Method and system for recognizing action of multiple targets on object to be surveyed based on infrared observation

Abstract

The invention relates to a method and system for recognizing multiple targets acting on an object to be surveyed based on infrared observation, and belongs to the field of infrared observation.The method includes the steps that an infrared observation instrument obtains an infrared image, the longitude and latitude of the infrared observation instrument, the altitude value, the direction angle and the pitch angle of the infrared observation instrument, and the infrared image comprises multiple target images; based on the infrared image, performing target shooting positioning locking on multiple targets, and calculating to obtain longitudes and latitudes of the multiple targets and plane relative positions of the multiple targets and the infrared observation instrument; the action range of each target and the longitude and latitude of each target are displayed on a multi-target locking interface of the infrared observation instrument, and meanwhile, the plane relative position and the action range are displayed on an observation interface in a semicircular plane form; when the position of the infrared observation instrument changes, updating the relative position of the plane; and judging whether the to-be-surveyed object is in the multi-target action range or not through the observation interface. The problems that target information display is not visual, the multi-target position relation cannot be reflected, and whether a to-be-surveyed object is in the action range or not cannot be judged are solved.

Description

Technical Field

[0001] The present invention relates to the field of infrared observation technology, and in particular to a method and system for identifying multiple targets acting on an object to be surveyed based on infrared observation. Background Art

[0002] In traditional communication networks, signal tower signal coverage and the strength, speed and quality of received signals are key issues. With the development of mobile communications, the demand for high-quality and stable signals continues to increase. The deployment of existing signal towers often takes into account multiple factors such as geographical environment, building obstruction, and signal interference. It is also necessary to consider the compatibility of the signal coverage range of the original signal tower and the deployment of secondary transfer signal towers within the signal range. For some important occasions, there are often 2-3 signal towers for signal coverage deployment, and it is necessary to conduct signal tower coverage surveys for such key buildings. However, the deployment of new signal towers is often accompanied by high equipment, installation and maintenance costs, which is not only time-consuming, but may also be subject to policy and environmental constraints. Therefore, based on the existing signal towers, how to conveniently and quickly conduct signal coverage judgments, survey the signal coverage of key buildings, and determine whether new signal towers need to be deployed based on the judgment results is an urgent problem to be solved.

[0003] In the current existing technology, the target locking function (locking signal tower) of infrared products usually calculates a single target and then displays the locking information digitally. After locking a single target, a large string of numbers is displayed on the infrared observation interface, which is cumbersome, non-intuitive, and difficult to use. In addition, the instrument can only observe and measure a single target, without the information relationship linkage of multiple targets.

[0004] The digital information of a target lock includes three data information: longitude, latitude and altitude. If multiple targets are considered, n targets correspond to 3n data. The more information digital information wants to express, the heavier it is. Digitalization cannot directly reflect the relationship between the geographical locations of multiple targets. There is a lack of appropriate judgment methods for locking multiple signal tower targets, judging the range of multiple signal towers, and judging whether a building is within the range of a signal tower. Summary of the invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide a method and system for identifying multiple targets acting on an object to be surveyed based on infrared observation, so as to solve the technical problems in the prior art that the digital information of multiple signal tower targets displayed on the interface of the infrared observation instrument is not intuitive, and the relationship between the positions of multiple targets cannot be reflected, and whether the building is within the range of action of the signal tower cannot be judged.

[0006] On the one hand, an embodiment of the present invention provides a method for identifying multiple targets acting on an object to be surveyed based on infrared observation, comprising the following steps:

[0007] Step S1, the infrared observation instrument obtains an infrared image, its own latitude and longitude and altitude values, direction angle and pitch angle, wherein the infrared image includes a multi-target image;

[0008] Step S2: Based on the infrared image, multiple targets are positioned and locked, and the longitude and latitude of the multiple targets and the plane relative position of each target and the infrared observation instrument are calculated;

[0009] Step S3, displaying the range of action of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument, and displaying the relative position of the plane and the range of action in the form of a semicircular plane on the observation interface;

[0010] Wherein, when the position of the infrared observation instrument changes, the relative position of the plane is updated and displayed;

[0011] Step S4: judging whether the object to be surveyed is within the multi-target action range through the observation interface.

[0012] Furthermore, the step S2 comprises:

[0013] Step S21: Based on the infrared image, the laser positioning module sequentially performs target positioning and locking on each target, and obtains the distance value from the infrared observation instrument to each target;

[0014] Step S22, based on the azimuth angle and elevation angle of the infrared observation instrument and the distance value to each target, calculate the sky direction, east direction and north direction values ​​of each target;

[0015] Step S23, based on the celestial direction, north direction and east direction values ​​of each of the targets, and the longitude and latitude of the infrared observation instrument itself, calculate the longitude and latitude of the target;

[0016] Step S24: Based on the longitude and latitude of the infrared observation instrument itself and each target, and the distance value from the infrared observation instrument itself to each target, the plane relative position of each target and the infrared observation instrument in the plane rectangular coordinate system is calculated.

