Multi-target drop point measurement method, system and equipment based on trajectory prediction

Abstract

The invention discloses a multi-target drop point measurement method, system and equipment based on trajectory prediction, and solves the problem of target drop point spatial position calculation of an optical measurement system under the condition of air observation. The method comprises the following steps: firstly, constructing a time-synchronized two-station optical measurement system, then carrying out positioning and orientation accurate calibration and drop point position accurate measurement on the optical measurement system, then extracting a target in an image acquired by the optical measurement system in real time, and calculating the spatial position of the target by using a double-station rendezvous source. And finally, fitting each target motion track and extrapolating a multi-target drop point position. According to the method, the multi-target drop point measurement precision is obviously improved, the multi-target drop point measurement real-time performance is improved, and the adaptability is good.

Description

Technical Field

[0001] The present application relates to the field of space target prediction and measurement technology, and in particular to a multi-target landing point measurement method, system, and device based on trajectory prediction. Background Art

[0002] The current photoelectric measurement system adopts the method of directly observing the landing positions of multiple targets. In this case, there are high requirements for the landing time and observation angle of multiple targets. If multiple targets land at the same time, it is difficult to confirm the corresponding relationship between the targets under different observation angles. If multiple targets land one after another, the smoke and dust generated by the vibration or explosion of the front target may block the target behind, resulting in the failure to observe the landing position. Moreover, due to the randomness of the target landing position, the pre-selected observation angle is difficult to cover the landing situation of multiple targets, resulting in the failure to observe the landing position.

[0003] Therefore, there is an urgent need for a multi-target landing point measurement method, system, and equipment based on trajectory prediction. Summary of the invention

[0004] The present invention provides a multi-target landing point measurement method, system and device based on trajectory prediction, which solves the problems of target pairing errors, multi-target landing point occlusion and difficulty in covering all targets at different observation angles in the existing methods. The specific technical solution is as follows:

[0005] In a first aspect, the present invention provides a multi-target landing point measurement method based on trajectory prediction, the method comprising:

[0006] Acquire the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal;

[0007] Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point;

[0008] Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data;

[0009] Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

[0010] Furthermore, the image exposure and data acquisition based on the frequency division signal, after obtaining the image data, further includes:

[0011] Determine the positions of all targets corresponding to the measurement points based on the image data;

[0012] Determine the batch number of each target corresponding to the measurement point based on historical data;

[0013] The acquired target location, batch number and acquisition time information are added to the image data.

[0014] Furthermore, the direction of each target at the fitting location based on the image data of different measurement points, the observation direction and the observation range, and determining the landing positions and landing times of multiple batches of targets, includes:

[0015] Based on the image data of different measurement points, the observation direction and the observation range, the directions of all targets corresponding to each measurement point are determined by fitting, wherein the direction is the movement direction of the target and is represented by a unit direction vector;

[0016] Determine the spatial position of the intersection at the moment of occurrence in the target based on the directions of all targets at different measurement points;

[0017] The spatial position and corresponding time of the target that intersects at the moment of linear fitting are used to determine the landing positions and landing times of multiple batches of targets, thus completing the multi-target landing measurement based on trajectory prediction.

[0018] Further, the determining of the spatial position of the intersection at the time of occurrence in the target includes:

[0019] If the target with batch number i observed by the first observation point at time k and the target with batch number j observed by the second observation point at time k correspond to the same target, then the equation of formula (1) is satisfied.

[0020]

[0021] in, is the unit direction vector of the target with batch number i observed by the first observation point at time k, The unit direction vector of the target with batch number j observed by the second observation point at time k is defined as

[0022] The spatial position where the first observation point with batch number i and the second observation point with batch number j intersect at all occurrence times:

[0023] or

[0024] Among them, r ik is the distance between the target with batch number i and the first observation point observed at time k, r jk The distance between the target with batch number j and the second observation point observed by the second observation point at time k.

[0025] In a second aspect, the present invention further provides a multi-target landing point measurement system based on trajectory prediction, the system comprising a synchronous positioning module, an image acquisition module, an image processing module, and a landing point calculation module;

[0026] The system is provided with a plurality of prediction points, each of which is provided with a synchronous positioning module, an image acquisition module, and an image processing module, and the landing point calculation module is provided at a certain prediction point or on a device outside the prediction point;

[0027] The synchronous positioning module is used to obtain the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal;

[0028] The image acquisition module is used to obtain the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point;

[0029] The image processing module is used to divide the synchronization signal according to the image frame frequency, determine the divided frequency signal, and perform image exposure and data acquisition based on the divided frequency signal to obtain image data;

[0030] The landing point calculation module is used to determine the landing point positions and landing time of multiple batches of targets based on the image data of different measurement points, the observation direction and the direction of each target at the observation range fitting.

