 measured by the laser ranging telescope 1, combined with the time calculation formula (2), the time taken by the laser ranging telescope 1 from the emission to the reception of the ranging light is calculated. t 0, then the linear velocity of the ranging light at flagpole 2 is obtained through step S220 v , combined with the displacement calculation formula (3), the time t 0 The displacement L1 of the ranging light scanned at flagpole 2.

[0096] t 0=2L0 / v 光 (2)

[0097] (2) In the formula, v 光 Represents the speed of light.

[0098] L1= v * t 0 (3)

[0099] S240, according to the displacement and the distance, combined with the tangent triangle function calculation formula, obtain the first magnetic declination offset angle generated by the laser ranging telescope when rotating for ranging.

[0100] refer to Figure 4 As shown, according to the distance L0 between the laser ranging telescope 1 and the flagpole 2 measured by the laser ranging telescope 1, and the time at which the ranging light is measured by step S230 t The displacement L1 of the ranging light in 0 scanned at the flagpole 2 is combined with the tangent triangle function calculation formula (4) to calculate the first magnetic declination offset angle θ1 generated by the laser ranging telescope 1 when rotating for ranging.

[0101] θ1=tan -1 (L1 / L0) (4)

[0102] S250, correcting the magnetic declination according to the first magnetic declination offset angle to obtain a first corrected magnetic declination.

[0103] According to the distance L1 between the laser ranging telescope 1 and the flagpole 2 and the angular velocity of the laser ranging telescope 1 ωThe first magnetic declination offset angle θ1 is obtained, and combined with the first magnetic declination correction formula (5), the magnetic declination A0 of the flagpole measured by the laser ranging telescope at the same time is corrected to obtain the first corrected magnetic declination A1.

[0104] A1=A0-θ1 (5)

[0105] S300: Correct the magnetic declination according to the rotation information and in combination with a preset linear model of the rotation acceleration and the magnetic declination offset angle to obtain a second corrected magnetic declination.

[0106] In this embodiment, before step S300, the following steps F310 to F320 are also included:

[0107] F310. Build a test database to store measurement data of multiple laser ranging telescopes at the same geographical location under rotating and non-rotating conditions. The measurement data include the first magnetic declination when the distance to the flagpole is measured when the ranging light of the laser ranging telescope is facing the flagpole and the distance is not rotated, and the second magnetic declination when the distance to the flagpole is measured by multiple laser ranging telescopes under different rotation acceleration conditions within the same rotation time.

[0108] F320. Extract the first magnetic declination and the second magnetic declination under each rotation acceleration condition within the same rotation time from the test database, calculate the difference, and linearly fit the obtained magnetic declination offset angle with the corresponding rotation acceleration to obtain a linear model of the internal rotation acceleration and magnetic declination offset angle of the laser ranging telescope at different rotation times.

[0109] Among them, the mathematical expression of the linear model of the rotation acceleration and magnetic declination offset angle of the laser ranging telescope at different rotation times is:

[0110] θ2=0.2∫ a ( t )d t +0.15 (6)

[0111] (6) In the formula, θ2 represents the magnetic declination deviation angle, a represents the rotational acceleration of the laser ranging telescope, t Represents the rotation time of the laser ranging telescope.

[0112] In this embodiment, step S300 may further include the following sub-steps S310 to S340:

[0113] S310, obtaining the magnetic declination of the flagpole at the same time measured by the laser ranging telescope.

[0114] S320 , calling a corresponding linear equation from a linear model according to the rotation time information in the rotation information.

[0115] S330, calculating according to the rotation acceleration in the rotation information in combination with a linear equation to obtain a second magnetic declination offset angle generated when the laser ranging telescope is rotating for ranging.

[0116] S340, correcting the magnetic declination according to the obtained rotation direction of the laser ranging telescope and the second magnetic declination offset angle to obtain a second corrected magnetic declination.

[0117] The second magnetic declination offset angle θ2 is obtained based on the rotational angular velocity of the laser ranging telescope and the linear model of the rotational angular velocity and the magnetic declination offset angle. Combined with the rotational direction of the laser ranging telescope and the second magnetic declination correction formula (7), the magnetic declination A0 obtained at the same time as the measured distance data is compensated to obtain the second corrected magnetic declination A2.