[0017] Furthermore, the step S3 comprises:

[0018] Step S31, displaying the range of action of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument;

[0019] Step S32, displaying the plane relative positions of the infrared observation instrument and each target, and the action range of each target on the observation interface of the infrared observation instrument;

[0020] Step S33: When the infrared observation instrument moves or rotates, the relative position of the plane is updated and displayed on the observation interface of the infrared observation instrument.

[0021] Furthermore, at the bottom of the observation interface of the infrared observation instrument, the effective range length of the farthest target is divided into 6 equal parts, and the infrared observation instrument itself is taken as the center of the circle, and 6 semicircles are drawn with the lengths of the 1st to 6th equal parts as the radius to form a semicircular plane;

[0022] Based on the planar relative positions of the infrared observation instrument and the targets, each target is drawn on a semicircular plane;

[0023] With each target as the center and the action range of each target as the radius, draw the action range of each target.

[0024] Furthermore, the observation interface displays the plane relative position of the infrared observation instrument and each target, and the scope of action of each target includes:

[0025] Each target is displayed in each semicircular area, and the distance value between the infrared observation instrument and each target is marked on the side length of the semicircle;

[0026] The direction angles of the infrared observation instrument and the targets are used to indicate the direction of each target, with 0 degrees in the true north direction as the reference, clockwise being positive and counterclockwise being negative;

[0027] If the target is beyond the field of view of the infrared observation instrument, the target is displayed at the bottom edge of the semicircle of the observation interface.

[0028] Furthermore, the step S4 comprises:

[0029] The infrared observation instrument is aimed at the object to be surveyed;

[0030] Performing laser target shooting to locate the object to be surveyed when the infrared observation instrument is stationary;

[0031] The observation interface of the infrared observation instrument displays the position of the object to be surveyed;

[0032] Based on the position of the object to be surveyed and the action range of each target, it is determined whether the object to be surveyed is within the action range of multiple targets.

[0033] Furthermore, the step S1 comprises:

[0034] The infrared observation instrument is in a static state, and the multi-target locking interface, Beidou positioning module, compass module and laser ranging module are turned on;

[0035] Shooting and obtaining infrared images including multiple targets;

[0036] The Beidou positioning module obtains the longitude, latitude and altitude values ​​of the infrared observation instrument itself;

[0037] The compass module obtains the direction angle and elevation angle of the infrared observation instrument itself.

[0038] Further,

[0039] The plane relative position includes the direction angle and distance between the infrared observation instrument and each target.

[0040] Further,

[0041] There are n multiple targets, 1≤n≤4, the target is a signal tower, and its effective range represents the signal radiation range of the signal tower; the object to be surveyed is a building or a building area.

[0042] The embodiment of the present invention further provides a system for identifying multiple targets acting on an object to be surveyed based on infrared observation, which is characterized by comprising:

[0043] An acquisition module is used to obtain an infrared image, the longitude and latitude and altitude values, the direction angle and the pitch angle of the infrared observation instrument itself, wherein the infrared image includes a multi-target image;

[0044] A target recognition module is used to locate and lock multiple targets based on the infrared image, and calculate the longitude and latitude of the multiple targets and the plane relative position of each target and the infrared observation instrument;

[0045] The recognition result display module is used to display the range of action of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument, and at the same time display the relative position of the plane and the range of action in the form of a semicircular plane on the observation interface;

[0046] Wherein, when the position of the infrared observation instrument changes, the relative position of the plane is updated and displayed;

[0047] The object to be surveyed judging module is used to judge whether the object to be surveyed is within the multi-target action range through the observation interface.

[0048] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0049] 1. Graphically and intuitively reflects the geographic coordinate relationship between multiple targets and infrared observation instruments, as well as the relationship between targets. Graphically locate targets quickly, and use different icons to distinguish multiple targets;

[0050] 2. The infrared observation instrument collects data and calculates the target's geographic coordinates. The four targets on the target locking interface are aimed at the laser. According to the data of the compass, positioning module, etc., the geographic coordinates of the target are calculated. The results are intuitively presented on the instrument interface, which is simple and easy to use;

[0051] 3. Easy to operate. Aim the infrared observation instrument at the target and press the confirmation key. The infrared observation instrument will automatically calculate the relationship between the various observation targets.

[0052] 4. Information display. The instrument UI (User Interface) interface will be bound to the field of view angle and the farthest locked signal tower distance, and display all objects under infrared observation within the range of the signal tower, with a more optimized graphical expression of the best state of the locked target position in the instrument; for example, if the signal tower is 1000m away from the infrared observation instrument and the signal range is 1000m, a semicircle with a range of 1000m will be drawn at the 1000 coordinate point. The infrared observation instrument can actually observe 3000m. If an object within 1000m is observed, the radius of the display circle is adjusted to 2000m, and the width of each line is 300m to improve the accuracy of the semicircle. If the observation is beyond 2000m and not within the range of the signal tower, the radius of the display circle is adjusted to 3000m, and the width of each line is 500m to increase the coverage of the semicircle, and objects that are not within the range of the signal tower can also be covered;

[0053] 5. Utilization of the scope of action, calculate and display the coverage of the signal tower, which is used for various scope-based scenarios. In places with more signal towers, the cross-range signal is stronger, and there are more business scenarios;

[0054] 6. Supports the rotation and movement of infrared observation instruments. After the instrument rotates, the locked target is displayed at the corresponding position according to the rotation direction and movement of the instrument. If the position and direction of multiple targets and instruments change after the instrument moves over a large range, the target locking information will be changed in real time according to the locked target information and presented on the interface;

[0055] 7. Support multi-scenario operations, support observation operations of buildings within the range of signal towers, infrared recognition imaging, positioning to obtain the position of this infrared observation instrument, laser target shooting, capture the geographical location of the target building, draw electronic plane maps, etc.