[0031] In another embodiment of the present invention, the image processing module is further used for:

[0032] Determine the positions of all targets corresponding to the measurement points based on the image data;

[0033] Determine the batch number of each target corresponding to the measurement point based on historical data;

[0034] The acquired target location, batch number and acquisition time information are added to the image data.

[0035] In another embodiment of the present invention, the landing point calculation module is specifically used for:

[0036] Based on the image data of different measurement points, the observation direction and the observation range, the directions of all targets corresponding to each measurement point are determined by fitting, wherein the direction is the movement direction of the target and is represented by a unit direction vector;

[0037] Determine the spatial position of the intersection at the moment of occurrence in the target based on the directions of all targets at different measurement points;

[0038] The spatial position and corresponding time of the target that intersects at the moment of linear fitting are used to determine the landing positions and landing times of multiple batches of targets, thus completing the multi-target landing measurement based on trajectory prediction.

[0039] In another embodiment of the present invention, determining the spatial position of the intersection at the time of occurrence in the target includes:

[0040] If the target with batch number i observed by the first observation point at time k and the target with batch number j observed by the second observation point at time k correspond to the same target, then the equation of formula (1) is satisfied.

[0041]

[0042] in, is the unit direction vector of the target with batch number i observed by the first observation point at time k, The unit direction vector of the target with batch number j observed by the second observation point at time k is defined as

[0043] The spatial position where the first observation point with batch number i and the second observation point with batch number j intersect at all occurrence times:

[0044] or

[0045] Among them, r ik is the distance between the target with batch number i and the first observation point observed at time k, r jk The distance between the target with batch number j and the second observation point observed by the second observation point at time k.

[0046] In a third aspect, the present invention further provides an electronic device, the device comprising a processor and a memory electrically connected to the processor, the memory being used to store a computer program, and the processor being used to call the computer program to perform the following steps:

[0047] Acquire the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal;

[0048] Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point;

[0049] Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data;

[0050] Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

[0051] In a fourth aspect, the present invention further provides a computer program product, wherein the computer program product is used to perform the following steps:

[0052] Acquire the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal;

[0053] Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point;

[0054] Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data;

[0055] Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

[0056] The beneficial effects of the present invention are as follows:

[0057] The invention discloses a multi-target landing point measurement method, system, and device based on trajectory prediction, which solves the problem of calculating the spatial position of the target landing point of the optical measurement system under the condition of air observation. The method first constructs a time-synchronized two-station optical measurement system, then accurately calibrates the positioning and orientation of the optical measurement system and accurately measures the landing point position, then extracts the target in the image collected by the optical measurement system in real time and calculates the target spatial position using the dual-station intersection principle, and finally fits the motion trajectory of each target and extrapolates the landing point position of multiple targets. This method not only significantly improves the accuracy of multi-target landing point measurement, but also improves the real-time performance of multi-target landing point measurement and has good adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a flow chart of a multi-target landing point measurement method based on trajectory prediction;

[0059] Figure 2 It is a structural schematic diagram of a multi-target landing point measurement system based on trajectory prediction. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of this specification clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and their corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this document.

[0061] The following combination Figure 1-2, describes in detail the technical solutions provided by each embodiment of this specification. Specific embodiment 1:

[0063] The present invention aims to provide a multi-target landing point measurement method and device based on trajectory prediction, so as to solve the problems of target pairing errors at different observation angles, multi-target landing point occlusion and difficulty in covering all targets in the existing methods.

[0064] The specific steps of a multi-target landing point measurement method and device based on trajectory prediction are as follows:

[0065] The first step is to build a multi-target landing point measurement system based on trajectory prediction

[0066] The multi-target landing point measurement system based on trajectory prediction is composed of two observation points, including: a synchronous positioning module, a direction calibration module, an image acquisition module, an image processing module, and a landing point calculation module.

[0067] The functions of the synchronous positioning module are: obtaining the position of the observation point of the measurement system and generating a synchronization signal to align the image exposure time;

[0068] The functions of the image acquisition module are: completing image exposure control and image data acquisition;

[0069] The functions of the image processing module are: to complete the target extraction function in the image;

[0070] The function of the landing point calculation module is to complete the multi-target landing point calculation function.