[0118] A2=A0±θ2 (7)

[0119] S400: performing positioning analysis on the position of the flagpole according to the position information, distance, first corrected magnetic declination and second corrected magnetic declination of the laser ranging telescope to obtain the position information of the flagpole.

[0120] In this embodiment, step S400 may further include the following sub-steps S410 to S420:

[0121] S410, calculating the average of the first corrected magnetic declination and the second corrected magnetic declination to obtain the optimal magnetic declination of the flagpole. The average of the first corrected magnetic declination and the second corrected magnetic declination is calculated and used as the optimal magnetic declination A measured by the laser ranging telescope during the rotating distance measurement.

[0122] S420, obtaining the position information of the flagpole according to the optimal magnetic declination, distance and position information of the laser ranging telescope in combination with the flagpole position calculation formula.

[0123] The flagpole position calculation formula is:

[0124] (8)

[0125] (8) In the formula, X represents the longitude of the flagpole, Y represents the latitude of the flagpole, X0 represents the longitude of the laser ranging telescope, Y0 represents the latitude of the laser ranging telescope, L0 represents the distance between the laser ranging telescope and the flagpole, A represents the optimal magnetic declination of the flagpole, and ARC represents the radius of the earth.

[0126] In addition, this embodiment also proposes a flagpole positioning system based on a laser ranging telescope, which includes:

[0127] The data acquisition module is used to obtain the rotation information and position information of the laser ranging telescope when the laser ranging telescope rotates to the point where the ranging light emitted by the laser ranging telescope faces the flagpole, and to analyze the ranging light to obtain the distance between the laser ranging telescope and the flagpole.

[0128] The first magnetic declination correction module is used to correct the magnetic declination of the flagpole obtained at the same time as the measured distance according to the rotation information and the distance, so as to obtain a first corrected magnetic declination.

[0129] The second magnetic declination correction module is used to correct the magnetic declination according to the rotation information and a preset linear model of the rotation acceleration and the magnetic declination offset angle to obtain a second corrected magnetic declination.

[0130] The flagpole positioning module is used to perform positioning analysis on the position of the flagpole based on the position information, distance, first corrected magnetic declination and second corrected magnetic declination of the laser ranging telescope to obtain the position information of the flagpole.

[0131] In addition, this embodiment further provides a flagpole positioning device, which includes: a rotating bracket. A laser ranging telescope, which is installed on the rotating bracket and is used to drive the laser ranging telescope to rotate through the rotating bracket. A controller, which is respectively connected to the rotating bracket and the laser ranging telescope, is used to execute the steps of the flagpole positioning method based on the laser ranging telescope described above.

[0132] Furthermore, the laser ranging telescope includes: a locator, a geomagnetic module, a gyroscope, an acceleration sensor, a timer and a laser rangefinder; the locator is used to measure the position information of the laser ranging telescope; the geomagnetic module is used to measure the magnetic declination of the laser ranging telescope; the gyroscope is used to measure the rotation angular velocity of the laser ranging telescope; the acceleration sensor is used to measure the rotation acceleration of the laser ranging telescope; the timer is used to collect the rotation time of the laser ranging telescope; the laser rangefinder is used to emit and receive ranging light to measure the distance between the laser ranging telescope and the flagpole.

[0133] In summary, the flagpole positioning method, system and device based on the laser rangefinder telescope proposed in the embodiment of the present invention adopts the laser rangefinder telescope to rotate and capture the flagpole, and uses the ranging data, rotation speed data, rotation acceleration data, position data and magnetic declination data collected by the laser rangefinder telescope during the rotation process to locate and analyze the position of the flagpole. It does not need to use map information to locate the flagpole. It only needs to control the laser rangefinder telescope to measure the distance between the flagpole and the measurement point and the position of the measured flagpole, which greatly saves the use cost and makes it more convenient to obtain the positioning information. In addition, the present invention also performs a double correction on the magnetic declination of the flagpole collected by the laser rangefinder telescope during the rotation process to achieve the maximum data synchronization between the magnetic declination and the ranging data, thereby greatly improving the positioning accuracy of the flagpole position.

[0134] Since the system / device described in the above embodiments of the present invention is a system / device used to implement the method of the above embodiments of the present invention, a person skilled in the art can understand the specific structure and deformation of the system / device based on the method described in the above embodiments of the present invention, and thus will not be described in detail here. All systems / devices used in the method of the above embodiments of the present invention belong to the scope of protection of the present invention.