[0056] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0058] Figure 1 A flow chart of a method for identifying multiple targets acting on an object to be surveyed based on infrared observation;

[0059] Figure 2 It is the logic diagram of the multi-target locking interface of the infrared observation instrument;

[0060] Figure 3 (a) Infrared observation instrument and geodetic coordinate system

[0061] Figure 3 (b) Pitch angle and azimuth angle observed by infrared observation instrument

[0062] Figure 4 Schematic diagram of the earth's spatial rectangular coordinate system;

[0063] Figure 5 The schematic diagram is set to set the range of target 1 to 500m;

[0064] Figure 6 It is a relationship diagram between the instrument and multiple locked target positions (without opening the target range);

[0065] Figure 7 For infrared observation instruments Figure 6 Schematic diagram of the position rotated 90 degrees to the west;

[0066] Figure 8 It is a relationship diagram between the instrument and multiple locked target positions (open target range);

[0067] Fig. 9 A schematic diagram for determining whether the target building is within the target range;

[0068] Fig.10 Schematic diagram of a system for identifying multiple targets acting on an object to be surveyed based on infrared observation. DETAILED DESCRIPTION

[0069] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0070] In the current prior art, the target locking (locking signal tower) function of infrared products is usually a single target calculation. The present invention is upgraded on this basis to perform multi-target locking, and then graphically display the positional relationship between the multiple targets and the infrared observation instrument, and add the target signal tower's range identification. The graphical multi-target locking retrieval function can quickly respond to the positional relationship between the multiple targets and the infrared observation instrument, as well as the positional relationship between the multiple targets, and is combined with the infrared image in real time and changes in real time.

[0071] The invention belongs to the technical field of infrared observation, and designs a method and system for semi-based infrared observation to identify multiple targets acting on an object to be surveyed.

[0072] Embodiment 1:

[0073] The present invention aims to use a binocular infrared observation instrument to quickly and conveniently display the geographical location relationship between multiple targets and the infrared observation instrument after multiple targets are locked, and use different identifiers to distinguish the relationship between multiple locked targets. The target is a signal tower.

[0074] The present invention aims to solve the problem of multiple targets, that is, multiple signal tower coverage ranges, and to perform infrared observation and survey on the target's action range, that is, the object to be surveyed within the signal coverage range of the signal tower.

[0075] The hardware device involved in the present invention includes:

[0076] (1) an infrared observation instrument, used to obtain infrared images including each target, calculate the longitude and latitude of each target, and the plane relative position between the instrument and each target; when the infrared observation instrument is programmed, calculate the distance between the infrared observation instrument and the target; and its multi-target locking interface graphically displays the infrared observation instrument's own positioning, azimuth angle and pitch angle, as well as the longitude and latitude of the target and its range of action, and a laser positioning crosshair;

[0077] The infrared image is the background image of the multi-target locking interface of the infrared observation instrument, and is updated in real time as the position of the infrared observation instrument changes.

[0078] The observation interface of the infrared observation instrument displays the plane relative position of the infrared observation instrument and each target and the effective range of the target in a semicircular shape.

[0079] Beidou positioning module, compass and laser ranging module are built into the infrared observation instrument. All three are indispensable in this solution and are used for infrared observation instrument positioning and long-distance ranging. Specifically:

[0080] (2) Beidou positioning module: used to obtain the longitude, latitude and altitude of the infrared observation instrument itself;

[0081] (3) Compass module: used to obtain the compass direction angle and pitch angle. The compass module is fixed in the infrared observation instrument. Obtaining the compass direction angle and pitch angle is to obtain the infrared observation instrument itself.

[0082] (4) Laser ranging module: When the infrared observation instrument is stationary, the laser sight is used to locate the target, lock the target, and measure the distance between the infrared observation instrument and the target. It can measure long distances. Under ideal conditions, the maximum distance that can be measured is 8 kilometers.

[0083] After using binocular infrared observation instruments to lock multiple signal towers, enter the target locking interface of the infrared observation instrument, and graphically display the infrared observation instrument's own positioning, direction angle and pitch angle, as well as the latitude and longitude and range of multiple targets, and laser crosshairs. Use different signs to identify and distinguish multiple targets.

[0084] When the infrared observation instrument is observing the target object within the range of the target signal tower, when the position changes, including the direction rotation or position movement, the laser positioning module and compass module are used to obtain geographic information and direction angles, and the geographic coordinate relationship with multiple locked targets is calculated in real time. The multi-target locking interface of the infrared observation instrument displays the direction angle and pitch angle data (accurate to 0.1°) and the target's range information. Quickly and efficiently lock the target for infrared observation and exploration.