[0071] The second step is to synchronize the positioning module to obtain the position of the measurement system observation point and generate a synchronization signal to align the image exposure time.

[0072] The synchronous positioning module calculates the spatial position of the observation point by receiving GPS / Beidou satellite signals and generates a synchronization signal, which is a pulse-per-second square wave signal, and then sends the synchronization signal to the image acquisition module.

[0073] The third step is to use the direction calibration module to complete the calibration function of the observation direction.

[0074] The direction calibration module first measures the spatial positions of multiple benchmarks in the observation direction, and then calculates the observation direction and observation range based on the spatial positions of the benchmarks and the spatial positions of the observation points.

[0075] Step 4: Image acquisition module completes image data acquisition

[0076] The image acquisition module divides the synchronization signal according to the image frame frequency, and performs image exposure and data acquisition according to the divided signal. After the image acquisition module completes the image data acquisition, it sends the acquired image data and acquisition time to the image processing module.

[0077] Step 5: Image processing module

[0078] After receiving the image data, the image processing module first extracts the positions of all targets in the image, then determines the batch number of each target based on historical data, and finally summarizes the position, batch number, and acquisition time information of each target and sends it to the landing point calculation module.

[0079] Step 6: Landing point calculation module

[0080] The landing point calculation module receives the image processing results of the two observation points at the same time, and fits the direction of each target according to the observation direction and observation range calculated by the direction calibration module, and then calculates the corresponding relationship between each batch of targets of the two observation points. If the target with batch number i observed by the first observation point at time k and the target with batch number j observed by the second observation point at time k correspond to the same target, then the equation of formula (1) is satisfied.

[0081]

[0082] in, is the unit direction vector of the target with batch number i observed by the first observation point at time k, The unit direction vector of the target with batch number j observed by the second observation point at time k is defined as

[0083] Furthermore, according to formula (2), the spatial positions where the first observation point with batch number i and the second observation point with batch number j intersect at all occurrence times are calculated.

[0084]

[0085] Among them, r ik is the distance between the target with batch number i and the first observation point observed at time k, r jk The distance between the target with batch number j and the second observation point observed by the second observation point at time k.

[0086] Finally, the spatial position and the corresponding time are linearly fitted to predict the landing positions and landing times of multiple batches of targets, thus completing the multi-target landing measurement based on trajectory prediction.

[0087] The method of the present invention effectively solves the problems of target pairing errors under different observation angles, multi-target landing point occlusion, and difficulty in covering all targets at various observation angles by predicting target landing points through target matching and linear fitting trajectories. Specific embodiment 2:

[0089] The present invention provides a multi-target landing point measurement method, system and device based on trajectory prediction, which solves the problems of target pairing errors, multi-target landing point occlusion and difficulty in covering all targets at different observation angles in the existing methods. The specific technical solution is as follows:

[0090] In a first aspect, the present invention provides a multi-target landing point measurement method based on trajectory prediction, the method comprising:

[0091] Acquire the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal;

[0092] Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point;

[0093] Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data;

[0094] Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

[0095] Furthermore, the image exposure and data acquisition based on the frequency division signal, after obtaining the image data, further includes:

[0096] Determine the positions of all targets corresponding to the measurement points based on the image data;

[0097] Determine the batch number of each target corresponding to the measurement point based on historical data;

[0098] The acquired target location, batch number and acquisition time information are added to the image data.

[0099] Furthermore, the direction of each target at the fitting location based on the image data of different measurement points, the observation direction and the observation range, and determining the landing positions and landing times of multiple batches of targets, includes:

[0100] Based on the image data of different measurement points, the observation direction and the observation range, the directions of all targets corresponding to each measurement point are determined by fitting, wherein the direction is the movement direction of the target and is represented by a unit direction vector;

[0101] Determine the spatial position of the intersection at the moment of occurrence in the target based on the directions of all targets at different measurement points;

[0102] The spatial position and corresponding time of the target that intersects at the moment of linear fitting are used to determine the landing positions and landing times of multiple batches of targets, thus completing the multi-target landing measurement based on trajectory prediction.

[0103] Further, the determining of the spatial position of the intersection at the time of occurrence in the target includes:

[0104] If the target with batch number i observed by the first observation point at time k and the target with batch number j observed by the second observation point at time k correspond to the same target, then the equation of formula (1) is satisfied.