[0135] It should be understood by those skilled in the art 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 aspects. 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.

[0136] 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 box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions.

[0137] It should be noted that the word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising a number of different components and by means of a suitably programmed computer. Among the several means listed, several of these means may be embodied by the same hardware. The use of the words first, second, third, etc., is for convenience only and does not indicate any order. These words may be understood as part of the name of the component.

[0138] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0139] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the technical solution should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0140] Obviously, those skilled in the art can make various modifications and variations 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 belong to the scope of the technical solution of the present invention and its equivalent technology, the present invention should also include these modifications and variations.

Claims

1. A flagpole positioning method based on a laser ranging telescope, characterized in that: include: When the laser ranging telescope rotates until the ranging light emitted by it faces the flagpole, the rotation information and position information of the laser ranging telescope are obtained, wherein the rotation information includes the rotation time, the rotation angular velocity and the rotation acceleration; the ranging data fed back by the ranging light at each moment during the rotation of the laser ranging telescope are obtained; when the difference between the ranging data at two adjacent moments is greater than a set threshold, the ranging data at the latter moment is determined to be the distance between the laser ranging telescope and the flagpole; According to the rotation information and the distance, the magnetic declination of the flagpole obtained at the same time when the distance is measured is corrected to obtain a first corrected magnetic declination; According to the rotation information, in combination with a preset linear model of rotation acceleration and magnetic declination offset angle, the magnetic declination is corrected to obtain a second corrected magnetic declination; The position of the flagpole is analyzed based on the position information of the laser ranging telescope, the distance, the first corrected magnetic declination and the second corrected magnetic declination to obtain the position information of the flagpole.

2. The method according to claim 1, characterized in that When the difference between the distance measurement data at two adjacent moments is greater than a set threshold, determining the distance measurement data at the next moment as the distance between the laser ranging telescope and the flagpole includes: Determine whether the difference between the distance measurement data at two adjacent moments is greater than a set threshold; If the difference between the distance measurement data at two adjacent moments is not greater than the set threshold, a prompt signal is outputted for the laser ranging telescope to continue rotating; If the difference between the distance measurement data at two adjacent moments is greater than the set threshold, the distance measurement information at the next moment is determined to be the distance between the laser ranging telescope and the flagpole, and a prompt signal for the laser ranging telescope to stop rotating is output.

3. The method according to claim 1, characterized in that According to the rotation information and the distance, the magnetic declination of the flagpole obtained at the same time when the distance is measured is corrected to obtain a first corrected magnetic declination, comprising: Obtaining the magnetic declination of the flagpole at the same time as the distance measured by the laser ranging telescope; Calculate the linear velocity according to the distance and the rotation angular velocity in the rotation information to obtain the linear velocity of the ranging light at the flagpole; Performing displacement calculation according to the linear velocity and the acquired time information of the laser ranging telescope measuring the distance, and obtaining the displacement of the ranging light scanning at the flagpole in the time period to which the time information belongs; According to the displacement and the distance, in combination with a tangent triangle function calculation formula, a first magnetic declination offset angle generated by the laser ranging telescope when rotating for ranging is obtained; The magnetic declination is corrected according to the first magnetic declination offset angle to obtain a first corrected magnetic declination.

4. The method according to claim 1, characterized in that Before correcting the magnetic declination according to the rotation information and combining a preset linear model of rotation acceleration and magnetic declination offset angle to obtain a second corrected magnetic declination, the method further includes: A test database is constructed to store measurement data of multiple laser ranging telescopes at the same geographical location under rotating conditions and non-rotating conditions, wherein the measurement data includes a first magnetic declination angle when the distance to the flagpole is measured when the ranging light of the laser ranging telescope is facing the flagpole and the distance to the flagpole is measured without rotating, and a second magnetic declination angle when the distance to the flagpole is measured by multiple laser ranging telescopes under different rotation acceleration conditions within the same rotation time; Extracting the first magnetic declination and the second magnetic declination under each rotation acceleration condition within the same rotation time from the test database, performing difference calculation, and performing linear fitting between the obtained magnetic declination offset angle and the corresponding rotation acceleration, so as to obtain a linear model of the rotation acceleration and magnetic declination offset angle of the laser ranging telescope within different rotation times; The mathematical expression of the linear model of the rotational acceleration and the magnetic declination offset angle is: θ2=0.2∫ a ( t )d t +0.15 Where θ2 represents the magnetic declination deviation angle, a represents the rotational acceleration of the laser ranging telescope, t Represents the rotation time of the laser ranging telescope.