[0085] The infrared observation equipment performs multi-target locking, the number of targets is n, 1≤n≤4, a maximum of 4 targets and a minimum of 1 target.

[0086] The target is a signal tower, and the effective range refers to the signal radiation range of the signal tower; the object to be surveyed is a building or a building area.

[0087] Infrared observation instrument multi-target locking interface, such as Figure 2 As shown, take up to 4 targets as an example:

[0088] (1) The upper left corner is the infrared observation instrument self-positioning obtained from the Beidou positioning module, including the latitude, longitude and altitude of the instrument. Lat is the latitude, Lon is the longitude, and Alt is the altitude. The displayed content is as follows:

[0089]

[0090]

[0091] E 120°9′43.2" is 120°9′43.2" east longitude, N 30°10′57.36" is 30°10′57.36" north, and H 33.8m is 33.8m above sea level.

[0092] The self-positioning information of the infrared observation instrument remains unchanged when it is stationary, and changes accordingly when the position of the infrared observation instrument changes.

[0093] (2) In the middle of the top, to the right of the self-positioning information in the upper left corner, is the direction angle of the infrared observation instrument obtained by the compass, and to the right is the pitch angle obtained by the compass;

[0094] The direction angle obtained by the compass is graphically displayed on the caliper just above the multi-target locking interface of the infrared observation instrument, and the specific degree of the specific direction angle is marked below the caliper. The azimuth is the angle between the infrared observation instrument and 0 degrees in the true north direction. Clockwise is positive and counterclockwise is negative. The pitch angle is graphically displayed on the caliper on the right side of the multi-target locking interface of the infrared observation instrument, and the specific degree of the pitch angle is marked on the right side of the caliper. Compared with the horizontal plane, upward is positive and downward is negative.

[0095] The compass heading angle is the angle between the compass and the true north direction of 0 degrees, and the pitch angle is the angle between the compass and the horizontal plane. Since the compass is fixed in the infrared observation instrument, the compass heading angle and pitch angle are the heading angle and pitch angle of the infrared observation instrument.

[0096] As the position of the infrared observation instrument changes, its azimuth angle and elevation angle change accordingly.

[0097] (3) In the middle of the left side, just below the instrument self-positioning information in the upper left corner, there are four icons: a five-pointed star, a square, a triangle, and a prism, representing the four signal tower targets (targets 1, 2, 3, and 4).

[0098] The dotted frame on the left circles target 1, indicating that target 1 is selected.

[0099] Lat is the English abbreviation of latitude, for example, N32°11′5.56″ is displayed on the multi-target locking interface of the infrared observation instrument.

[0100] Lon is the English abbreviation of longitude, for example, E120°01′20.08″ east longitude, and the multi-target locking interface of the infrared observation instrument displays E120°01′20.08″;

[0101] Dis is the effective range of the signal tower, in meters.

[0102] The latitude and longitude of the target are the absolute position, as well as the range of the target. This value remains unchanged regardless of how the position of the infrared observation instrument changes.

[0103] (4) The crosshair in the middle of the display area is the laser crosshair, which is used to aim at the target during calibration. The laser crosshair is a crosshair mark formed by the laser positioning module on the observed target. The laser crosshair projects an accurate line or point on the target object to assist in locating the target. It can be in the form of a dot, a cross or other schemes. In this scheme, the more eye-catching crosshair is selected. The main advantages of the laser crosshair are accuracy and visibility, which are particularly useful at long distances or in complex environments.

[0104] In this solution, when using an infrared observation instrument to lock a target, the laser sight can provide a clear reference point, allowing the instrument operator to lock the target more quickly and accurately.

[0105] When the infrared observation instrument is far away from the target, the laser sight is an auxiliary positioning tool that can provide a clear mark to help the observer quickly lock the target and conduct more accurate observation and positioning.

[0106] There are two ways to input the longitude and latitude of the target. One is manual input, and the parameters are set by the operator of the infrared observation instrument. The second way is the target calculation at the center of the cross cursor of the laser positioning module in the infrared observation instrument, and the calculated longitude and latitude of the target is automatically displayed on the multi-target locking interface of the infrared observation instrument. This scheme adopts the second way.

[0107] like Figure 1 As shown, a specific embodiment of the present invention discloses a method for identifying multiple targets acting on an object to be surveyed based on infrared observation, including steps S1-S4:

[0108] Step S1, the infrared observation instrument obtains an infrared image, its own latitude and longitude and altitude values, direction angle and pitch angle, wherein the infrared image includes a multi-target image;

[0109] Step S2, based on the infrared image, using a laser positioning module to perform target positioning and locking of multiple targets, and calculating the longitude and latitude of the multiple targets and the plane relative position of each target and the infrared observation instrument;

[0110] Step S3, displaying the range of action of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument, and displaying the relative position of the plane and the range of action in the form of a semicircular plane on the observation interface;

[0111] Wherein, when the position of the infrared observation instrument changes, the relative position of the plane is updated and displayed;

[0112] Step S4: judging whether the object to be surveyed is within the multi-target action range through the observation interface.

[0113] Step S1, specifically.