[0105]

[0106] in, is the unit direction vector of the target with batch number i observed by the first observation point at time k, The unit direction vector of the target with batch number j observed by the second observation point at time k is defined as

[0107] The spatial position where the first observation point with batch number i and the second observation point with batch number j intersect at all occurrence times:

[0108] or

[0109] Among them, r ik is the distance between the target with batch number i and the first observation point observed at time k, r jk The distance between the target with batch number j and the second observation point observed by the second observation point at time k.

[0110] In a second aspect, the present invention further provides a multi-target landing point measurement system based on trajectory prediction, the system comprising a synchronous positioning module, an image acquisition module, an image processing module, and a landing point calculation module;

[0111] The system is provided with a plurality of prediction points, each of which is provided with a synchronous positioning module, an image acquisition module, and an image processing module, and the landing point calculation module is provided at a certain prediction point or on a device outside the prediction point;

[0112] The synchronous positioning module is used to obtain the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal;

[0113] The image acquisition module is used to obtain the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point;

[0114] The image processing module is used to divide the synchronization signal according to the image frame frequency, determine the divided frequency signal, and perform image exposure and data acquisition based on the divided frequency signal to obtain image data;

[0115] The landing point calculation module is used to determine the landing point positions and landing time of multiple batches of targets based on the image data of different measurement points, the observation direction and the direction of each target at the observation range fitting.

[0116] In another embodiment of the present invention, the image processing module is further used for:

[0117] Determine the positions of all targets corresponding to the measurement points based on the image data;

[0118] Determine the batch number of each target corresponding to the measurement point based on historical data;

[0119] The acquired target location, batch number and acquisition time information are added to the image data.

[0120] In another embodiment of the present invention, the landing point calculation module is specifically used for:

[0121] Based on the image data of different measurement points, the observation direction and the observation range, the directions of all targets corresponding to each measurement point are determined by fitting, wherein the direction is the movement direction of the target and is represented by a unit direction vector;

[0122] Determine the spatial position of the intersection at the moment of occurrence in the target based on the directions of all targets at different measurement points;

[0123] The spatial position and corresponding time of the target that intersects at the moment of linear fitting are used to determine the landing positions and landing times of multiple batches of targets, thus completing the multi-target landing measurement based on trajectory prediction.

[0124] In another embodiment of the present invention, determining the spatial position of the intersection at the time of occurrence in the target includes:

[0125] If the target with batch number i observed by the first observation point at time k and the target with batch number j observed by the second observation point at time k correspond to the same target, then the equation of formula (1) is satisfied.

[0126]

[0127] in, is the unit direction vector of the target with batch number i observed by the first observation point at time k, The unit direction vector of the target with batch number j observed by the second observation point at time k is defined as

[0128] The spatial position where the first observation point with batch number i and the second observation point with batch number j intersect at all occurrence times:

[0129] or

[0130] Among them, r ik is the distance between the target with batch number i and the first observation point observed at time k, r jk The distance between the target with batch number j and the second observation point observed by the second observation point at time k.

[0131] In a third aspect, the present invention further provides an electronic device, the device comprising a processor and a memory electrically connected to the processor, the memory being used to store a computer program, and the processor being used to call the computer program to perform the following steps:

[0132] Acquire the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal;

[0133] Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point;

[0134] Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data;

[0135] Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

[0136] In a fourth aspect, the present invention further provides a computer program product, wherein the computer program product is used to perform the following steps:

[0137] Acquire the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal;

[0138] Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point;

[0139] Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data;

[0140] Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

[0141] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. The implementation method of the present application is described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above implementation. Equivalent substitutions for some of the technical features therein should all be within the scope of protection of the present application.

Claims

1. A multi-target landing point measurement method based on trajectory prediction, characterized in that: The method comprises: The spatial position information of the measuring point is obtained through spatial positioning, and a synchronization signal is generated synchronously; Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point; Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data; Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

2. A multi-target landing point measurement method based on trajectory prediction as claimed in claim 1, characterized in that: After performing image exposure and data acquisition based on the frequency division signal and obtaining image data, the method further includes: Determine the positions of all targets corresponding to the measurement points based on the image data; Determine the batch number of each target corresponding to the measurement point based on historical data; The acquired target location, batch number and acquisition time information are added to the image data.

3. A multi-target landing point measurement method based on trajectory prediction as claimed in claim 1, characterized in that: The method of fitting the direction of each target at the observation range based on the image data of different measurement points, the observation direction and the observation range, and determining the landing positions and landing times of multiple batches of targets includes: Based on the image data of different measurement points, the observation direction and the observation range, the directions of all targets corresponding to each measurement point are determined by fitting, wherein the direction is the movement direction of the target and is represented by a unit direction vector; Determine the spatial position of the intersection at the moment of occurrence in the target based on the directions of all targets at different measurement points; The spatial position and corresponding time of the target that intersects at the moment of linear fitting are used to determine the landing positions and landing times of multiple batches of targets, thus completing the multi-target landing measurement based on trajectory prediction.