5. The method according to claim 1, characterized in that According to the rotation information, in combination with a preset linear model of rotation acceleration and magnetic declination offset angle, the magnetic declination is corrected to obtain a second corrected magnetic declination, including: Obtaining the magnetic declination of the flagpole at the same time as the distance measured by the laser ranging telescope; According to the rotation time information in the rotation information, calling the corresponding linear equation from the linear model; According to the rotation acceleration in the rotation information, combined with the linear equation, calculation is performed to obtain a second magnetic declination offset angle generated by the laser ranging telescope during the rotation ranging; The magnetic declination is corrected according to the obtained rotation direction of the laser ranging telescope and the second magnetic declination offset angle to obtain a second corrected magnetic declination.

6. The method according to claim 1, characterized in that Performing a positioning analysis on the position of the flagpole according to the position information of the laser ranging telescope, the distance, the first corrected magnetic declination, and the second corrected magnetic declination to obtain the position information of the flagpole includes: Calculating the mean of the first corrected magnetic declination and the second corrected magnetic declination to obtain the optimal magnetic declination of the flagpole; According to the optimal magnetic declination, the distance and the position information of the laser ranging telescope, combined with the flagpole position calculation formula, the position information of the flagpole is obtained; The flagpole position calculation formula is: Where X represents the longitude of the flagpole, Y represents the latitude of the flagpole, X0 represents the longitude of the laser ranging telescope, Y0 represents the latitude of the laser ranging telescope, L0 represents the distance between the laser ranging telescope and the flagpole, A represents the optimal magnetic declination of the flagpole, and ARC represents the radius of the earth.

7. A flagpole positioning system based on a laser ranging telescope, characterized in that: include: The data acquisition module is used to obtain the rotation information and position information of the laser ranging telescope when the laser ranging telescope rotates until the ranging light emitted by the laser ranging telescope faces the flagpole, wherein the rotation information includes the rotation time, the rotation angular velocity and the rotation acceleration; obtain the ranging data fed back by the ranging light at each moment during the rotation of the laser ranging telescope; when the difference between the ranging data at two adjacent moments is greater than a set threshold, determine that the ranging data at the latter moment is the distance between the laser ranging telescope and the flagpole; A first magnetic declination correction module is used to correct the magnetic declination of the flagpole obtained at the same time when the distance is measured according to the rotation information and the distance, so as to obtain a first corrected magnetic declination; A second magnetic declination correction module, used to correct the magnetic declination according to the rotation information and in combination with a preset linear model of rotation acceleration and magnetic declination offset angle to obtain a second corrected magnetic declination; The flagpole positioning module is used to perform positioning analysis on the position of the flagpole according to the position information of the laser ranging telescope, the distance, the first corrected magnetic declination and the second corrected magnetic declination to obtain the position information of the flagpole.

8. A flagpole positioning device, characterized in that: include: Rotate the bracket; A laser ranging telescope is installed on a rotating bracket and is used to drive the laser ranging telescope to rotate through the rotating bracket; The controller is connected to the rotating bracket and the laser ranging telescope respectively, and is used to execute the steps of a flagpole positioning method based on a laser ranging telescope as described in any one of claims 1 to 6.

9. The device according to claim 8, characterized in that The laser rangefinder telescope comprises: a locator, a geomagnetic module, a gyroscope, an acceleration sensor, a timer and a laser rangefinder; The locator is used to measure the position information of the laser ranging telescope; The geomagnetic module is used to measure the magnetic declination of the laser ranging telescope; The gyroscope is used to measure the angular velocity of the laser ranging telescope; The acceleration sensor is used to measure the rotational acceleration of the laser ranging telescope; The timer is used to collect the rotation time of the laser ranging telescope; The laser rangefinder is used to emit and receive ranging light to measure the distance between the laser ranging telescope and the flagpole.

Images