[0114] The infrared observation instrument is in a stationary state, and the multi-target locking interface is opened. The multi-target locking interface is equivalent to the setting interface of the infrared observation instrument. The infrared observation instrument can lock a maximum of n (1≤n≤4) targets in a specific area. Before starting multi-target observation, turn on the Beidou positioning module, compass module and laser ranging module.

[0115] The infrared observation instrument acquires an infrared image, which includes a multi-target image; the infrared image is a background image of a multi-target locking interface of the infrared observation instrument, and changes in real time with the position of the infrared observation instrument;

[0116] The Beidou positioning module obtains the longitude, latitude and altitude values ​​of the infrared observation instrument itself;

[0117] The compass module obtains the direction angle and elevation angle of the infrared observation instrument itself.

[0118] Step S2, includes steps S21-S24, specifically.

[0119] Step S21: Based on the infrared image, the laser positioning module performs target positioning and locking on each target in turn to obtain the distance value from the infrared observation instrument to each target.

[0120] The target may be a signal tower.

[0121] Based on the infrared image of the infrared observation instrument, the infrared observation instrument is aimed at the signal tower target in the building complex, in the mountains or on the seashore, and the observer presses the confirmation button of the infrared observation instrument.

[0122] The laser ranging module uses laser shooting to locate the target, lock the target, and obtain the distance from the infrared observation instrument to the locked target. At this time, the infrared observation instrument is in a stationary state.

[0123] Since this scheme is a locking scheme for plane recognition of multiple targets, the altitude value of the target is not considered in this scheme.

[0124] Step S22: Based on the azimuth angle and elevation angle of the infrared observation instrument and the distance value to each target, the sky direction, east direction and north direction values ​​of each target are calculated.

[0125] As shown in Figure 3(a), the earth is regarded as a sphere. The geodetic coordinate system is a coordinate system based on the shape of the earth's ellipsoid, using longitude and latitude to represent the position of points on the earth's surface. The spatial rectangular coordinate system is a system that uses horizontal x, y and z coordinate axes perpendicular to the horizontal plane to represent the position of points in space.

[0126] Since the distance between the instrument and the target in this scheme is a short-range target locking function relative to the earth, the change of spherical shape has little effect on the change of distance, so a spatial rectangular coordinate system is used, with longitude and latitude perpendicular.

[0127] As shown in Figure 3(b), the infrared observation instrument's own position is the horizontal starting point P, the target point is S, the upward elevation angle is positive, and the downward elevation angle is negative. The distance between the laser target distance P and S is Distance, which can be divided into two vectors, Δu in the celestial direction and PQ in the horizontal direction. ∠θ is the elevation angle observed by the infrared observation instrument, which is obtained by the compass module.

[0128] Then the horizontal vector PQ is divided into the north vector Δn and the east vector Δe according to the longitude and latitude. ∠α is the direction angle observed by the infrared observation instrument and obtained by the compass module. The calculation of PQ is shown in formula (1):

[0129] PQ=cosθ×Distance (1)

[0130] The calculation of Δu in the celestial direction is as shown in formula (2):

[0131] Δu=sinθ×Dis tan ce (2)

[0132] The calculation of north Δn is shown in formula (3):

[0133] Δn=cosα×PQ=cosα×cosθ×Dis tan ce (3)

[0134] The calculation of Δe in the east direction is shown in formula (4):

[0135] Δe=sinα×PQ=sinα×cosθ×Distance(4)

[0136] Step S23, based on the celestial direction, north direction and east direction values ​​of each of the targets, and the longitude and latitude of the infrared observation instrument itself, calculate the longitude and latitude of the target;

[0137] The longitude and latitude of the instrument obtained by the Beidou positioning module are recorded as (lonX1, latY1), and the target north and east values ​​are converted into longitude and latitude (lonX2, latY2), thereby calculating the longitude and latitude of the target.

[0138] Calculate the length of the current latitude. Convert the spatial rectangular coordinate system into longitude and latitude. This solution is to locate within a range of 3 kilometers. The spherical error is relatively small, so ignore the change of the spherical curve, open the longitude plane, and treat each longitude as parallel to each other. Use the distance to convert it into the change of longitude and latitude.

[0139] The length of the equator is 40075.04 km

[0140] The length of 1 degree of latitude = 40075.04 / 360 ≈ 111.3196 km, or

[0141] The length of 1 second of latitude = 40075.04 / 360 / 3600≈30.9m

[0142] lonX2=Δe / 111.3196+lonX1(4)

[0143] like Figure 4 Display, because the length of each longitude is different at different latitudes, the P (X, Y, Z) coordinates represent the rectangular coordinate position. When Z is 0, it represents the equator.

[0144] Earth radius r = 6371 km

[0145] Longitude = 6731 × cosβ × 2πr / 360

[0146] latY2=Δn / 6731×cosβ×2πr / 360+latY1(5)

[0147] (lonX2, latY2) is the calculated latitude and longitude of the signal tower target.

[0148] The same method is used to calculate the longitude and latitude of each target one by one, which will not be repeated here.

[0149] Step S24, based on the longitude and latitude of the infrared observation instrument itself and each target, and the distance value from itself to each target, calculate the plane relative position of each target and the infrared observation instrument in the plane rectangular coordinate system.