4. A multi-target landing point measurement method based on trajectory prediction as claimed in claim 3, characterized in that: Determining the spatial position of the intersection at the time of occurrence in the target includes: If the target with batch number i observed by the first observation point at time k and the target with batch number j observed by the second observation point at time k correspond to the same target, then the equation of formula (1) is satisfied. in, is the unit direction vector of the target with batch number i observed by the first observation point at time k, The unit direction vector of the target with batch number j observed by the second observation point at time k is defined as The spatial position where the first observation point with batch number i and the second observation point with batch number j intersect at all occurrence times: or Among them, r ik is the distance between the target with batch number i and the first observation point observed by the first observation point at time k, r j k The distance between the target with batch number j and the second observation point observed by the second observation point at time k.

5. A multi-target landing point measurement system based on trajectory prediction, characterized in that: The system includes a synchronous positioning module, an image acquisition module, an image processing module, and a landing point calculation module; The system is provided with a plurality of prediction points, each of which is provided with a synchronous positioning module, an image acquisition module, and an image processing module, and the landing point calculation module is provided at a certain prediction point or on a device outside the prediction point; The synchronous positioning module is used to obtain the spatial position information of the measuring point through spatial positioning and synchronously generate a synchronization signal; The image acquisition module is used to obtain the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point; The image processing module is used to divide the synchronization signal according to the image frame frequency, determine the divided frequency signal, and perform image exposure and data acquisition based on the divided frequency signal to obtain image data; The landing point calculation module is used to determine the landing point positions and landing time of multiple batches of targets based on the image data of different measurement points, the observation direction and the direction of each target at the observation range fitting.

6. A multi-target landing point measurement system based on trajectory prediction as claimed in claim 5, characterized in that: The image processing module is also used for: Determine the positions of all targets corresponding to the measurement points based on the image data; Determine the batch number of each target corresponding to the measurement point based on historical data; The acquired target location, batch number and acquisition time information are added to the image data.

7. A multi-target landing point measurement system based on trajectory prediction as claimed in claim 5, characterized in that: The landing point calculation module is specifically used for: Based on the image data of different measurement points, the observation direction and the observation range, the directions of all targets corresponding to each measurement point are determined by fitting, wherein the direction is the movement direction of the target and is represented by a unit direction vector; Determine the spatial position of the intersection at the moment of occurrence in the target based on the directions of all targets at different measurement points; The spatial position and corresponding time of the target that intersects at the moment of linear fitting are used to determine the landing positions and landing times of multiple batches of targets, thus completing the multi-target landing measurement based on trajectory prediction.

8. A multi-target landing point measurement system based on trajectory prediction as claimed in claim 7, characterized in that: Determining the spatial position of the intersection at the time of occurrence in the target includes: If the target with batch number i observed by the first observation point at time k and the target with batch number j observed by the second observation point at time k correspond to the same target, then the equation of formula (1) is satisfied. in, is the unit direction vector of the target with batch number i observed by the first observation point at time k, The unit direction vector of the target with batch number j observed by the second observation point at time k is defined as The spatial position where the first observation point with batch number i and the second observation point with batch number j intersect at all occurrence times: Among them, r ik is the distance between the target with batch number i and the first observation point observed by the first observation point at time k, r j k The distance between the target with batch number j and the second observation point observed by the second observation point at time k.

9. An electronic device, characterized in that: The device comprises a processor and a memory electrically connected to the processor, the memory is used to store a computer program, and the processor is used to call the computer program to perform the following steps: The spatial position information of the measuring point is obtained through spatial positioning, and a synchronization signal is generated synchronously; Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point; Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data; Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

10. A computer program product, characterized in that The computer program product is used to perform the following steps: The spatial position information of the measuring point is obtained through spatial positioning, and a synchronization signal is generated synchronously; Acquire the spatial positions of a plurality of preset benchmarks in the observation direction by measuring, and determine the observation direction and the observation range based on the spatial position information of the observation point; Dividing the synchronization signal according to the image frame frequency to determine a divided frequency signal, and performing image exposure and data acquisition based on the divided frequency signal to obtain image data; Based on the image data of different measuring points, the observation direction and the direction of each target at the observation range fitting, the landing positions and landing times of multiple batches of targets are determined.

Images