[0150] In a plane rectangular coordinate system, the plane relative position between the infrared observation instrument and the target includes: the direction angle and distance between the two.

[0151] After the four targets are selected, the infrared observation instrument calculates the direction angles and distances of the four targets from the infrared observation instrument one by one based on the observed distance between itself and the target, as well as its own longitude and latitude information and the target longitude and latitude information.

[0152] In step S2, the laser positioning module directly obtains the distance between the infrared observation instrument and the target when the infrared observation instrument is stationary. During the observation process, the position of the infrared observation instrument changes, and the observation is moved or rotated. When the position of the infrared observation instrument changes, the distance between the two is calculated based on the longitude and latitude of the infrared observation instrument itself and the longitude and latitude of the target.

[0153] Assume the longitude of the infrared observation instrument is λ 0 , latitude is Target 1 longitude and latitude are λ 1 , latitude is

[0154] According to the Pythagorean theorem, the distance d between the infrared observation instrument and the target is as shown in formula (6):

[0155]

[0156] When they are at the same longitude, that is, λ 0 -λ 1 =0, the direction angle α is:

[0157] if The direction angle α is 0°;

[0158] if The direction angle α is 90°;

[0159] if The direction angle α is 270°;

[0160] At different longitudes, that is, λ 0 -λ 1 ≠0, the direction angle α is:

[0161]

[0162] If λ 0 -λ 1 >0, The direction angle is α;

[0163] If λ 0 -λ 1 <0, The direction angle is α+180°;

[0164] If λ 0 -λ 1 <0, The direction angle is α+180°;

[0165] If λ 0 -λ 1 >0, The direction angle is α+360°;

[0166] The same calculation method is used for targets 2, 3, and 4 to calculate the direction angle and distance between the infrared observation instrument and each signal tower target, which will not be repeated here.

[0167] Step S3, includes steps S31-S33, specifically.

[0168] Step S31, displaying the effective range of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument.

[0169] The range of the infrared observation instrument target is a setting switch. The switch is not turned on by default. If it is not set or the default value is 0, the target range Dis is not turned on.

[0170] The target's range of action, that is, the signal coverage range of the signal tower target.

[0171] Turn on the target's range, that is, set it to 1. In the infrared observation instrument target lock interface, at the Dis position behind each target, the observer enters the value of the target's range. The target's range is determined based on the target's performance.

[0172] like Figure 5 As shown, illustratively, the range of target 1 is set to 500m.

[0173] After the infrared observation instrument operator inputs the target's range value, the target's range information is graphically displayed on the multi-target locking interface. Select a target on the multi-target locking interface and the range of the target will be intuitively displayed at the center cross.

[0174] The observer sets the range Dis value of each target one by one.

[0175] Among them, the target's range of action is opened, and the multi-target locking interface of the infrared observation instrument displays the target's range of action.

[0176] Open the range of the signal tower target. The intersection of the range indicates that the signal tower signal is stronger in the intersecting area.

[0177] The infrared observation instrument opens the target's range and displays the target signal coverage. According to the range of each target, a circular coverage is drawn with the target as the center. The intersection indicates the intersection of two signal towers, and the signal is stronger. The range of each signal tower is different, and the signal coverage is also different.

[0178] like Fig. 9 As shown, open the target's range, draw a circle with the target as the center and the target's range as the radius. The entire circle can be displayed in the lower semicircle of the multi-target locking interface (targets 3 and 4), and the part outside the range will be displayed as a partial circumference (target 1 and 2).

[0179] The ranges of target 1 and target 2 overlap; the ranges of target 1 and target 4 overlap; the overlapping part represents that the signal coverage of the targets overlaps and the signal is stronger.

[0180] Step S32: displaying the planar relative positions of the infrared observation instrument and the multiple targets, and the action range of each target, on the observation interface of the infrared observation instrument.

[0181] The bottom semicircle of the infrared observation interface draws the positional relationship (direction angle and distance) between multiple locked targets and the instrument. At the bottom of the infrared observation interface, the range of the farthest target is divided into 6 equal parts, with the infrared observation instrument itself as the center, and 6 semicircular planes are drawn with the 1st to 6th equal parts as the radius;

[0182] Based on the planar relative positions of the infrared observation instrument and the targets, each target is drawn on a semicircular plane;

[0183] With each target as the center and the action range of each target as the radius, draw the action range of each target.

[0184] And according to the direction angle of the target, it is drawn on the semicircular plane. Figure 6 As shown, this is a schematic diagram of the range of the infrared observation instrument without turning on the target. Figure 8 Schematic diagram of the scope of the target opened for infrared observation instruments.

[0185] Wherein, when the position of the infrared observation instrument changes, including the movement and rotation of the infrared observation instrument, the relative position of the plane on the observation interface is updated.

[0186] Step S33: When the infrared observation instrument moves or rotates, the relative position of the plane is updated and displayed on the observation interface of the infrared observation instrument.

[0187] The observation interface displays the plane relative position of the infrared observation instrument and each target, and the scope of action of each target includes:

[0188] Each target is displayed in each semicircular area, and the distance value between the infrared observation instrument and each target is marked on the side length of the semicircle;

[0189] The direction angles of the infrared observation instrument and the targets are used to indicate the direction of each target, with 0 degrees in the true north direction as the reference, clockwise being positive and counterclockwise being negative;

[0190] If the target is beyond the field of view of the infrared observation instrument, the target is displayed at the bottom edge of the semicircle of the observation interface.

[0191] If the target is beyond the field of view of the infrared observation instrument, the target is displayed at the bottom edge of the semicircular shape of the observation interface of the infrared observation instrument.

[0192] If the position of the infrared observation instrument changes, such as the direction of the instrument rotates, or the instrument moves, the coordinates of the instrument move. The graphical multi-target display interface at the bottom will change accordingly. According to the infrared image of the infrared observation instrument, if the target is beyond the field of view, the target will be attached to the bottom edge of the semicircle.

[0193] The field of view angle range of the infrared observation instrument is a parameter of the instrument itself.

[0194] like Figure 7 As shown, the infrared observation instrument Figure 6 Schematic diagram of the position rotated 90 degrees to the west. The position of the targets on the semicircle also rotates accordingly. Targets 1 and 4 are beyond the field of view of the infrared observation instrument and are displayed at the bottom edge of the semicircle. Targets 2 and 3 are displayed normally.

[0195] Step S4, specifically.

[0196] By observing the observation interface of the infrared observation instrument, it is determined whether the object to be surveyed is within the multi-target action range.

[0197] For example: the object to be surveyed is a building.

[0198] The infrared observation instrument surveys the building to be observed and determines whether the building is within the multi-target range, that is, whether it is within the target signal coverage of the signal tower.

[0199] According to the semicircular plane graphical information on the observation interface of the infrared observation instrument, the infrared observation instrument conducts infrared image exploration within the target range. The steps are:

[0200] The infrared observation instrument is aimed at the object to be surveyed;

[0201] When the infrared observation instrument is stationary, laser target shooting is performed to locate the object to be surveyed, and distance data of the survey object from the infrared instrument is obtained;

[0202] Plane calculation is performed based on the pitch angle and distance. For example, ∠θ is the pitch angle when the infrared observation instrument observes the object to be surveyed, and the pitch angle is obtained by the compass module. Distance is the distance value obtained by laser target shooting of the object to be surveyed. The infrared observation instrument is point P, and the object to be surveyed is point Q. The calculation of PQ is shown in formula (8):

[0203] PQ=cosθ×Distance(8)

[0204] The position of the object to be surveyed is displayed on the plane coordinate system of the observation interface of the infrared observation instrument;

[0205] Based on the position of the object to be surveyed and the action range of each target, it is determined whether the object to be surveyed is within the action range of multiple targets.

[0206] Specifically.

[0207] For example, aim the infrared observation instrument at any building near the signal tower, observe one of the buildings when the infrared observation instrument is stationary, and then perform laser target shooting on the building to be surveyed, and display the corresponding position of the target building on the infrared observation interface. Then, based on the results on the plane rectangular coordinate system, ensure that every important target is within the target's range, or the range of multiple targets. Fig. 9 As shown by the arrow on the right, the building is within the range of target 2 at the arrow position.

[0208] The present invention quickly and conveniently graphically displays the geographic coordinate relationship between multiple targets (signal towers) and instruments, uses different marks to respectively identify multiple locked targets, reflects the positional relationship between targets, the positional relationship between targets and infrared observation instruments, and the application scenarios of the target's range of action.

[0209] The present invention graphically and intuitively reflects the relationship between multiple targets and infrared observation instruments, the relationship between targets, and the scope of action of the target signal tower within the scope of the target signal tower.

[0210] Embodiment 2:

[0211] Another embodiment of the present invention discloses a system for identifying multiple targets acting on an object to be surveyed based on infrared observation, thereby realizing a method for identifying multiple targets acting on an object to be surveyed based on infrared observation in Embodiment 1. The specific implementation of each module refers to the corresponding description in Embodiment 1.

[0212] like Fig.10 As shown, the system includes an acquisition module M1, a target recognition module M2, a recognition result display module M3 and a to-be-surveyed object judgment module M4, which are respectively:

[0213] The acquisition module M1 obtains the infrared image, the longitude and latitude and altitude values, the direction angle and the pitch angle of the infrared observation instrument itself, wherein the infrared image includes a multi-target image;

[0214] The target recognition module M2 performs target positioning and locking on multiple targets based on the infrared image, and calculates the longitude and latitude of the multiple targets and the plane relative position of each target and the infrared observation instrument;

[0215] The recognition result display module M2 displays the range of action of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument, and displays the relative position of the plane and the range of action in the form of a semicircular plane on the observation interface;

[0216] Wherein, when the position of the infrared observation instrument changes, the relative position of the plane is updated and displayed;

[0217] The object to be surveyed judging module M4 judges whether the object to be surveyed is within the multi-target action range through the observation interface.

[0218] Since the system in this embodiment and the method in Embodiment 1 are related in some respects, they can be mutually referenced, and are not described here in detail. Since the system embodiment and the above method embodiment have the same principle, the system embodiment also has the corresponding technical effects of the above method embodiment.

[0219] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0220] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for identifying multiple targets acting on an object to be surveyed based on infrared observation, characterized in that: The steps include: Step S1, the infrared observation instrument obtains an infrared image, its own latitude and longitude and altitude values, direction angle and pitch angle, wherein the infrared image includes a multi-target image; Step S2: Based on the infrared image, multiple targets are positioned and locked, and the longitude and latitude of the multiple targets and the plane relative position of each target and the infrared observation instrument are calculated; Step S3, displaying the range of action of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument, and displaying the relative position of the plane and the range of action in the form of a semicircular plane on the observation interface; Wherein, when the position of the infrared observation instrument changes, the relative position of the plane is updated and displayed; Step S4: judging whether the object to be surveyed is within the multi-target action range through the observation interface.

2. The method according to claim 1, characterized in that The step S2 comprises: Step S21: Based on the infrared image, the laser positioning module sequentially performs target positioning and locking on each target, and obtains the distance value from the infrared observation instrument to each target; Step S22, based on the azimuth angle and elevation angle of the infrared observation instrument and the distance value to each target, calculate the sky direction, east direction and north direction values ​​of each target; Step S23, based on the celestial direction, north direction and east direction values ​​of each of the targets, and the longitude and latitude of the infrared observation instrument itself, calculate the longitude and latitude of the target; Step S24: Based on the longitude and latitude of the infrared observation instrument itself and each target, and the distance value from the infrared observation instrument itself to each target, the plane relative position of each target and the infrared observation instrument in the plane rectangular coordinate system is calculated.

3. The method according to claim 2, characterized in that The step S3 comprises: Step S31, displaying the range of action of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument; Step S32, displaying the plane relative positions of the infrared observation instrument and each target, and the action range of each target on the observation interface of the infrared observation instrument; Step S33: When the infrared observation instrument moves or rotates, the relative position of the plane is updated and displayed on the observation interface of the infrared observation instrument.

4. The method according to claim 3, characterized in that At the bottom of the observation interface of the infrared observation instrument, the effective range of the farthest target is divided into 6 equal parts, and the infrared observation instrument itself is used as the center of the circle, and 6 semicircles are drawn with the lengths of the 1st to 6th equal parts as the radius to form a semicircular plane; Based on the planar relative positions of the infrared observation instrument and the targets, each target is drawn on a semicircular plane; With each target as the center and the action range of each target as the radius, draw the action range of each target.

5. The method according to claim 4, characterized in that The observation interface displays the plane relative position of the infrared observation instrument and each target, and the scope of action of each target includes: Each target is displayed in each semicircular area, and the distance value between the infrared observation instrument and each target is marked on the side length of the semicircle; The direction angles of the infrared observation instrument and the targets are used to indicate the direction of each target, with 0 degrees in the true north direction as the reference, clockwise being positive and counterclockwise being negative; If the target is beyond the field of view of the infrared observation instrument, the target is displayed at the bottom edge of the semicircle of the observation interface.

6. The method according to claim 5, characterized in that The step S4 comprises: The infrared observation instrument is aimed at the object to be surveyed; Performing laser target shooting to locate the object to be surveyed when the infrared observation instrument is stationary; The observation interface of the infrared observation instrument displays the position of the object to be surveyed; Based on the position of the object to be surveyed and the action range of each target, it is determined whether the object to be surveyed is within the action range of multiple targets.

7. The method according to any one of claims 1 to 6, characterized in that: The step S1 comprises: The infrared observation instrument is in a static state, and the multi-target locking interface, Beidou positioning module, compass module and laser ranging module are turned on; Shooting and obtaining infrared images including multiple targets; The Beidou positioning module obtains the longitude, latitude and altitude values ​​of the infrared observation instrument itself; The compass module obtains the direction angle and elevation angle of the infrared observation instrument itself.

8. The method according to any one of claims 1 to 6, characterized in that: The plane relative position includes the direction angle and distance between the infrared observation instrument and each target.

9. The method according to any one of claims 1 to 6, characterized in that: There are n multiple targets, 1≤n≤4, the target is a signal tower, and its effective range represents the signal radiation range of the signal tower; the object to be surveyed is a building or a building area.

10. A system for identifying multiple targets acting on an object to be surveyed based on infrared observation, characterized in that: include: An acquisition module is used to obtain an infrared image, the longitude and latitude and altitude values, the direction angle and the pitch angle of the infrared observation instrument itself, wherein the infrared image includes a multi-target image; A target recognition module is used to locate and lock multiple targets based on the infrared image, and calculate the longitude and latitude of the multiple targets and the plane relative position of each target and the infrared observation instrument; The recognition result display module is used to display the range of action of each target and the longitude and latitude of each target on the multi-target locking interface of the infrared observation instrument, and at the same time display the relative position of the plane and the range of action in the form of a semicircular plane on the observation interface; Wherein, when the position of the infrared observation instrument changes, the relative position of the plane is updated and displayed; The object to be surveyed judging module is used to judge whether the object to be surveyed is within the multi-target action range through the observation interface.

Images